From f53b7047f1a936cc8f5a718df6134ca8af27fd73 Mon Sep 17 00:00:00 2001
From: Niklas Halle <n.halle@asis-it.de>
Date: Mon, 7 Apr 2025 14:06:27 +0000
Subject: [PATCH] dirty hack to terminate executor after hard-coded time

---
 src/priority_executor/src/priority_executor.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/priority_executor/src/priority_executor.cpp b/src/priority_executor/src/priority_executor.cpp
index 6a5e63a..f9eee3e 100755
--- a/src/priority_executor/src/priority_executor.cpp
+++ b/src/priority_executor/src/priority_executor.cpp
@@ -38,7 +38,10 @@ void TimedExecutor::spin() {
     }
     RCLCPP_SCOPE_EXIT(this->spinning.store(false););
 
-    while (rclcpp::ok(this->context_) && spinning.load()) {
+    using namespace std::chrono_literals;
+    std::chrono::time_point start = std::chrono::steady_clock::now();
+
+    while (rclcpp::ok(this->context_) && spinning.load() && (std::chrono::steady_clock::now() - start) <= 5s) {
         rclcpp::AnyExecutable any_executable;
         // std::cout<<memory_strategy_->number_of_ready_timers()<<std::endl;
         // std::cout << "spinning " << this->name << std::endl;