ROS2 migration guide replaces spinOnce with spin_some #4959

wouter-heerwegh · 2025-01-23T13:35:30Z

I recently stumbled on an issue where I was using spin_some in a node that was receiving messages at a higher rate than it was calling the spin_some function. After a bunch of digging, I found the following issue on rclcpp ros2/rclcpp#2655, which mentions that spin_some only processes 1 message of each callback, rather then all work on all callbacks at that time.

It seems that spin_all functionality more closely resembles the spinOnce behaviour from ROS1.

My code was converted according to the migration guide, so I think it would be best to change the example to use spin_all instead

The text was updated successfully, but these errors were encountered:

kscottz · 2025-01-23T19:23:31Z

@wouter-heerwegh thanks for reporting this.

@fujitatomoya I want a quick second opinion, does this sound like a reasonable request? If the answer is yes I can put together a PR.

Somewhat related, the spin_all API documentation could use some love and this might warrant a second ticket.

fujitatomoya · 2025-01-23T19:27:28Z

@kscottz i guess, some semantic for them are different from ROS 1 to ROS 2, but including that i will check to see if the doc or implementation needs to be updated. i will take a look.

ros-discourse · 2025-01-24T19:55:12Z

This issue has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-news-for-the-week-of-january-20th-2025/41719/1

fujitatomoya · 2025-01-24T22:36:01Z

@wouter-heerwegh

spin_some only processes 1 message of each callback, rather then all work on all callbacks at that time.

precisely spin_some can process a data for each entity. (if 2 subscriptions are data-ready, it calls both user callbacks.)

IMO, the doc section is not well described... i would expect that all ready data in the single entity will be executed. that is the claim from ros2/rclcpp#2655.

https://github.com/ros2/rclcpp/blob/2d1b770e858fdb20e9c25913341fb388100dd19e/rclcpp/include/rclcpp/executor.hpp#L283-L303

It seems that spin_all functionality more closely resembles the spinOnce behaviour from ROS1.

I do not think so.

https://docs.ros.org/en/diamondback/api/roscpp/html/namespaceros.html#af4afa6f0ad9f903f04a023982a95ff1c says Process a single round of callbacks and processes only one message from each callback queue in the node handle's associated callback queue during a single call. If you have two subscriptions and call ros::spinOnce() once, it will process only one callback per subscription (if messages are available for both).

that said, ros::spinOnce() matches to Executor::spin_some, not Executor::spin_all.

after all, i think migration doc is correct. what do you think?

wouter-heerwegh · 2025-01-24T23:03:07Z

@fujitatomoya
Thanks for the reply.

While it's definitely documented as such, I think the behaviour is slightly different. When I check the implementation of spinOnce in the roscpp documentation, it seems to call callAvailable. And that function is documented as if it would process all callbacks. So it looks a bit like spin_all with a timeout of 0.

I'll make a small subscriber and publisher node to test the behaviour in ROS1, just to confirm.

kscottz · 2025-01-24T23:44:56Z

I think the real issue here, as show by this issue and #2655, is that the behavior of spin, spin_some, and spin_all isn't self-evident and the API docs don't really clarify the difference.

Regardless of where we land on this particular problem, we probably want to improve the API documentation and write a guide explaining when to use each variant of spin.

fujitatomoya · 2025-01-25T01:32:05Z

I'll make a small subscriber and publisher node to test the behaviour in ROS1, just to confirm.

that definitely helps here 🚀 thanks!

wouter-heerwegh · 2025-01-25T20:15:52Z

@fujitatomoya, I did the following tests:

ROS1 spinOnce implementation
ROS2 spin_some implementation
ROS2 spin_all implementation with 0 max_duration
ROS2 spin_all implementation with 5s max_duration

ROS1 `spinOnce`

Subscriber

#include "ros/ros.h"
#include "std_msgs/String.h"

ros::Time last_msg_time;

void chatterCallback(const std_msgs::String::ConstPtr &msg)
{
	ROS_INFO_STREAM("I heard: [" << msg->data.c_str() << "], time offset: " << (ros::Time::now() - last_msg_time).toSec());
	last_msg_time = ros::Time::now();
}

int main(int argc, char **argv)
{
	ros::init(argc, argv, "listener");
	ros::NodeHandle n;

	ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
	last_msg_time = ros::Time::now();
	ros::Rate loop_rate(0.2);
	while(ros::ok())
	{
		ros::spinOnce();
		loop_rate.sleep();
		ROS_INFO_STREAM("Looping...");
	}

	return 0;
}

Publisher

#include "ros/ros.h"
#include "std_msgs/String.h"

#include <sstream>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "talker");
  ros::NodeHandle n;
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);

  ros::Rate loop_rate(1);

  int count = 0;
  while (ros::ok())
  {
    std_msgs::String msg;

    std::stringstream ss;
    ss << "hello world " << count;
    msg.data = ss.str();

    ROS_INFO("%s", msg.data.c_str());

    chatter_pub.publish(msg);

    ros::spinOnce();

    loop_rate.sleep();
    ++count;
  }


  return 0;
}

Logs

Subscriber

[ INFO] [1737834045.782031480]: Looping...
[ INFO] [1737834045.783269793]: I heard: [hello world 2], time offset: 5.00143
[ INFO] [1737834045.783297436]: I heard: [hello world 3], time offset: 8.154e-06
[ INFO] [1737834045.783313897]: I heard: [hello world 4], time offset: 3.85e-06
[ INFO] [1737834045.783329191]: I heard: [hello world 5], time offset: 3.653e-06
[ INFO] [1737834050.781920524]: Looping...
[ INFO] [1737834050.781993415]: I heard: [hello world 6], time offset: 4.99864
[ INFO] [1737834050.782013652]: I heard: [hello world 7], time offset: 6.494e-06
[ INFO] [1737834050.782031139]: I heard: [hello world 8], time offset: 3.906e-06
[ INFO] [1737834050.782046394]: I heard: [hello world 9], time offset: 3.654e-06
[ INFO] [1737834050.782070624]: I heard: [hello world 10], time offset: 3.964e-06
[ INFO] [1737834055.781920046]: Looping...
[ INFO] [1737834055.781991065]: I heard: [hello world 11], time offset: 4.9999
[ INFO] [1737834055.782011320]: I heard: [hello world 12], time offset: 5.853e-06
[ INFO] [1737834055.782026733]: I heard: [hello world 13], time offset: 4.219e-06
[ INFO] [1737834055.782042235]: I heard: [hello world 14], time offset: 3.758e-06
[ INFO] [1737834055.782058199]: I heard: [hello world 15], time offset: 3.825e-06

Publisher

[ INFO] [1737834040.022939559]: hello world 0
[ INFO] [1737834041.023097018]: hello world 1
[ INFO] [1737834042.023093220]: hello world 2
[ INFO] [1737834043.023086358]: hello world 3
[ INFO] [1737834044.023091466]: hello world 4
[ INFO] [1737834045.023085239]: hello world 5
[ INFO] [1737834046.022987949]: hello world 6
[ INFO] [1737834047.023089965]: hello world 7
[ INFO] [1737834048.023088516]: hello world 8
[ INFO] [1737834049.023088847]: hello world 9
[ INFO] [1737834050.023094621]: hello world 10
[ INFO] [1737834051.023087304]: hello world 11
[ INFO] [1737834052.023084743]: hello world 12
[ INFO] [1737834053.023015742]: hello world 13
[ INFO] [1737834054.023089233]: hello world 14
[ INFO] [1737834055.023087920]: hello world 15
[ INFO] [1737834056.023088054]: hello world 16
[ INFO] [1737834057.023070945]: hello world 17

ROS2 `spin_some`

Subscriber

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

class MinimalSubscriber : public rclcpp::Node
{
public:
	MinimalSubscriber()
		: Node("minimal_subscriber")
	{
		auto topic_callback =
			[this](std_msgs::msg::String::UniquePtr msg) -> void
		{
			RCLCPP_INFO_STREAM(this->get_logger(), "I heard:  [" << msg->data.c_str() << "], time offset: " << (this->now() - last_msg_time).seconds());
			last_msg_time = this->now();
		};
		subscription_ =
			this->create_subscription<std_msgs::msg::String>("topic", 10, topic_callback);
	}

private:
	rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
	rclcpp::Time last_msg_time = this->now();
};

int main(int argc, char *argv[])
{
	rclcpp::init(argc, argv);
	rclcpp::Node::SharedPtr node = std::make_shared<MinimalSubscriber>();

	rclcpp::Rate rate(0.2);
	while(rclcpp::ok())
	{
		rclcpp::spin_some(node);
		rate.sleep();
	}
	rclcpp::shutdown();
	return 0;
}

