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I've been expanding the unit tests of the executors for all three classes, and these methods in StaticSingleThreadedExecutor should not be using the base class implementation in rclcpp::Executor. Because StaticSingleThreadedExecutor derives and implements its own add_node and remove_node, the collection of nodes in rclcpp::Executor is not updated and so these spin variants won't do any work. Either add_node and remove_node need to call the base class implementations as well, which would currently throw an "This node already has an executor" exception or these variants need to be derived specifically for StaticSingleThreadedExecutor.
The text was updated successfully, but these errors were encountered:
I've been expanding the unit tests of the executors for all three classes, and these methods in
StaticSingleThreadedExecutor
should not be using the base class implementation inrclcpp::Executor
. BecauseStaticSingleThreadedExecutor
derives and implements its ownadd_node
andremove_node
, the collection of nodes inrclcpp::Executor
is not updated and so these spin variants won't do any work. Eitheradd_node
andremove_node
need to call the base class implementations as well, which would currently throw an "This node already has an executor" exception or these variants need to be derived specifically forStaticSingleThreadedExecutor
.The text was updated successfully, but these errors were encountered: