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address unsafe list mutation during iteration and bypasses exception … #1669

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address unsafe list mutation during iteration and bypasses exception … #1669

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af1db55
address unsafe list mutation during iteration and bypasses exception …
fujitatomoya May 18, 2026
e71758a
cover cancelled future along with done ones.
fujitatomoya May 20, 2026
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11 changes: 5 additions & 6 deletions rclpy/rclpy/executors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -435,8 +435,7 @@ def spin_until_future_complete(
now = time.monotonic()

if now >= end:
self._exit_spin()
return
break

timeout_left.timeout = end - now
finally:
Expand Down Expand Up @@ -1109,10 +1108,10 @@ def _spin_once_impl(
self._executor.submit(handler)
self._futures.append(handler)
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with self._futures_lock:
for future in self._futures:
if future.done():
self._futures.remove(future)
future.result() # raise any exceptions
done_futures = [f for f in self._futures if f.done() or f.cancelled()]
for future in done_futures:
self._futures.remove(future)
future.result() # raise any exceptions

# Yield GIL so executor threads have a chance to run.
os.sched_yield() if hasattr(os, 'sched_yield') else time.sleep(0)
Expand Down