Revert "Raise user handler exception in MultiThreadedExecutor. (#984)" (

#1017) This reverts commit 6c0847a. Signed-off-by: Tomoya Fujita <[email protected]> Signed-off-by: Tomoya Fujita <[email protected]>
ros2 · Oct 6, 2022 · e18084f · e18084f
1 parent 7780fa1
commit e18084f
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Showing 2 changed files with 2 additions and 8 deletions.
diff --git a/rclpy/rclpy/executors.py b/rclpy/rclpy/executors.py
@@ -308,7 +308,6 @@ def spin_once(self, timeout_sec: float = None) -> None:
 
         :param timeout_sec: Seconds to wait. Block forever if ``None`` or negative.
             Don't wait if 0.
-        :raise RuntimeError: Unexpected failure.
         """
         raise NotImplementedError()
 
@@ -322,7 +321,6 @@ def spin_once_until_future_complete(self, future: Future, timeout_sec: float = N
         :param future: The executor will wait until this future is done.
         :param timeout_sec: Maximum seconds to wait. Block forever if ``None`` or negative.
             Don't wait if 0.
-        :raise RuntimeError: Unexpected failure.
         """
         raise NotImplementedError()
 
@@ -765,11 +763,7 @@ def _spin_once_impl(
         except ConditionReachedException:
             pass
         else:
-            def handler_wrapper(handler):
-                handler()
-                if handler.exception() is not None:
-                    raise handler.exception()
-            self._executor.submit(handler_wrapper(handler))
+            self._executor.submit(handler)
 
     def spin_once(self, timeout_sec: float = None) -> None:
         self._spin_once_impl(timeout_sec)

diff --git a/rclpy/rclpy/node.py b/rclpy/rclpy/node.py
@@ -1752,7 +1752,7 @@ def destroy_subscription(self, subscription: Subscription) -> bool:
         """
         Destroy a subscription created by the node.
 
-        :return: ``True`` if successful, ``False`` otherwise.
+        :return: ``True`` if succesful, ``False`` otherwise.
         """
         if subscription in self._subscriptions:
             self._subscriptions.remove(subscription)