Add new executor spin_until_complete API

Co-authored-by: stevemacenski <stevenmacenski@gmail.com>
Signed-off-by: stevemacenski <stevenmacenski@gmail.com>
Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>

Author: christophebedard-apexai

source/How-To-Guides/Migrating-from-ROS1/Migrating-Python-Packages.rst

@@ -166,4 +166,4 @@ In ROS 2:
    while not add_two_ints.wait_for_service(timeout_sec=1.0):
        node.get_logger().info('service not available, waiting again...')
    resp = add_two_ints.call_async(req)
-   rclpy.spin_until_future_complete(node, resp)
+   rclpy.spin_until_complete(node, resp)

source/Releases/Release-Jazzy-Jalisco.rst

@@ -49,6 +49,14 @@ New type support helper for services ``rclcpp::get_service_typesupport_handle``
 
 See https://github.com/ros2/rclcpp/pull/2209 for more details.
 
+New executor ``spin_until_complete`` interface
+""""""""""""""""""""""""""""""""""""""""""""""
+
+``spin_until_complete`` was added to spin on arbitrary callable conditions.
+It goes alongside ``spin_until_future_complete``, which exclusively spins on futures.
+
+See https://github.com/ros2/rclcpp/pull/2475 for more details.
+
 ``ros2cli``
 ^^^^^^^^^^^
 

source/Tutorials/Advanced/FastDDS-Configuration.rst

@@ -670,7 +670,7 @@ Create the client in a file named ``src/ping_client.cpp`` with the following con
         auto result = client->async_send_request(request);
 
         // Wait for the result and log it to the console
-        if (rclcpp::spin_until_future_complete(node, result) ==
+        if (rclcpp::spin_until_complete(node, result) ==
             rclcpp::FutureReturnCode::SUCCESS)
         {
             RCLCPP_INFO(rclcpp::get_logger("ping_client"), "Response received");

source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst

@@ -645,7 +645,7 @@ Since you'll be changing the original two integer request srv to a three integer
 
         auto result = client->async_send_request(request);
         // Wait for the result.
-        if (rclcpp::spin_until_future_complete(node, result) ==
+        if (rclcpp::spin_until_complete(node, result) ==
           rclcpp::FutureReturnCode::SUCCESS)
         {
           RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Sum: %ld", result.get()->sum);

source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.rst

@@ -227,7 +227,7 @@ Inside the ``ros2_ws/src/cpp_srvcli/src`` directory, create a new file called ``
 
     auto result = client->async_send_request(request);
     // Wait for the result.
-    if (rclcpp::spin_until_future_complete(node, result) ==
+    if (rclcpp::spin_until_complete(node, result) ==
       rclcpp::FutureReturnCode::SUCCESS)
     {
       RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Sum: %ld", result.get()->sum);

source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Service-And-Client.rst

@@ -197,7 +197,7 @@ Inside the ``ros2_ws/src/py_srvcli/py_srvcli`` directory, create a new file call
           self.req.a = a
           self.req.b = b
           self.future = self.cli.call_async(self.req)
-          rclpy.spin_until_future_complete(self, self.future)
+          rclpy.spin_until_complete(self, self.future)
           return self.future.result()
 
 
@@ -254,7 +254,7 @@ Below the constructor is the ``send_request`` method, which will send the reques
       self.req.a = a
       self.req.b = b
       self.future = self.cli.call_async(self.req)
-      rclpy.spin_until_future_complete(self, self.future)
+      rclpy.spin_until_complete(self, self.future)
       return self.future.result()
 
 Finally we have the ``main`` method, which constructs a ``MinimalClientAsync`` object, sends the request using the passed-in command-line arguments, and logs the results.

source/Tutorials/Intermediate/Writing-an-Action-Server-Client/scripts/client_0.py

@@ -27,7 +27,7 @@ def main(args=None):
 
     future = action_client.send_goal(10)
 
-    rclpy.spin_until_future_complete(action_client, future)
+    rclpy.spin_until_complete(action_client, future)
 
 
 if __name__ == '__main__':