From e3f5355d62ccfcfe2a1c29c25631988187f5f07e Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dthomas@osrfoundation.org>
Date: Mon, 22 Jun 2015 15:41:40 -0700
Subject: [PATCH] add spin_node_once()

---
 rclcpp/include/rclcpp/executor.hpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index 1b6afe4..1a484b3 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -87,6 +87,17 @@ public:
     }
   }
 
+  void spin_node_once(rclcpp::node::Node::SharedPtr & node, bool nonblocking = false)
+  {
+    this->add_node(node);
+    // non-blocking = true
+    std::shared_ptr<AnyExecutable> any_exec = get_next_executable(nonblocking);
+    if (any_exec) {
+      execute_any_executable(any_exec);
+    }
+    this->remove_node(node);
+  }
+
   void spin_node_some(rclcpp::node::Node::SharedPtr & node)
   {
     this->add_node(node);