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With max_duration spin_some will execute work until it has spent more time than the elapsed duration.
This was referenced Sep 15, 2018
wjwwood
approved these changes
Sep 17, 2018
dirk-thomas
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Sep 17, 2018
| RCLCPP_PUBLIC | ||
| virtual void | ||
| spin_some(); | ||
| spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)); |
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Would timeout match existing naming better?
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I think the behavior is different. I would expect timeout to mean the function blocks until that amount of time elapses, but this function will return immediately when no work is available regardless of max_duration.
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Signed-off-by: Miaofei <miaofei@amazon.com>
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This adds a parameter to
spin_some()for the maximum duration to spend executing work. It preventsspin_some()from blocking forever if there are always callbacks ready. The reason for adding it is to allow rviz to execute all callbacks without being limited by the gui or blocking it.connects to ros2/ros1_bridge#133
Blocks ros2/rviz#354
CI ros2/rviz#354 (comment)