Publisher

#include <chrono>
#include <memory>
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;

class MinimalPublisher : public rclcpp::Node
{
public:
  MinimalPublisher()
  : Node("minimal_publisher"), count_(0)
  {
    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
    auto timer_callback =
      [this]() -> void {
        auto message = std_msgs::msg::String();
        message.data = "Hello, world! " + std::to_string(this->count_++);
        RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
        this->publisher_->publish(message);
      };
    timer_ = this->create_wall_timer(1s, timer_callback);
  }

private:
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
  size_t count_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalPublisher>());
  rclcpp::shutdown();
  return 0;
}

Logs

Subscriber

[INFO] [1737834880.191859878] [minimal_subscriber]: I heard:  [Hello, world! 0], time offset: 5.00116
[INFO] [1737834885.191631001] [minimal_subscriber]: I heard:  [Hello, world! 1], time offset: 4.99945
[INFO] [1737834890.191673289] [minimal_subscriber]: I heard:  [Hello, world! 3], time offset: 4.99987
[INFO] [1737834895.191528547] [minimal_subscriber]: I heard:  [Hello, world! 8], time offset: 4.99969

Publisher

[INFO] [1737834877.835697109] [minimal_publisher]: Publishing: 'Hello, world! 0'
[INFO] [1737834878.835733196] [minimal_publisher]: Publishing: 'Hello, world! 1'
[INFO] [1737834879.835728231] [minimal_publisher]: Publishing: 'Hello, world! 2'
[INFO] [1737834880.835719712] [minimal_publisher]: Publishing: 'Hello, world! 3'
[INFO] [1737834881.835727291] [minimal_publisher]: Publishing: 'Hello, world! 4'
[INFO] [1737834882.835718983] [minimal_publisher]: Publishing: 'Hello, world! 5'
[INFO] [1737834883.835714153] [minimal_publisher]: Publishing: 'Hello, world! 6'
[INFO] [1737834884.835789483] [minimal_publisher]: Publishing: 'Hello, world! 7'
[INFO] [1737834885.835694499] [minimal_publisher]: Publishing: 'Hello, world! 8'
[INFO] [1737834886.835747686] [minimal_publisher]: Publishing: 'Hello, world! 9'
[INFO] [1737834887.835617868] [minimal_publisher]: Publishing: 'Hello, world! 10'
[INFO] [1737834888.835585636] [minimal_publisher]: Publishing: 'Hello, world! 11'
[INFO] [1737834889.835582015] [minimal_publisher]: Publishing: 'Hello, world! 12'
[INFO] [1737834890.835567956] [minimal_publisher]: Publishing: 'Hello, world! 13'
[INFO] [1737834891.835565611] [minimal_publisher]: Publishing: 'Hello, world! 14'
[INFO] [1737834892.835584229] [minimal_publisher]: Publishing: 'Hello, world! 15'
[INFO] [1737834893.835586867] [minimal_publisher]: Publishing: 'Hello, world! 16'
[INFO] [1737834894.835632711] [minimal_publisher]: Publishing: 'Hello, world! 17'
[INFO] [1737834895.835634136] [minimal_publisher]: Publishing: 'Hello, world! 18'
[INFO] [1737834896.835754409] [minimal_publisher]: Publishing: 'Hello, world! 19'
[INFO] [1737834897.835636473] [minimal_publisher]: Publishing: 'Hello, world! 20'
[INFO] [1737834898.835495235] [minimal_publisher]: Publishing: 'Hello, world! 21'

ROS2 `spin_all` with 0 max_duration

Same code for subscriber and publisher except spin_some converted to spin_all with 0s max_duration

