From 5a704c772a8d7422cb7fc26645b78c44c0a43051 Mon Sep 17 00:00:00 2001
From: Jackie Kay <jackie@osrfoundation.org>
Date: Thu, 13 Aug 2015 14:30:16 -0700
Subject: [PATCH] Add Executor::spin_some

---
 rclcpp/include/rclcpp/executor.hpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index 954d73350a..11df4a0c77 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -123,13 +123,17 @@ class Executor
   void spin_node_some(rclcpp::node::Node::SharedPtr & node)
   {
     this->add_node(node, false);
-    // non-blocking = true
+    spin_some();
+    this->remove_node(node, false);
+  }
+
+  virtual void spin_some()
+  {
     while (AnyExecutable::SharedPtr any_exec =
       get_next_executable(std::chrono::milliseconds::zero()))
     {
       execute_any_executable(any_exec);
     }
-    this->remove_node(node, false);
   }
 
   // Support dynamic switching of memory strategy