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get rid of deprecated rclcpp::spin_some() #183

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Merged
ahcorde merged 1 commit into from
Aug 25, 2025
+5 −1
Merged

get rid of deprecated rclcpp::spin_some() #183

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2 changes: 2 additions & 0 deletions turtlesim/include/turtlesim/turtle_frame.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,8 @@ private slots:
rclcpp::Service<turtlesim_msgs::srv::Kill>::SharedPtr kill_srv_;
rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_event_sub_;

rclcpp::executors::SingleThreadedExecutor executor_;

typedef std::map<std::string, TurtlePtr> M_Turtle;
M_Turtle turtles_;
uint32_t id_counter_;
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4 changes: 3 additions & 1 deletion turtlesim/src/turtle_frame.cpp
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Expand Up @@ -70,6 +70,8 @@ TurtleFrame::TurtleFrame(rclcpp::Node::SharedPtr & node_handle, QWidget * parent
connect(update_timer_, SIGNAL(timeout()), this, SLOT(onUpdate()));

nh_ = node_handle;
executor_.add_node(nh_);

rcl_interfaces::msg::IntegerRange range;
range.from_value = 0;
range.step = 1;
Expand Down Expand Up @@ -267,7 +269,7 @@ void TurtleFrame::onUpdate()
return;
}

rclcpp::spin_some(nh_);
executor_.spin_some();

updateTurtles();
}
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