add note about problems with spin_until_future_complete #2849
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
The
spin_until_future_complete
can lead to unexpected behaviors.It will only check if the future is complete when the timeout expires or after executing an executor's entity.
This will work as expected only if there's an event waking up the executor when the future becomes ready.
For example this will happen when doing a ROS client request and receiving a future.
But it will not work correctly for any other generic future
In particular we may end up spinning for a lot more after the future is complete.
Is this user-facing behavior change?
No, just adding a comment
Did you use Generative AI?
No
Additional Information
This same problem is discussed as part of #2475