Logs

Subscriber

[INFO] [1737835532.499158089] [minimal_subscriber]: I heard:  [Hello, world! 0], time offset: 5.00109
[INFO] [1737835532.499537772] [minimal_subscriber]: I heard:  [Hello, world! 1], time offset: 8.1787e-05
[INFO] [1737835532.499607355] [minimal_subscriber]: I heard:  [Hello, world! 2], time offset: 3.602e-05
[INFO] [1737835537.498975759] [minimal_subscriber]: I heard:  [Hello, world! 3], time offset: 4.99933
[INFO] [1737835537.499178449] [minimal_subscriber]: I heard:  [Hello, world! 4], time offset: 4.7761e-05
[INFO] [1737835537.499232779] [minimal_subscriber]: I heard:  [Hello, world! 5], time offset: 2.6296e-05
[INFO] [1737835537.499279745] [minimal_subscriber]: I heard:  [Hello, world! 6], time offset: 2.4066e-05
[INFO] [1737835537.499326932] [minimal_subscriber]: I heard:  [Hello, world! 7], time offset: 2.5614e-05
[INFO] [1737835542.498988283] [minimal_subscriber]: I heard:  [Hello, world! 8], time offset: 4.99961
[INFO] [1737835542.499184180] [minimal_subscriber]: I heard:  [Hello, world! 9], time offset: 4.81e-05
[INFO] [1737835542.499236934] [minimal_subscriber]: I heard:  [Hello, world! 10], time offset: 2.6888e-05
[INFO] [1737835542.499282934] [minimal_subscriber]: I heard:  [Hello, world! 11], time offset: 2.5081e-05
[INFO] [1737835542.499326954] [minimal_subscriber]: I heard:  [Hello, world! 12], time offset: 2.5729e-05
[INFO] [1737835547.498624013] [minimal_subscriber]: I heard:  [Hello, world! 13], time offset: 4.99927
[INFO] [1737835547.498682507] [minimal_subscriber]: I heard:  [Hello, world! 14], time offset: 1.0196e-05
[INFO] [1737835547.498690532] [minimal_subscriber]: I heard:  [Hello, world! 15], time offset: 4.115e-06

Publisher

[INFO] [1737835530.191950924] [minimal_publisher]: Publishing: 'Hello, world! 0'
[INFO] [1737835531.191982235] [minimal_publisher]: Publishing: 'Hello, world! 1'
[INFO] [1737835532.192049901] [minimal_publisher]: Publishing: 'Hello, world! 2'
[INFO] [1737835533.191933634] [minimal_publisher]: Publishing: 'Hello, world! 3'
[INFO] [1737835534.191984099] [minimal_publisher]: Publishing: 'Hello, world! 4'
[INFO] [1737835535.191987575] [minimal_publisher]: Publishing: 'Hello, world! 5'
[INFO] [1737835536.191990439] [minimal_publisher]: Publishing: 'Hello, world! 6'
[INFO] [1737835537.191984811] [minimal_publisher]: Publishing: 'Hello, world! 7'
[INFO] [1737835538.192005315] [minimal_publisher]: Publishing: 'Hello, world! 8'
[INFO] [1737835539.192008494] [minimal_publisher]: Publishing: 'Hello, world! 9'
[INFO] [1737835540.191980526] [minimal_publisher]: Publishing: 'Hello, world! 10'
[INFO] [1737835541.191937971] [minimal_publisher]: Publishing: 'Hello, world! 11'
[INFO] [1737835542.192004791] [minimal_publisher]: Publishing: 'Hello, world! 12'
[INFO] [1737835543.191945028] [minimal_publisher]: Publishing: 'Hello, world! 13'
[INFO] [1737835544.192020682] [minimal_publisher]: Publishing: 'Hello, world! 14'
[INFO] [1737835545.191938151] [minimal_publisher]: Publishing: 'Hello, world! 15'

ROS2 `spin_all` with 5s max_duration

Same code for subscriber and publisher except spin_some converted to spin_all with 5s max_duration

