// Copyright 2015 Open Source Robotics Foundation, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. #include "rclcpp/executors.hpp" void rclcpp::spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr) { rclcpp::executors::SingleThreadedExecutor exec; exec.spin_node_some(node_ptr); } void rclcpp::spin_some(rclcpp::Node::SharedPtr node_ptr) { rclcpp::spin_some(node_ptr->get_node_base_interface()); } void rclcpp::spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr) { rclcpp::executors::SingleThreadedExecutor exec; exec.add_node(node_ptr); exec.spin(); exec.remove_node(node_ptr); } void rclcpp::spin(rclcpp::Node::SharedPtr node_ptr) { rclcpp::spin(node_ptr->get_node_base_interface()); }