remove cancel_clock_executor_promise_. (#2797)

fujitatomoya · Janosch Machowinski · web-flow · commit 0162861fa130 · 2025-04-10T14:26:34.000-07:00
Signed-off-by: Tomoya Fujita &lt;Tomoya.Fujita@sony.com&gt;
Co-authored-by: Janosch Machowinski &lt;J.Machowinski@cellumation.com&gt;
diff --git a/rclcpp/src/rclcpp/time_source.cpp b/rclcpp/src/rclcpp/time_source.cpp
@@ -346,7 +346,6 @@ class TimeSource::NodeState final
   std::mutex clock_sub_lock_;
   rclcpp::CallbackGroup::SharedPtr clock_callback_group_;
   rclcpp::executors::SingleThreadedExecutor::SharedPtr clock_executor_;
-  std::promise<void> cancel_clock_executor_promise_;
 
   // The clock callback itself
   void clock_cb(std::shared_ptr<const rosgraph_msgs::msg::Clock> msg)
@@ -392,12 +391,10 @@ class TimeSource::NodeState final
       clock_executor_ =
         std::make_shared<rclcpp::executors::SingleThreadedExecutor>(exec_options);
       if (!clock_executor_thread_.joinable()) {
-        cancel_clock_executor_promise_ = std::promise<void>{};
         clock_executor_thread_ = std::thread(
           [this]() {
-            auto future = cancel_clock_executor_promise_.get_future();
             clock_executor_->add_callback_group(clock_callback_group_, node_base_);
-            clock_executor_->spin_until_future_complete(future);
+            clock_executor_->spin();
           }
         );
       }
@@ -429,7 +426,6 @@ class TimeSource::NodeState final
   {
     std::lock_guard<std::mutex> guard(clock_sub_lock_);
     if (clock_executor_thread_.joinable()) {
-      cancel_clock_executor_promise_.set_value();
       clock_executor_->cancel();
       clock_executor_thread_.join();
       clock_executor_->remove_callback_group(clock_callback_group_);
