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Merge pull request #45 from ros2/spin_once

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add spin_node_once()
This commit is contained in:
Dirk Thomas 2015-06-22 16:21:34 -07:00
commit 5d0241a7c4
1 changed files with 11 additions and 0 deletions
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11
rclcpp/include/rclcpp/executor.hpp
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@ -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) void spin_node_some(rclcpp::node::Node::SharedPtr & node)
{ {
this->add_node(node); this->add_node(node);