Fix bad_function_call by replacing rclcpp::spin_some with SingleThreadedExecutor

rosbag2_test_common/include/rosbag2_test_common/subscription_manager.hpp

@@ -79,8 +79,9 @@ class SubscriptionManager
   {
     return async(
       std::launch::async, [this]() {
-        while (continue_spinning(expected_topics_with_size_)) {
-          rclcpp::spin_some(subscriber_node_);
+        rclcpp::executors::SingleThreadedExecutor exec;
+        while (rclcpp::ok() && continue_spinning(expected_topics_with_size_)) {
+          exec.spin_node_some(subscriber_node_);
         }
       });
   }

rosbag2_transport/test/rosbag2_transport/test_play.cpp

@@ -446,6 +446,7 @@ class RosBag2PlayQosOverrideTestFixture : public RosBag2PlayTestFixture
     } else {
       EXPECT_NE(result, std::future_status::timeout);
     }
+    // Have to rclcpp::shutdown here to make the spin_subscriptions async thread exit
     transport.shutdown();
   }
 

rosbag2_transport/test/rosbag2_transport/test_record.cpp

@@ -151,9 +151,14 @@ TEST_F(RecordIntegrationTestFixture, receives_latched_messages)
   // Publish messages before starting recording
   test_msgs::msg::Strings msg;
   msg.string_value = "Hello";
-  for (size_t i = 0; i < num_latched_messages; i++) {
-    publisher_transient_local->publish(msg);
-    rclcpp::spin_some(publisher_node);
+  {
+    // Scope the executor so that the node is removed from it before `spin_and_wait_for`
+    rclcpp::executors::SingleThreadedExecutor exec;
+    exec.add_node(publisher_node);
+    for (size_t i = 0; i < num_latched_messages; i++) {
+      publisher_transient_local->publish(msg);
+      exec.spin_some();
+    }
   }
   start_recording({false, false, {topic}, "rmw_format", 100ms});
   auto & writer = static_cast<MockSequentialWriter &>(writer_->get_implementation_handle());

rosbag2_transport/test/rosbag2_transport/test_rosbag2_node.cpp

@@ -50,6 +50,7 @@ class RosBag2NodeFixture : public Test
     publisher_node_ = std::make_shared<rclcpp::Node>(
       "publisher_node",
       rclcpp::NodeOptions().start_parameter_event_publisher(false));
+    executor_.add_node(node_);
   }
 
   static void SetUpTestCase()
@@ -84,7 +85,7 @@ class RosBag2NodeFixture : public Test
       });
 
     while (counter < expected_messages_number) {
-      rclcpp::spin_some(node_);
+      executor_.spin_some();
     }
     return messages;
   }
@@ -111,13 +112,14 @@ class RosBag2NodeFixture : public Test
       if ((clock::now() - start) > timeout) {
         return false;
       }
-      rclcpp::spin_some(node_);
+      executor_.spin_some();
     }
     return true;
   }
 
   MemoryManagement memory_management_;
   std::shared_ptr<rosbag2_transport::Rosbag2Node> node_;
+  rclcpp::executors::SingleThreadedExecutor executor_;
   rclcpp::Node::SharedPtr publisher_node_;
   std::vector<std::shared_ptr<rclcpp::PublisherBase>> publishers_;
 };