[clalancette]

Description

The test triggered the waitable only after starting the spinner thread. Every executor returns from spin_all() as soon as no work is ready, so if spin_all() started before the first trigger it returned immediately and the waitable count stayed at 0. This happens most often with the EventsExecutor.

The test cannot be fixed without overlapping existing tests, which already cover what it was meant to check on the same executor types:

• TestBusyWaiting.test_spin_all and test_spin_some (test_executors_busy_waiting.cpp) check that spin_all() picks up work that becomes ready during the spin and spin_some() does not.
• cancelRacingSpinDoesNotHang and cancelBeforeNonBlockingSpinVariantsDoNotHang check cancellation.

Is this user-facing behavior change?

No.

Did you use Generative AI?

Yes, Claude Opus 5.5

Additional Information

@mjcarroll @skyegalaxy @jmachowinski I could use your thoughts/advice on this one.

[ahcorde]

Pulls: #3399
Gist: https://gist.githubusercontent.com/ahcorde/8fd83a7406bd1a5644ec3e25018e0543/raw/4f46ec330097c16bbeca5dc948edbced8de3f217/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20996

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[github-actions]

ABI Compliance Check

✅ Verdict: compatible

Library	Verdict	Summary
libcomponent_manager.so	✅ compatible	No ABI changes detected.
librclcpp.so	✅ compatible	No ABI changes detected.
librclcpp_action.so	✅ compatible	No ABI changes detected.
librclcpp_lifecycle.so	✅ compatible	No ABI changes detected.

✅ libcomponent_manager.so — full abidiff report

Compared:

• Base: lib-base/libcomponent_manager.so
• Head: lib-pr/libcomponent_manager.so @ ec45eff

(empty report — no differences printed by abidiff)

✅ librclcpp.so — full abidiff report

Compared:

• Base: lib-base/librclcpp.so
• Head: lib-pr/librclcpp.so @ ec45eff

(empty report — no differences printed by abidiff)

✅ librclcpp_action.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_action.so
• Head: lib-pr/librclcpp_action.so @ ec45eff

(empty report — no differences printed by abidiff)

✅ librclcpp_lifecycle.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_lifecycle.so
• Head: lib-pr/librclcpp_lifecycle.so @ ec45eff

(empty report — no differences printed by abidiff)

_{Updated for commit ec45eff · check run · suppressions: /home/runner/work/_temp/ros2-abi-suppressions.txt}