Waitable should check callback_group if it can be executed. (#1001) (#…

…1014) Signed-off-by: Tomoya Fujita <[email protected]> (cherry picked from commit 7780fa1) Co-authored-by: Tomoya Fujita <[email protected]>
ros2 · Nov 3, 2022 · ce00d65 · ce00d65
1 parent 351e707
commit ce00d65
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/rclpy/rclpy/executors.py b/rclpy/rclpy/executors.py
@@ -608,10 +608,11 @@ def _wait_for_ready_callbacks(
                     for wt in node.waitables:
                         # Only check waitables that were added to the wait set
                         if wt in waitables and wt.is_ready(wait_set):
-                            handler = self._make_handler(
-                                wt, node, lambda e: e.take_data(), self._execute_waitable)
-                            yielded_work = True
-                            yield handler, wt, node
+                            if wt.callback_group.can_execute(wt):
+                                handler = self._make_handler(
+                                    wt, node, lambda e: e.take_data(), self._execute_waitable)
+                                yielded_work = True
+                                yield handler, wt, node
 
             # Process ready entities one node at a time
             for node in nodes_to_use: