spinSome

Author: Coppelia

meta/callbacks.xml

@@ -372,6 +372,19 @@
         <return>
         </return>
     </command>
+    <command name="spinSome">
+        <description>Calls spin_some(node).</description>
+        <categories>
+            <category name="action" />
+        </categories>
+        <see-also>
+            <!--command name="..." /-->
+        </see-also>
+        <params>
+        </params>
+        <return>
+        </return>
+    </command>
     <command name="sendGoal">
         <description>Send a goal using the specified action client.</description>
         <categories>

src/sim_ros2_interface.cpp

@@ -497,6 +497,11 @@ class Plugin : public sim::Plugin
         actionClientProxy->wr_opt.uint8array_as_string = true;
     }
 
+    void spinSome(spinSome_in *in, spinSome_out *out)
+    {
+        rclcpp::spin_some(node);
+    }    
+
     void sendGoal(sendGoal_in *in, sendGoal_out *out)
     {
         ActionClientProxy *actionClientProxy = actionClientHandles.get(in->actionClientHandle);