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honor cancel() issued before spin_until_future_complete(). - #3174

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fujitatomoya merged 2 commits into
rollingfrom
issues/3172
Jul 31, 2026
Merged

honor cancel() issued before spin_until_future_complete().#3174
fujitatomoya merged 2 commits into
rollingfrom
issues/3172

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Description

Fixes #3172

Is this user-facing behavior change?

Yes, but it only gets better.

Did you use Generative AI?

Yes, Claude Opus 4.7 partially, especially on test cases.

Additional Information

Signed-off-by: Tomoya Fujita <tomoya.fujita825@gmail.com>
@fujitatomoya
fujitatomoya requested a review from skyegalaxy June 11, 2026 05:18
@fujitatomoya fujitatomoya self-assigned this Jun 11, 2026

@jmachowinski jmachowinski left a comment

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We should also change the while loops in the spins, to only react to the cancel_request

Comment thread rclcpp/src/rclcpp/executor.cpp Outdated
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mergify Bot commented Jul 8, 2026

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Tick the box to add this pull request to the merge queue (same as @mergifyio queue).

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…e executor is still executing work.

Signed-off-by: Tomoya Fujita <fujita.tomoya@triorb.co.jp>
@fujitatomoya

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Pulls: #3174
Gist: https://gist.githubusercontent.com/fujitatomoya/79334a33eb96c2e64a80d0306580fd84/raw/7b1ea8fa05c6792486d1040216ccb08a40c3454f/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20014

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@fujitatomoya

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@jmachowinski thanks for your approval, i thought that you are on vacation 🍸 🏖️

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I am, reading code reviews between swimming in the lake 😃

@fujitatomoya
fujitatomoya merged commit a67972f into rolling Jul 31, 2026
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Race condition in executor when canceling before spin

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