add spinning state for the Executor classes. by fujitatomoya · Pull Request #1510 · ros2/rclpy

fujitatomoya · 2025-10-04T07:44:22Z

Description

Follow up of #1477 (review)

Is this user-facing behavior change?

Possibly yes, it explicitly throws the exception on the 2nd spin call if the executor is already spinning.

Did you use Generative AI?

No

Additional Information

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com>

Copilot

Pull Request Overview

This PR adds spinning state tracking to the Executor classes to prevent multiple concurrent spin operations. It introduces a new is_spinning property and enforces mutual exclusion by raising a RuntimeError when attempting to spin an already spinning executor.

Adds thread-safe spinning state management with lock protection
Implements concurrent spin prevention across all spin methods (spin, spin_once, spin_until_future_complete, spin_once_until_future_complete)
Adds comprehensive test coverage for all executor types and spin methods

Reviewed Changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 6 comments.

File	Description
rclpy/rclpy/executors.py	Implements spinning state tracking with locks and RuntimeError for concurrent spins
rclpy/test/test_executor.py	Adds test cases to verify concurrent spin prevention for all spin methods

_{Tip: Customize your code reviews with copilot-instructions.md. Create the file or learn how to get started.}

rclpy/rclpy/executors.py

Copilot

Pull Request Overview

Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.

_{Tip: Customize your code reviews with copilot-instructions.md. Create the file or learn how to get started.}

rclpy/rclpy/executors.py

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com>

fujitatomoya · 2025-10-04T08:28:43Z

Pulls: #1510
Gist: https://gist.githubusercontent.com/fujitatomoya/2f5cde0a5e039f57e70764dafb0b0792/raw/87d10585b5c7a9e74ddd7f0bd7d04e73fb4f28e9/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/17198

Linux
Linux-aarch64
Linux-rhel
Windows

fujitatomoya

This behavior is aligned with rclcpp Executor, and EventsExecutor in rclpy.

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

jmachowinski · 2026-01-09T16:26:51Z

@Mergifyio backport jazzy humble

mergify · 2026-01-09T16:27:09Z

backport jazzy humble

☑️ Command disallowed due to command restrictions in the Mergify configuration.

Details

sender-permission >= write

mjcarroll · 2026-01-09T16:27:52Z

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

mergify · 2026-01-09T16:28:02Z

backport jazzy humble

✅ Backports have been created

Details

#1576 add spinning state for the Executor classes. (backport #1510) has been created for branch jazzy but encountered conflicts
#1577 add spinning state for the Executor classes. (backport #1510) has been created for branch humble but encountered conflicts

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> (cherry picked from commit cf9240a) # Conflicts: # rclpy/rclpy/executors.py

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

fujitatomoya · 2026-01-13T06:35:01Z

@jmachowinski maybe we should backport this to kilted 1st?

fujitatomoya · 2026-01-13T06:35:10Z

@Mergifyio backport kilted

mergify · 2026-01-13T06:35:19Z

backport kilted

✅ Backports have been created

Details

#1578 add spinning state for the Executor classes. (backport #1510) has been created for branch kilted

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> (cherry picked from commit cf9240a)

(cherry picked from commit cf9240a) Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* add spinning state for the Executor classes. (#1510) Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> (cherry picked from commit cf9240a) Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

) * 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>

add spinning state for the Executor classes.

2427b79

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com>

fujitatomoya requested review from ahcorde, Copilot and mjcarroll October 4, 2025 07:44

fujitatomoya self-assigned this Oct 4, 2025

fujitatomoya added the enhancement New feature or request label Oct 4, 2025

Copilot AI reviewed Oct 4, 2025

View reviewed changes

fujitatomoya requested a review from Copilot October 4, 2025 07:52

Copilot AI reviewed Oct 4, 2025

View reviewed changes

rclpy/rclpy/executors.py Outdated Show resolved Hide resolved

rclpy/rclpy/executors.py Outdated Show resolved Hide resolved

address Copilot auto review comments.

3e1d2fc

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com>

fujitatomoya force-pushed the fujitatomoya/spinning-state-executors branch from 631b3e0 to 3e1d2fc Compare October 4, 2025 08:28

fujitatomoya commented Oct 4, 2025

View reviewed changes

ahcorde approved these changes Oct 6, 2025

View reviewed changes

ahcorde merged commit cf9240a into rolling Oct 6, 2025
2 of 3 checks passed

ahcorde deleted the fujitatomoya/spinning-state-executors branch October 6, 2025 08:51

christophfroehlich mentioned this pull request Oct 21, 2025

RuntimeError: Executor is already spinning ros-controls/ros2_control#2650

Closed

InvincibleRMC pushed a commit to InvincibleRMC/rclpy that referenced this pull request Nov 20, 2025

add spinning state for the Executor classes. (ros2#1510)

cf424fe

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

mergify bot pushed a commit that referenced this pull request Jan 9, 2026

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

a26537b

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> (cherry picked from commit cf9240a) # Conflicts: # rclpy/rclpy/executors.py

mergify bot pushed a commit that referenced this pull request Jan 9, 2026

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

b0c05f8

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> (cherry picked from commit cf9240a) # Conflicts: # rclpy/rclpy/executors.py

This was referenced Jan 9, 2026

add spinning state for the Executor classes. (backport #1510) #1576

Merged

add spinning state for the Executor classes. (backport #1510) #1577

Closed

InvincibleRMC pushed a commit to InvincibleRMC/rclpy that referenced this pull request Jan 12, 2026

add spinning state for the Executor classes. (ros2#1510)

fba731b

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

mergify bot pushed a commit that referenced this pull request Jan 13, 2026

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

b6e7333

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> (cherry picked from commit cf9240a)

mergify bot mentioned this pull request Jan 13, 2026

add spinning state for the Executor classes. (backport #1510) #1578

Merged

ahcorde pushed a commit that referenced this pull request Jan 15, 2026

add spinning state for the Executor classes. (#1510) (#1578)

1cbe79c

(cherry picked from commit cf9240a) Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

Conversation

fujitatomoya commented Oct 4, 2025

Description

Is this user-facing behavior change?

Did you use Generative AI?

Additional Information

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull Request Overview

Reviewed Changes

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull Request Overview

Uh oh!

Uh oh!

Uh oh!

fujitatomoya commented Oct 4, 2025

Uh oh!

fujitatomoya left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

jmachowinski commented Jan 9, 2026

Uh oh!

mergify bot commented Jan 9, 2026

☑️ Command disallowed due to command restrictions in the Mergify configuration.

Uh oh!

mjcarroll commented Jan 9, 2026

Uh oh!

mergify bot commented Jan 9, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

✅ Backports have been created

Uh oh!

fujitatomoya commented Jan 13, 2026

Uh oh!

fujitatomoya commented Jan 13, 2026

Uh oh!

mergify bot commented Jan 13, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

✅ Backports have been created

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

5 participants

mergify bot commented Jan 9, 2026 •

edited

Loading

mergify bot commented Jan 13, 2026 •

edited

Loading