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EventsExecutor: Handle async callbacks for services and subscriptions#1478

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ahcorde merged 2 commits intoros2:rollingfrom
bmartin427:1473-event_exec_async_service
Oct 2, 2025
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EventsExecutor: Handle async callbacks for services and subscriptions#1478
ahcorde merged 2 commits intoros2:rollingfrom
bmartin427:1473-event_exec_async_service

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@bmartin427 bmartin427 commented Jul 13, 2025

Description

EventsExecutor was not properly handling async callbacks for services and subscriptions.

Fixes #1473

Is this user-facing behavior change?

No workflow that previously worked with this executor should be impacted at all.

Did you use Generative AI?

F no.

Additional Information

Handling of async callbacks is arguably still not completely correct, as with SingleThreadedExecutor a ReentrantCallbackGroup must be used to enable the executor to do anything else while an async callback is awaiting something, and EventsExecutor ignores all callback groups. However this is still preferable to the previous behavior of exploding with a TypeError, and it sounds like from discussion on the issue that we aren't sure the SingleThreadedExecutor behavior is desirable going forward either.

EventsExecutor: Handle async callbacks for services and subscriptions
6e47086 
Closes ros2#1473

Signed-off-by: Brad Martin <bmartin@fatlxception.org>
@bmartin427 bmartin427 force-pushed the 1473-event_exec_async_service branch from cb7eea2 to 6e47086 Compare July 14, 2025 00:00
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alsora commented Jul 27, 2025

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ahcorde commented Oct 1, 2025 •
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Pulls: #1478
Gist: https://gist.githubusercontent.com/ahcorde/71e81453257c23da9fd14c99cd3393eb/raw/e5cbd1b275b2e31948fad23c7cc7f9651e713163/ros2.repos
BUILD args: --packages-above-and-dependencies rclpy
TEST args: --packages-above rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17112

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@ahcorde ahcorde merged commit b99fc95 into ros2:rolling Oct 2, 2025
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JensVanhooydonck commented Oct 4, 2025

Can this be back ported?

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ahcorde commented Oct 6, 2025

https://github.com/Mergifyio backport kilted jazzy

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mergify bot commented Oct 6, 2025 •
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backport kilted jazzy

✅ Backports have been created

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mergify bot pushed a commit that referenced this pull request Oct 6, 2025
@bmartin427 @ahcorde @mergify
EventsExecutor: Handle async callbacks for services and subscriptions (…
d73bd07 
…#1478)

Closes #1473

Signed-off-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
(cherry picked from commit b99fc95)
mergify bot pushed a commit that referenced this pull request Oct 6, 2025
@bmartin427 @mergify
EventsExecutor: Handle async callbacks for services and subscriptions (…
82e086b 
…#1478)

Closes #1473

Signed-off-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
(cherry picked from commit b99fc95)

# Conflicts:
#	rclpy/test/test_events_executor.py
This was referenced Oct 6, 2025
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ahcorde added a commit that referenced this pull request Oct 7, 2025
@mergify @bmartin427 @ahcorde
EventsExecutor: Handle async callbacks for services and subscriptions (…
f14a4ab 
…#1478) (#1512)

Closes #1473

(cherry picked from commit b99fc95)

Signed-off-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Brad Martin <52003535+bmartin427@users.noreply.github.com>
Co-authored-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
InvincibleRMC pushed a commit to InvincibleRMC/rclpy that referenced this pull request Nov 20, 2025
@bmartin427 @ahcorde @InvincibleRMC
EventsExecutor: Handle async callbacks for services and subscriptions (…
572c5da 
…ros2#1478)

Closes ros2#1473

Signed-off-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
InvincibleRMC pushed a commit to InvincibleRMC/rclpy that referenced this pull request Jan 12, 2026
@bmartin427 @ahcorde @InvincibleRMC
EventsExecutor: Handle async callbacks for services and subscriptions (…
53a4a3f 
…ros2#1478)

Closes ros2#1473

Signed-off-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
InvincibleRMC added a commit that referenced this pull request Jan 21, 2026
@InvincibleRMC @clalancette
@Barry-Xu-2018 @brennanmk @bmartin427 @ahcorde @fujitatomoya @jmblixt3 @christian-rauch @nwn @YuanYuYuan @Timple @leeminju531 @bjsowa @nadavelkabets @Flova @michaeltandy @christophebedard
Update type_support.py to use new message abstract base classes (#1509
70ddf4b 
)

* Fix warnings from gcc. (#1501)

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Update type_support to use new abcs

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Cleanup old test cases to use new automatic inference

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add content-filtered-topic interfaces (#1506)

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Added lock to protect futures for multithreaded executor (#1477)

Signed-off-by: brennanmk <brennanmk2200@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* EventsExecutor: Handle async callbacks for services and subscriptions (#1478)

Closes #1473

Signed-off-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* add spinning state for the Executor classes. (#1510)

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Fixes Action.*_async futures never complete (#1308)

Per rclpy:1123 If two seperate client server actions are running in seperate executors the future given to the ActionClient will never complete due to a race condition
This fixes  the calls to rcl handles potentially leading to deadlock scenarios by adding locks to there references
Co-authored-by: Aditya Agarwal <aditya.kgp25@gmail.com>
Co-authored-by: Jonathan Blixt <jmblixt3@gmail.com>
Signed-off-by: Jonathan Blixt <jmblixt3@gmail.com>

Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* remove unused 'param_type' (#1524)

'param_type' is set but never used

Signed-off-by: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Changelog

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* 10.0.1

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Remove duplicate future handling from send_goal_async (#1532)

A recent change intended to move this logic into a lock context, but
actually ended up duplicating it instead. This fixes that by removing
the duplicated logic outside of the lock. It also preserves the explicit
typing annotation on the future.

Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* fix(test_events_executor): destroy all nodes before shutdown (#1538)

Signed-off-by: yuanyuyuan <az6980522@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* add BaseImpl

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add ImplT Support

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* fix changelong

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Remove accidental tuple (#1542)

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Allow action servers without execute callback (#1219)

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

* add : get clients, servers info (#1307)

Signed-off-by: Minju, Lee <dlalswn531@naver.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* 10.0.2

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* update tests

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* ParameterEventHandler support ContentFiltering (#1531)

* ParameterEventHandler support ContentFiltering

Signed-off-by: Barry Xu <barry.xu@sony.com>

* Address review comments

Signed-off-by: Barry Xu <barry.xu@sony.com>

---------

Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Fix issues with resuming async tasks awaiting a future (#1469)

Signed-off-by: Błażej Sowa <bsowa123@gmail.com>
Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>
Co-authored-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* 10.0.3

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Increase clock accuracy (#1564)

Signed-off-by: Florian Vahl <git@flova.de>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Use unconditional wait when possible. (#1563)

Previously the max() value of the steady time was used as the default deadline. In some environments this results in overflows in the underlying pthread_cond_timedwait call, which waits for the conditional variable in the events queue implementation. Consequently, this lead to freezes in the executor. Reducing the deadline significantly helped, but using `cv.wait` instead of `cv_.wait_until` seems to be the cleaner solution.

Signed-off-by: Florian Vahl <florian.vahl@dlr.de>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Remove default from switch with enum, so that compiler warns. (#1566)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Fix parameter parsing for unspecified target nodes (#1552)

Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Improve the compatibility of processing YAML parameter files (#1548)

Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Improve wildcard parsing and optimize the logic for parsing YAML para… (#1571)

Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Expose action graph functions as Node class methods. (#1574)

* Expose action graph functions as Node class methods.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* address review comments to keep the warning consistent.

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

---------

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

* Fix performance bug in MultiThreadedExecutor (hopefully) (#1547)

Signed-off-by: Michael Tandy <git@mjt.me.uk>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Changelog

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* 10.0.4

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* use Msg over BaseMessage

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Use Srv over BaseService

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Use Action over BaseAction

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* lint

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Update rclpy/rclpy/type_support.py

Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

---------

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Signed-off-by: brennanmk <brennanmk2200@gmail.com>
Signed-off-by: Brad Martin <bmartin@fatlxception.org>
Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com>
Signed-off-by: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Signed-off-by: yuanyuyuan <az6980522@gmail.com>
Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>
Signed-off-by: Minju, Lee <dlalswn531@naver.com>
Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Błażej Sowa <bsowa123@gmail.com>
Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
Signed-off-by: Florian Vahl <git@flova.de>
Signed-off-by: Florian Vahl <florian.vahl@dlr.de>
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Michael Tandy <git@mjt.me.uk>
Co-authored-by: Chris Lalancette <clalancette@gmail.com>
Co-authored-by: Barry Xu <barry.xu@sony.com>
Co-authored-by: Brennan Miller-Klugman <55165406+brennanmk@users.noreply.github.com>
Co-authored-by: Brad Martin <52003535+bmartin427@users.noreply.github.com>
Co-authored-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Co-authored-by: Jonathan <jmblixt3@gmail.com>
Co-authored-by: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Co-authored-by: Yuyuan Yuan <az6980522@gmail.com>
Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>
Co-authored-by: Minju, Lee <70446214+leeminju531@users.noreply.github.com>
Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
Co-authored-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com>
Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai>
Co-authored-by: Florian Vahl <git@flova.de>
Co-authored-by: Michael Tandy <git@mjt.me.uk>
Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>
bjsowa added a commit to bjsowa/rclpy that referenced this pull request Feb 22, 2026
@ahcorde @bjsowa
EventsExecutor: Handle async callbacks for services and subscriptions…
346d9c6 
… (backport ros2#1478)

Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
bjsowa added a commit to bjsowa/rclpy that referenced this pull request Feb 22, 2026
@ahcorde @bjsowa
EventsExecutor: Handle async callbacks for services and subscriptions…
d677416 
… (backport ros2#1478)

Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
Signed-off-by: Błażej Sowa <bsowa123@gmail.com>
bjsowa added a commit to bjsowa/rclpy that referenced this pull request Feb 22, 2026
@ahcorde @bjsowa
EventsExecutor: Handle async callbacks for services and subscriptions…
606588e 
… (backport ros2#1478)

Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
Signed-off-by: Błażej Sowa <bsowa123@gmail.com>
ahcorde added a commit that referenced this pull request Mar 17, 2026
@bjsowa @ahcorde
EventsExecutor: Handle async callbacks for services and subscriptions…
791d736 
… (backport #1478) (#1613)

Signed-off-by: Błażej Sowa <bsowa123@gmail.com>
Co-authored-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
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EventsExecutor fails to handle async service servers

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@bmartin427 @alsora @ahcorde @JensVanhooydonck