Logs

Subscriber

[INFO] [1737835723.111208161] [minimal_subscriber]: I heard:  [Hello, world! 0], time offset: 5.00102
[INFO] [1737835723.111559488] [minimal_subscriber]: I heard:  [Hello, world! 1], time offset: 5.2333e-05
[INFO] [1737835723.111617613] [minimal_subscriber]: I heard:  [Hello, world! 2], time offset: 2.6683e-05
[INFO] [1737835728.111121631] [minimal_subscriber]: I heard:  [Hello, world! 3], time offset: 4.99946
[INFO] [1737835728.111297446] [minimal_subscriber]: I heard:  [Hello, world! 4], time offset: 4.0458e-05
[INFO] [1737835728.111350177] [minimal_subscriber]: I heard:  [Hello, world! 5], time offset: 2.2942e-05
[INFO] [1737835728.111398654] [minimal_subscriber]: I heard:  [Hello, world! 6], time offset: 2.775e-05
[INFO] [1737835728.111442170] [minimal_subscriber]: I heard:  [Hello, world! 7], time offset: 2.3742e-05
[INFO] [1737835733.111150714] [minimal_subscriber]: I heard:  [Hello, world! 8], time offset: 4.99966
[INFO] [1737835733.111364230] [minimal_subscriber]: I heard:  [Hello, world! 9], time offset: 4.8373e-05
[INFO] [1737835733.111419343] [minimal_subscriber]: I heard:  [Hello, world! 10], time offset: 2.7058e-05
[INFO] [1737835733.111466060] [minimal_subscriber]: I heard:  [Hello, world! 11], time offset: 2.4837e-05
[INFO] [1737835733.111509427] [minimal_subscriber]: I heard:  [Hello, world! 12], time offset: 2.5222e-05
[INFO] [1737835738.111116033] [minimal_subscriber]: I heard:  [Hello, world! 13], time offset: 4.99956
[INFO] [1737835738.111320576] [minimal_subscriber]: I heard:  [Hello, world! 14], time offset: 5.1276e-05
[INFO] [1737835738.111377321] [minimal_subscriber]: I heard:  [Hello, world! 15], time offset: 2.6335e-05
[INFO] [1737835738.111461587] [minimal_subscriber]: I heard:  [Hello, world! 16], time offset: 2.4741e-05
[INFO] [1737835738.111508974] [minimal_subscriber]: I heard:  [Hello, world! 17], time offset: 2.4794e-05

Publisher

[INFO] [1737835720.997993174] [minimal_publisher]: Publishing: 'Hello, world! 0'
[INFO] [1737835721.997991028] [minimal_publisher]: Publishing: 'Hello, world! 1'
[INFO] [1737835722.998115940] [minimal_publisher]: Publishing: 'Hello, world! 2'
[INFO] [1737835723.998086001] [minimal_publisher]: Publishing: 'Hello, world! 3'
[INFO] [1737835724.997963379] [minimal_publisher]: Publishing: 'Hello, world! 4'
[INFO] [1737835725.998044965] [minimal_publisher]: Publishing: 'Hello, world! 5'
[INFO] [1737835726.998007839] [minimal_publisher]: Publishing: 'Hello, world! 6'
[INFO] [1737835727.998002223] [minimal_publisher]: Publishing: 'Hello, world! 7'
[INFO] [1737835728.998010047] [minimal_publisher]: Publishing: 'Hello, world! 8'
[INFO] [1737835729.997992773] [minimal_publisher]: Publishing: 'Hello, world! 9'
[INFO] [1737835730.997988944] [minimal_publisher]: Publishing: 'Hello, world! 10'
[INFO] [1737835731.997993312] [minimal_publisher]: Publishing: 'Hello, world! 11'
[INFO] [1737835732.997991355] [minimal_publisher]: Publishing: 'Hello, world! 12'
[INFO] [1737835733.998011520] [minimal_publisher]: Publishing: 'Hello, world! 13'
[INFO] [1737835734.998001647] [minimal_publisher]: Publishing: 'Hello, world! 14'
[INFO] [1737835735.997984794] [minimal_publisher]: Publishing: 'Hello, world! 15'
[INFO] [1737835736.998004819] [minimal_publisher]: Publishing: 'Hello, world! 16'
[INFO] [1737835737.998000897] [minimal_publisher]: Publishing: 'Hello, world! 17'
[INFO] [1737835738.998006518] [minimal_publisher]: Publishing: 'Hello, world! 18'
[INFO] [1737835739.998002386] [minimal_publisher]: Publishing: 'Hello, world! 19'
[INFO] [1737835740.997965316] [minimal_publisher]: Publishing: 'Hello, world! 20'
[INFO] [1737835741.997967480] [minimal_publisher]: Publishing: 'Hello, world! 21'
[INFO] [1737835742.997893886] [minimal_publisher]: Publishing: 'Hello, world! 22'

Conclusion

From these tests it does look as if spin_all is more closely resembling the spinOnce behaviour.

fujitatomoya · 2025-01-26T19:14:03Z

From these tests it does look as if spin_all is more closely resembling the spinOnce behaviour.

