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Use a single executor instance for spinning in client_async_callback. #382

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Merged
merged 1 commit into from
May 16, 2024
Merged

Use a single executor instance for spinning in client_async_callback. #382

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10 changes: 7 additions & 3 deletions rclpy/services/minimal_client/examples_rclpy_minimal_client/client_async_callback.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,9 +26,13 @@ def main(args=None):

try:
node = rclpy.create_node('minimal_client')

executor = rclpy.executors.SingleThreadedExecutor()
executor.add_node(node)

# Node's default callback group is mutually exclusive. This would prevent the client
# response from being processed until the timer callback finished, but the timer callback
# int this example is waiting for the client response
# in this example is waiting for the client response
cb_group = ReentrantCallbackGroup()
cli = node.create_client(AddTwoInts, 'add_two_ints', callback_group=cb_group)
did_run = False
Expand All @@ -55,14 +59,14 @@ async def call_service():
timer = node.create_timer(0.5, call_service, callback_group=cb_group)

while rclpy.ok() and not did_run:
rclpy.spin_once(node)
executor.spin_once()

if did_run:
# call timer callback only once
timer.cancel()

while rclpy.ok() and not did_get_result:
rclpy.spin_once(node)
executor.spin_once()
except KeyboardInterrupt:
pass
except ExternalShutdownException:
Expand Down