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deprecate rclcpp::spin_some and rclcpp::spin_all#2848

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deprecate rclcpp::spin_some and rclcpp::spin_all#2848
fujitatomoya merged 7 commits intorollingfrom
asoragna/deprecate-global-spin-some-all

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@alsora alsora commented May 17, 2025 •
edited by fujitatomoya
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Description

Deprecate rclcpp::spin_some and rclcpp::spin_all.
These functions can lead to very poor performance for developers who are not aware that calling them will:

  • create an executor
  • add the node to the executor
  • do the spin
  • destroy the executor

If called in a loop, you are wasting a lot of CPU cycles repeating those operations every time.
This instead is a lot more efficient because only the spin operation is repeated as expected.

SingleThreadedExecutor executor;
executor.add_node(node);
while (should_spin)
{
    executor.spin_some();
}

Adding and removing nodes from executors are expensive operations that shouldn't be done at "steady state" of the system.

IMPORTANT
In this PR I'm also re-ordering the events-executor constructor arguments so that this becomes possible:

MyExecutorType executor(options);

Now all executors take the executor options as first argument.

Is this user-facing behavior change?

Yes, deprecating some functions and modifying a constructor (although it's in the experimental namespace)

Did you use Generative AI?

No

closes #2675

@alsora alsora force-pushed the asoragna/deprecate-global-spin-some-all branch 2 times, most recently from e8e8faf to f1e7310 Compare May 17, 2025 08:21
jmachowinski
jmachowinski reviewed May 18, 2025
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fujitatomoya
fujitatomoya reviewed May 20, 2025
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fujitatomoya commented Jul 24, 2025

@Mergifyio rebase

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mergify bot commented Jul 24, 2025

rebase

✅ Branch has been successfully rebased

@fujitatomoya fujitatomoya force-pushed the asoragna/deprecate-global-spin-some-all branch from f9d55bd to 5cbdae6 Compare July 24, 2025 11:53
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fujitatomoya commented Jul 24, 2025

Pulls: #2848
Gist: https://gist.githubusercontent.com/fujitatomoya/fa4647ec68c1811cf6576850ed1d022a/raw/3ac4860bbd88f8c2ba1df0e0962127021685089d/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp rclcpp_action rclcpp_lifecycle
TEST args: --packages-above rclcpp rclcpp_action rclcpp_lifecycle
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16595

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alsora added 3 commits August 20, 2025 15:38
@alsora @fujitatomoya
reorder events executor constructor arguments to have the first args …
25e9c9c 
…match the other executors

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
@alsora @fujitatomoya
deprecate rclcpp::spin_some and rclcpp::spin_all
20b2abb 
Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
@alsora @fujitatomoya
use rcpputils to ignore deprecation and remove deprecated APIs from c…
c35493d 
…omments

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
@fujitatomoya fujitatomoya force-pushed the asoragna/deprecate-global-spin-some-all branch from 5cbdae6 to c35493d Compare August 20, 2025 06:39
@fujitatomoya
fix rclcpp_lifecycle build failures.
dabdfc3 
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
This was referenced Aug 20, 2025
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fujitatomoya commented Aug 20, 2025

Pulls: #2848, ros2/message_filters#201, ros2/system_tests#574, ros2/demos#734, ros2/examples#422, ros2/geometry2#821
Gist: https://gist.githubusercontent.com/fujitatomoya/729c2c9e3f31efc10217a07d09b682c5/raw/80936104a2cae37018c8996fb8071ceffb79df0c/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp rclcpp_action rclcpp_lifecycle message_filters test_communication test_rclcpp pendulum_control dummy_map_server dummy_sensors examples_rclcpp_minimal_publisher examples_rclcpp_minimal_action_client tf2_ros
TEST args: --packages-above rclcpp rclcpp_action rclcpp_lifecycle message_filters test_communication test_rclcpp pendulum_control dummy_map_server dummy_sensors examples_rclcpp_minimal_publisher examples_rclcpp_minimal_action_client tf2_ros
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16754

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ahcorde
ahcorde requested changes Aug 20, 2025
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make linters happy
70bbe8a 
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
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ahcorde commented Aug 21, 2025

