Make rclpy.spin*() use a persistent executor #176
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mikaelarguedas
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FYI @mikaelarguedas I rebased with master. It means |
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@mikaelarguedas PTAL |
rclpy/rclpy/__init__.py
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| if the global executor has a partially completed coroutine. | ||
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| :param node: A node to add to the executor to check for work. | ||
| :param timeout_sec: Maximum time in seconds to wait for work. |
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Is this blocking forever if negative timeout provided? Is the default behavior to wait forever as well? (I guess it's yes in both questions, but it may be worth mentioning it in the docblock
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Yup. I copy/pasted the timeout_sec documentation from executor.spin_once() in 93e42b5
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New commit is only a docstring change, so running CI Linux testing only rclpy to run linters |
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This fixes a bug where coroutine callbacks that yield while being handled in
rclpy.spin_once()never get executed again. The task is stored in the executor, but the executor is thrown away after spinning.This PR makes the global methods reuse an executor. The test checks that a task which yields during
rclpy.spin_once()gets resumed on a second invocation.CI
rcl.TestGetNodeNames__rmw_fastrtps_cpp.test_rcl_get_node_names--parallel