Fixes spin_until_future_complete inside callback

Closes rclpy:#1313 Current if spin_unitl_future_complete is called inside a nodes callback it removes the node from the executor This results in any subsiquent waitables to never be checked by the node since the node is no longer in the executor This aims to fix that by only removing the node from the executor if it wasn't already present Signed-off-by: Jonathan Blixt <[email protected]>
ros2 · Jul 18, 2024 · 05f17ee · 05f17ee
1 parent 43198cb
commit 05f17ee
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/rclpy/rclpy/__init__.py b/rclpy/rclpy/__init__.py
@@ -322,8 +322,10 @@ def spin_until_future_complete(
         if ``None`` or negative. Don't wait if 0.
     """
     executor = get_global_executor() if executor is None else executor
+    node_added = False
     try:
-        executor.add_node(node)
+        node_added = executor.add_node(node)
         executor.spin_until_future_complete(future, timeout_sec)
     finally:
-        executor.remove_node(node)
+        if node_added:
+            executor.remove_node(node)