Guard against TOCTTOU with rclcpp::ok and rclcpp:spin_some #459
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Fixes #458. An exception can be thrown if an interrupt occurs between checking rclcpp::ok() and rclcpp::spin_some(). Related to ros2/rclcpp#1066 Signed-off-by: Jacob Perron <jacob@openrobotics.org>
ivanpauno
approved these changes
Jan 21, 2021
| rclcpp::spin_some(node); | ||
| loop_rate.sleep(); | ||
| } | ||
| } catch (const rclcpp::exceptions::RCLError & ex) { |
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As discussed in other places, we should really fix this issue so this "catch all rcl errors" thing isn't needed (this mechanism can be masking actual errors).
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I agree. I think this is the most relevant open issue at the moment: ros2/rclcpp#1139
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Fixes #458.
An exception can be thrown if an interrupt occurs between checking rclcpp::ok() and rclcpp::spin_some().
Related to ros2/rclcpp#1066