rclcpp::executors Namespace Reference

Classes
class	MultiThreadedExecutor
class	SingleThreadedExecutor
	Single-threaded executor implementation. More...

Functions
template<typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli>
rclcpp::executor::FutureReturnCode	spin_node_until_future_complete (rclcpp::executor::Executor &executor, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, std::shared_future< ResponseT > &future, std::chrono::duration< TimeRepT, TimeT > timeout=std::chrono::duration< TimeRepT, TimeT >(-1))
	Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted. More...
template<typename NodeT = rclcpp::Node, typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli>
rclcpp::executor::FutureReturnCode	spin_node_until_future_complete (rclcpp::executor::Executor &executor, std::shared_ptr< NodeT > node_ptr, std::shared_future< ResponseT > &future, std::chrono::duration< TimeRepT, TimeT > timeout=std::chrono::duration< TimeRepT, TimeT >(-1))

Function Documentation

spin_node_until_future_complete() [1/2]

template<typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli>

rclcpp::executor::FutureReturnCode rclcpp::executors::spin_node_until_future_complete	(	rclcpp::executor::Executor &	executor,
		rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		std::shared_future< ResponseT > &	future,
		std::chrono::duration< TimeRepT, TimeT >	timeout = std::chrono::duration<TimeRepT, TimeT>(-1)
	)

Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.

Parameters

[in]	executor	The executor which will spin the node.
[in]	node_ptr	The node to spin.
[in]	future	The future to wait on. If SUCCESS, the future is safe to access after this function
[in]	timeout	Optional timeout parameter, which gets passed to Executor::spin_node_once. -1 is block forever, 0 is non-blocking. If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return code.

Returns

The return code, one of SUCCESS, INTERRUPTED, or TIMEOUT.

spin_node_until_future_complete() [2/2]

template<typename NodeT = rclcpp::Node, typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli>

rclcpp::executor::FutureReturnCode rclcpp::executors::spin_node_until_future_complete	(	rclcpp::executor::Executor &	executor,
		std::shared_ptr< NodeT >	node_ptr,
		std::shared_future< ResponseT > &	future,
		std::chrono::duration< TimeRepT, TimeT >	timeout = std::chrono::duration<TimeRepT, TimeT>(-1)
	)