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RoboJackets / robocup-software

Georgia Tech RoboJackets Software for the RoboCup Small Size League
Apache License 2.0
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Backport `spin_all` and use it for temporary executors. #1558

Open kylestach opened 4 years ago

kylestach commented 4 years ago

Currently we are using spin_some or spin() in a separate thread for our temporary executors. This should technically really be replaced with a spin_all(), which has been added to rclcpp master but has not yet been added to the foxy release.

Pull request: https://github.com/RoboJackets/robocup-software/pull/1554

Link to TODO, or file number/line: https://github.com/RoboJackets/robocup-software/blob/1aa4cee694700dd91c4fbb1eb343c8dc772a50fe/soccer/src/soccer/processor.cpp#L146

kylestach commented 4 years ago

The following code from rclcpp will be helpful:

https://github.com/ros2/rclcpp/blob/aa159a5e8f6d3bf50c4c0c40dbfb656f7e8c6f97/rclcpp/src/rclcpp/executor.cpp#L406-L450