SingleThreadedExecutor with awaited service call doesn't process othe…

…r callbacks when rclpy.spin is passed a timeout

  ros2/rclpy#1159

Signed-off-by: Tomoya Fujita <[email protected]>

prover_rclpy/setup.py

@@ -68,6 +68,7 @@
             'rclpy_1098 = src.rclpy_1098:main',
             'rclpy_1132 = src.rclpy_1132:main',
             'rclpy_1149 = src.rclpy_1149:main',
+            'rclpy_1159 = src.rclpy_1159:main',
             'ros2cli_818 = src.ros2cli_818:main',
         ],
     },

prover_rclpy/src/rclpy_1159.py

@@ -0,0 +1,51 @@
+import rclpy
+from rclpy.node import Node
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.task import Future
+
+# Random service example.
+from rcl_interfaces.srv import GetParameters
+
+
+class AsyncClient(Node):
+    def __init__(self):
+        super().__init__("async_client_node")
+        callback_group = ReentrantCallbackGroup()
+
+        self.cli = self.create_client(
+            GetParameters, "test_service", callback_group=callback_group
+        )
+        self.service_call_timer = self.create_timer(
+            1.0, self.call_service_cb, callback_group=callback_group
+        )
+        self.log_timer = self.create_timer(
+            2.0,
+            self.log_cb,
+            callback_group=callback_group,
+        )
+
+    def log_cb(self):
+        self.get_logger().info("Logging timer fired.")
+
+    async def call_service_cb(self):
+        self.service_call_timer.cancel()
+
+        self.get_logger().info("Calling service")
+        # I know there's no service, this is intentional and I expect this task to not complete,
+        # but other tasks should still be able to complete!
+        response = await self.cli.call_async(GetParameters.Request())
+        self.get_logger().info(f"Service call response: {response.message}")
+
+
+def main(args=None):
+    rclpy.init()
+    node = AsyncClient()
+
+    # If I run this, my log_cb is called.
+    #rclpy.spin_until_future_complete(node, Future())
+    # If I run this, my log_cb isn't called!
+    rclpy.spin_until_future_complete(node, Future(), timeout_sec=5.0)
+
+
+if __name__ == '__main__':
+    main()