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This was referenced Aug 21, 2025
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fujitatomoya commented Aug 23, 2025

after ros/ros_tutorials#183 is merged, we can start the CI only with this PR. (there should not be any deprecated warning.)

alsora added 2 commits August 23, 2025 11:33
@alsora
fix test_service_introspection
79d5fe9 
Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
@alsora
fix lifecycle unit-test
c8c7b06 
Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
@alsora alsora force-pushed the asoragna/deprecate-global-spin-some-all branch from a866ac9 to c8c7b06 Compare August 23, 2025 09:33
@mini-1235 mini-1235 mentioned this pull request Aug 23, 2025
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ahcorde commented Aug 25, 2025

Pulls: #2848
Gist: https://gist.githubusercontent.com/ahcorde/64c57c2436820e000fc06a5510aafcac/raw/3ac4860bbd88f8c2ba1df0e0962127021685089d/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp rclcpp_action rclcpp_lifecycle
TEST args: --packages-above rclcpp rclcpp_action rclcpp_lifecycle
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16789

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@fujitatomoya fujitatomoya merged commit bdab46d into rolling Aug 26, 2025
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@alsora alsora deleted the asoragna/deprecate-global-spin-some-all branch August 26, 2025 12:35
@Yadunund Yadunund mentioned this pull request Aug 30, 2025
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@mini-1235 mini-1235 mentioned this pull request Sep 12, 2025
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@f0reachARR f0reachARR mentioned this pull request Sep 30, 2025
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nbbrooks added a commit to moveit/moveit2 that referenced this pull request Oct 12, 2025
@nbbrooks @mosfet80
Fix deprecations in image_common and tf2_ros (#3567)
65aa94c 
* Fix image_common NodeT deprecation warnings from ros-perception/image_common#352 - migrate to NodeInterfaces

* Fix image_common rmw_qos_profile_t deprecation warnings from ros-perception/image_common#364 - migrate to rclcpp::QoS

* Fix rviz update float deprecation warnings from ros2/rviz#1533 - migrate to std::chrono::duration

* Fix geometry2 tf2_ros .h deprecation warnings from ros2/geometry2#805 - migrate Kilted and Rolling to .hpp

* Fix geometry2 tf2_ros NodeT deprecation warnings from ros2/geometry2#714 - migrate to NodeInterfaces

* Fix rclcpp spin_some deprecation warnings from ros2/rclcpp#2848 - migrate to SingleThreadedExecutor

---------

Co-authored-by: Andrea <realeandrea@yahoo.it>
@ahcorde ahcorde mentioned this pull request Dec 15, 2025
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@mini-1235 mini-1235 mentioned this pull request Dec 31, 2025
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helen9975 pushed a commit to personalrobotics/moveit2 that referenced this pull request Feb 17, 2026
@nbbrooks @mosfet80
Fix deprecations in image_common and tf2_ros (moveit#3567)
b7bceea 
* Fix image_common NodeT deprecation warnings from ros-perception/image_common#352 - migrate to NodeInterfaces

* Fix image_common rmw_qos_profile_t deprecation warnings from ros-perception/image_common#364 - migrate to rclcpp::QoS

* Fix rviz update float deprecation warnings from ros2/rviz#1533 - migrate to std::chrono::duration

* Fix geometry2 tf2_ros .h deprecation warnings from ros2/geometry2#805 - migrate Kilted and Rolling to .hpp

* Fix geometry2 tf2_ros NodeT deprecation warnings from ros2/geometry2#714 - migrate to NodeInterfaces

* Fix rclcpp spin_some deprecation warnings from ros2/rclcpp#2848 - migrate to SingleThreadedExecutor

---------

Co-authored-by: Andrea <realeandrea@yahoo.it>
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@fujitatomoya fujitatomoya fujitatomoya left review comments

@ahcorde ahcorde ahcorde requested changes

@mjcarroll mjcarroll mjcarroll approved these changes

@jmachowinski jmachowinski jmachowinski approved these changes

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Deprecate all spin_xxx functions in rclcpp namespace instead of spin.

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@alsora @fujitatomoya @ahcorde @mjcarroll @jmachowinski