Commits on May 16, 2024

1. Use a single executor instance for spinning in client_async_callback. (… …

   …#382)
   
   In the current code, it calls rclpy.spin_once(), which
   instantiates a new executor, adds the node to it, executors
   one work item, then removes the node and destroys the executor.
   
   Besides being inefficient, the problem with that sequence
   is that adding a node to the executor actually ends up
   being an "event", and so the work item that gets returned
   can be just the work of adding the node, over and over again.
   For reasons I admit I don't fully understand, this only happens
   with rmw_cyclonedds_cpp, not with rmw_fastrtps_cpp.
   
   Regardless, the much more performant thing to do is to create
   an executor at the beginning of the example and to just spin
   on that.  This eliminates adding it to the node constantly,
   and makes this work with all RMWs.
   
   Signed-off-by: Chris Lalancette <clalancette@gmail.com>
   (cherry picked from commit 7e47aee)
   
   # Conflicts:
   #	rclpy/services/minimal_client/examples_rclpy_minimal_client/client_async_callback.py

   

   clalancette authored and mergify[bot] committed May 16, 2024
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