Merge pull request #130 from hofmannmarkus0/fix/timer-execution

fix Timers not being invoked when using ActionClients or ActionServer within the same node
ros2-dotnet · Apr 15, 2024 · bbf949f · bbf949f
2 parents 40adb43 + 7b94df8
commit bbf949f
Showing 1 changed file with 11 additions and 5 deletions.
diff --git a/rcldotnet/RCLdotnet.cs b/rcldotnet/RCLdotnet.cs
@@ -1221,6 +1221,17 @@ public static void SpinOnce(Node node, long timeout)
                     WaitSetAddGuardCondition(waitSetHandle, guardCondition.Handle);
                 }
 
+                foreach (var timer in node.Timers)
+                {
+                    WaitSetAddTimer(waitSetHandle, timer.Handle);
+                }
+
+                // Action clients and servers need to be registerd after all the
+                // others that are handled by
+                // RCLdotnetDelegates.native_rcl_wait_set_*_ready methods, as
+                // they track indexes of the given waitables. Adding action
+                // clients and action servers before will get those indexes
+                // mixed up.
                 foreach (var actionClient in node.ActionClients)
                 {
                     WaitSetAddActionClient(waitSetHandle, actionClient.Handle);
@@ -1231,11 +1242,6 @@ public static void SpinOnce(Node node, long timeout)
                     WaitSetAddActionServer(waitSetHandle, actionServer.Handle);
                 }
 
-                foreach (var timer in node.Timers)
-                {
-                    WaitSetAddTimer(waitSetHandle, timer.Handle);
-                }
-
                 bool ready = Wait(waitSetHandle, timeout);
                 if (!ready)
                 {