Use the same context for the specified node in rclcpp::spin functions (#2433)

* Use the same conext for the specified node in rclcpp::spin_xx functions

Signed-off-by: GitHub <[email protected]>

* Add test for spinning with non-default-context

Signed-off-by: Kotaro Yoshimoto <[email protected]>

* Format code

Signed-off-by: Kotaro Yoshimoto <[email protected]>

---------

Signed-off-by: GitHub <[email protected]>
Signed-off-by: Kotaro Yoshimoto <[email protected]>

Author: HansRobo

rclcpp/include/rclcpp/executors.hpp

@@ -120,7 +120,9 @@ spin_until_future_complete(
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::ExecutorOptions options;
+  options.context = node_ptr->get_context();
+  rclcpp::executors::SingleThreadedExecutor executor(options);
   return executors::spin_node_until_future_complete<FutureT>(executor, node_ptr, future, timeout);
 }
 

rclcpp/src/rclcpp/executors.cpp

@@ -19,7 +19,9 @@ rclcpp::spin_all(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
   std::chrono::nanoseconds max_duration)
 {
-  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::ExecutorOptions options;
+  options.context = node_ptr->get_context();
+  rclcpp::executors::SingleThreadedExecutor exec(options);
   exec.spin_node_all(node_ptr, max_duration);
 }
 
@@ -32,7 +34,9 @@ rclcpp::spin_all(rclcpp::Node::SharedPtr node_ptr, std::chrono::nanoseconds max_
 void
 rclcpp::spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::ExecutorOptions options;
+  options.context = node_ptr->get_context();
+  rclcpp::executors::SingleThreadedExecutor exec(options);
   exec.spin_node_some(node_ptr);
 }
 
@@ -45,7 +49,9 @@ rclcpp::spin_some(rclcpp::Node::SharedPtr node_ptr)
 void
 rclcpp::spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::ExecutorOptions options;
+  options.context = node_ptr->get_context();
+  rclcpp::executors::SingleThreadedExecutor exec(options);
   exec.add_node(node_ptr);
   exec.spin();
   exec.remove_node(node_ptr);

rclcpp/test/rclcpp/executors/test_executors.cpp

@@ -839,3 +839,33 @@ TEST(TestExecutors, testSpinUntilFutureCompleteNodePtr)
 
   rclcpp::shutdown();
 }
+
+// Check spin functions with non default context
+TEST(TestExecutors, testSpinWithNonDefaultContext)
+{
+  auto non_default_context = std::make_shared<rclcpp::Context>();
+  non_default_context->init(0, nullptr);
+
+  {
+    auto node =
+      std::make_unique<rclcpp::Node>("node", rclcpp::NodeOptions().context(non_default_context));
+
+    EXPECT_NO_THROW(rclcpp::spin_some(node->get_node_base_interface()));
+
+    EXPECT_NO_THROW(rclcpp::spin_all(node->get_node_base_interface(), 1s));
+
+    auto check_spin_until_future_complete = [&]() {
+        std::promise<bool> promise;
+        std::future<bool> future = promise.get_future();
+        promise.set_value(true);
+
+        auto shared_future = future.share();
+        auto ret = rclcpp::spin_until_future_complete(
+          node->get_node_base_interface(), shared_future, 1s);
+        EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+      };
+    EXPECT_NO_THROW(check_spin_until_future_complete());
+  }
+
+  rclcpp::shutdown(non_default_context);
+}