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EventsExecutor: Handle async callbacks for services and subscriptions (backport #1478)#1512

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ahcorde merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-1478
Oct 7, 2025
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EventsExecutor: Handle async callbacks for services and subscriptions (backport #1478)#1512
ahcorde merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-1478

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@mergify mergify bot commented Oct 6, 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.


This is an automatic backport of pull request #1478 done by Mergify.

…#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)
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ahcorde commented Oct 6, 2025

Pulls: #1512
Gist: https://gist.githubusercontent.com/ahcorde/c9e6bc5b67ba8c77e20594208a177ab2/raw/63a7be48d0274334bac30e14e199075da7f93549/ros2.repos
BUILD args: --packages-above-and-dependencies rclpy
TEST args: --packages-above rclpy
ROS Distro: kilted
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17222

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@ahcorde ahcorde merged commit f14a4ab into kilted Oct 7, 2025
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@ahcorde ahcorde deleted the mergify/bp/kilted/pr-1478 branch October 7, 2025 07:50
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2 participants