From 80658c19d757f22256cc56daf77d6acb57aaf350 Mon Sep 17 00:00:00 2001
From: Jackie Kay <jackie@osrfoundation.org>
Date: Tue, 15 Sep 2015 17:02:52 -0700
Subject: [PATCH] Pass timeout to spin_until_future_complete

---
 rclcpp/include/rclcpp/rclcpp.hpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/rclcpp/include/rclcpp/rclcpp.hpp b/rclcpp/include/rclcpp/rclcpp.hpp
index 623bf75800..371ff0321d 100644
--- a/rclcpp/include/rclcpp/rclcpp.hpp
+++ b/rclcpp/include/rclcpp/rclcpp.hpp
@@ -97,14 +97,15 @@ void spin(Node::SharedPtr node_ptr)
   executor.spin();
 }
 
-template<typename FutureT>
+template<typename FutureT, typename TimeT = std::milli>
 rclcpp::executors::FutureReturnCode
 spin_until_future_complete(
-  Node::SharedPtr node_ptr, std::shared_future<FutureT> & future)
+  Node::SharedPtr node_ptr, std::shared_future<FutureT> & future,
+  std::chrono::duration<int64_t, TimeT> timeout = std::chrono::duration<int64_t, TimeT>(-1))
 {
   rclcpp::executors::SingleThreadedExecutor executor;
   return rclcpp::executors::spin_node_until_future_complete<FutureT>(
-    executor, node_ptr, future);
+    executor, node_ptr, future, timeout);
 }
 
 } /* namespace rclcpp */