Check if context is valid when looping in spin_some (#1167)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
ros2 · Jun 12, 2020 · 380d2c7 · 380d2c7
1 parent 0373e5f
commit 380d2c7
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
@@ -234,7 +234,7 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
   // non-blocking call to pre-load all available work
   wait_for_work(std::chrono::milliseconds::zero());
-  while (spinning.load() && max_duration_not_elapsed()) {
+  while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
     if (get_next_ready_executable(any_exec)) {
       execute_any_executable(any_exec);