[rclpy] Fix spin_once() removing node from executor even if already attached (backport #1446) #1450
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… attached (#1446) Signed-off-by: Alon <[email protected]> (cherry picked from commit 3414456)
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Pulls: #1450
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fujitatomoya
approved these changes
Apr 29, 2025
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Summary
This pull request fixes a bug where
rclpy.spin_once()would remove a node from its executor that it didn't add.Previously,
spin_once()unconditionally calledexecutor.remove_node(node)at the end, disconnecting nodes managed by user-created executors (e.g.,MultiThreadedExecutor).This fix tracks whether
spin_once()itself added the node, and only removes it if necessary — matching the behavior already used inspin_until_future_complete().Motivation
Calling
rclpy.spin_once()on a node that is part of an existing executor (e.g., for asynchronous callbacks) currently breaks the executor's management, causing nodes to silently stop working.This fix ensures better safety and makes
rclpyutilities more consistent.Related Issue
It handles a similar issue like #1316
This is an automatic backport of pull request #1446 done by [Mergify](https://mergify.com).