@wouter-heerwegh thank you very much for confirming this! and based on this result, i agree with you conclusion.

there is a couple of things that i need to do,

i will check if this ROS 2 rclcpp::spin_some behavior is by design with other maintainers. if not, we need to fix rclcpp::spin_some implementation. otherwise, we need to update the doc section to clarify the behavior.
even though rclcpp::spin_some needs to be fixed, current migration is not correct for user at this moment. ROS 1 spinOnce should be replaced with ROS 2 rclcpp::spin_some as we confirmed here.

fujitatomoya · 2025-01-26T23:26:31Z

@wouter-heerwegh @kscottz

could you take a look at #4966?

wouter-heerwegh · 2025-01-26T23:40:33Z

Looks good to me, I guess another issue should be opened to keep track of a more elaborate part of the documentation explaining the differences between the spin methods, right?

If some help is needed, I would gladly help out.

fujitatomoya · 2025-01-27T03:27:06Z

thanks!

I guess another issue should be opened to keep track of a more elaborate part of the documentation explaining the differences between the spin methods, right?

i can do that once i confirm the designed behavior.

kscottz added help wanted Extra attention is needed good first issue Good for newcomers labels Jan 23, 2025

fujitatomoya self-assigned this Jan 23, 2025

fujitatomoya mentioned this issue Jan 24, 2025

Posible bug: spin_some only processes one message per topic even if multiple messages are in the queue ros2/rclcpp#2655

Open

fujitatomoya added the bug Something isn't working label Jan 26, 2025

fujitatomoya mentioned this issue Jan 26, 2025

suggest spin_all to migrate spinOnce to execute all available works i… #4966

Merged

ahcorde closed this as completed in #4966 Jan 27, 2025

mergify bot mentioned this issue Jan 27, 2025

suggest spin_all to migrate spinOnce to execute all available works i… (backport #4966) #4969

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ROS2 migration guide replaces spinOnce with spin_some #4959

ROS2 migration guide replaces spinOnce with spin_some #4959

wouter-heerwegh commented Jan 23, 2025

kscottz commented Jan 23, 2025

fujitatomoya commented Jan 23, 2025

ros-discourse commented Jan 24, 2025

fujitatomoya commented Jan 24, 2025

wouter-heerwegh commented Jan 24, 2025 •

edited

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kscottz commented Jan 24, 2025

fujitatomoya commented Jan 25, 2025

wouter-heerwegh commented Jan 25, 2025

fujitatomoya commented Jan 26, 2025

fujitatomoya commented Jan 26, 2025

wouter-heerwegh commented Jan 26, 2025

fujitatomoya commented Jan 27, 2025

ROS2 migration guide replaces spinOnce with spin_some #4959

ROS2 migration guide replaces spinOnce with spin_some #4959

Comments

wouter-heerwegh commented Jan 23, 2025

kscottz commented Jan 23, 2025

fujitatomoya commented Jan 23, 2025

ros-discourse commented Jan 24, 2025

fujitatomoya commented Jan 24, 2025

wouter-heerwegh commented Jan 24, 2025 • edited Loading

kscottz commented Jan 24, 2025

fujitatomoya commented Jan 25, 2025

wouter-heerwegh commented Jan 25, 2025

ROS1 spinOnce

Subscriber

Publisher

Logs

Subscriber

Publisher

ROS2 spin_some

Subscriber

Publisher

Logs

Subscriber

Publisher

ROS2 spin_all with 0 max_duration

Logs

Subscriber

Publisher

ROS2 spin_all with 5s max_duration

Logs

Subscriber

Publisher

Conclusion

fujitatomoya commented Jan 26, 2025

fujitatomoya commented Jan 26, 2025

wouter-heerwegh commented Jan 26, 2025

fujitatomoya commented Jan 27, 2025

wouter-heerwegh commented Jan 24, 2025 •

edited

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ROS1 `spinOnce`

ROS2 `spin_some`

ROS2 `spin_all` with 0 max_duration

ROS2 `spin_all` with 5s max_duration