Document that spin_once() should not be called from multiple threads (#…

…1079) * Document that spin_once() should not be called from multiple threads Signed-off-by: AndyZe <[email protected]> Signed-off-by: Shane Loretz <[email protected]> --------- Signed-off-by: AndyZe <[email protected]> Signed-off-by: Shane Loretz <[email protected]> Co-authored-by: Shane Loretz <[email protected]>
ros2 · Oct 17, 2023 · df92d9e · df92d9e
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diff --git a/rclpy/rclpy/__init__.py b/rclpy/rclpy/__init__.py
@@ -207,6 +207,9 @@ def spin_once(
     It is possible the work done is for a node other than the one provided if the global executor
     has a partially completed coroutine.
 
+    This method should not be called from multiple threads with the same node or executor
+    argument.
+
     :param node: A node to add to the executor to check for work.
     :param executor: The executor to use, or the global executor if ``None``.
     :param timeout_sec: Seconds to wait. Block forever if ``None`` or negative. Don't wait if 0.

diff --git a/rclpy/rclpy/executors.py b/rclpy/rclpy/executors.py
@@ -339,6 +339,8 @@ def spin_once(self, timeout_sec: Optional[float] = None) -> None:
 
         A custom executor should use :meth:`wait_for_ready_callbacks` to get work.
 
+        This method should not be called from multiple threads.
+
         :param timeout_sec: Seconds to wait. Block forever if ``None`` or negative.
             Don't wait if 0.
         """