Function rclc_executor_spin

Defined in File executor.h

Function Documentation

rcl_ret_t rclc_executor_spin(rclc_executor_t *executor)

The spin function checks for new data at DDS queue as long as ros context is available. It calls rclc_executor_spin_some() as long as rcl_is_context_is_valid() returns true.

Memory is dynamically allocated within rcl-layer, when DDS queue is accessed with rcl_wait_set_init() (in spin_some function)

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:: executor – [inout] pointer to initialized executor
Returns:: RCL_RET_OK if spin operation was successful
Returns:: RCL_RET_INVALID_ARGUMENT if executor is a null pointer
Returns:: RCL_RET_ERROR if any other error occured