spin until timeout

[briansoe66]

Feature request

I propose a spin until timeout function:

void spin_until_timeout(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, 
                        std::chrono::duration< TimeRepT, TimeT > timeout)

This is useful for writing unit tests. Currently, I use spin_until_future_complete(), with a placeholder future, based on code in benchmark_service.cpp

constexpr char empty_service_name[] = "empty_service";
auto client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
auto shared_request = std::make_shared<test_msgs::srv::Empty::Request>();
auto future = client->async_send_request(shared_request);
spin_until_future_complete(node, future, std::chrono::seconds(1));

[hliberacki]

I can take care of that. If it's not taken

[fujitatomoya]

@hliberacki it's been a while, are you still working on this? I think the following PRs need to be rebased and verified once again before merge.

• Update spin_until_complete rclpy#919
• Revert "Revert "Add support for spin_until_timeout (#1821)"" #1957
• Revert "Revert "Replace deprecated spin_until_future_complete"" system_tests#505
• Replace deprecated spin_until_future_complete ros2cli#704
• Replace deprecated spin_until_future_complete with spin_until_complete launch_ros#306
• Replace deprecated spin_until_future_complete geometry2#512
• Replace deprecated spin_until_future_complete examples#339
• Update usage of spin_until_future_complete demos#556
• Deprecated spin_until_future_complete ros-visualization/interactive_markers#90
• Replace deprecated spin_until_future_complete ros2_tracing#2
• Replace deprecated spin_until_future_complete ros-visualization/rqt_reconfigure#111

[hliberacki]

@fujitatomoya Yes I'm, sorry I did not have enough capacity lately to do it. AFAIK what is pending was a review of my change in Rclpy repo. If I recall correctly @wjwwood found some issues there, yet those were not reviewed after my fixes.

Nevertheless I will rebase my other MR and see what has to be changed in current codebase. And when Rclpy will be correct, we can proceed to summarize this those changes all together.

Once again sorry for the delays on that

[fujitatomoya]

repo file for these PRs included, https://gist.githubusercontent.com/fujitatomoya/9656dc65ca96a02690370b4695bd65c8/raw/c6a694c597cb7b1ce43960ba59ba939c4a35544c/ros2.repos

[fujitatomoya]

@hliberacki Just FYI.

• Revert "Revert "Add support for spin_until_timeout (#1821)"" #1957 conflicts resolved, synced with current rolling. i think this is good to go.
• Revert "Revert "Replace deprecated spin_until_future_complete"" system_tests#505, requesting access permission to rebase this PR. once i got it, either me or someone else will do that.

other PRs can be rebased on your repository, so please rebase all related PRs and test.

you could use this repo file: https://gist.githubusercontent.com/fujitatomoya/9656dc65ca96a02690370b4695bd65c8/raw/c6a694c597cb7b1ce43960ba59ba939c4a35544c/ros2.repos

[fujitatomoya]

@hliberacki friendly ping.

ros2/system_tests#505 has been rebased by @audrow

[hliberacki]

@fujitatomoya sorry for the delay, I will handle it during the weekend - had plenty of work for the last 2 days and I did not manage to make it here.

[fujitatomoya]

@hliberacki that is totally fine, we appreciate your contribution!

[fujitatomoya]

Just posting note, not to miss any part of this API change. ros2/ros2_documentation#2798 has been closed cz it was reverted, but i still do think this doc update would be nice for user.

CC: @SteveMacenski

[SteveMacenski]

That PR was not meant to be closed - I did a clean reset of my fork because it had gotten hilariously out of date. Let me open a new one

[fujitatomoya]

@SteveMacenski thanks 👍 no pressure or harry, we 1st need to rebase all of #1821 (comment). @hliberacki friendly ping.

[hliberacki]

@fujitatomoya starting to work on that, again sorry for the delays! I was super packed - time-wise, lately.

[timassman]

For others that need a workaround for a "spin until timeout function" until this feature is available, the shortest way I found:

rclcpp::spin_until_future_complete(node, std::promise<bool>().get_future(), std::chrono::seconds(1));