From 76e3ae4849de4026b809b7b784c6b605fdc23aa5 Mon Sep 17 00:00:00 2001
From: Sunggoo Kim <sung.goo.kim@samsung.com>
Date: Thu, 17 Sep 2020 16:53:07 +0900
Subject: [PATCH] (RclJava) fix BaseExecutor.spinSome logic - run the
 executable even if it found

---
 .../org/ros2/rcljava/executors/BaseExecutor.java     | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/rcljava/src/main/java/org/ros2/rcljava/executors/BaseExecutor.java b/rcljava/src/main/java/org/ros2/rcljava/executors/BaseExecutor.java
index 536e417b..2233a5d0 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/executors/BaseExecutor.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/executors/BaseExecutor.java
@@ -332,12 +332,12 @@ protected void spinSome() {
     AnyExecutable anyExecutable = getNextExecutable();
     if (anyExecutable == null) {
       waitForWork(0);
-      do {
-        anyExecutable = getNextExecutable();
-        if (anyExecutable != null) {
-          executeAnyExecutable(anyExecutable);
-        }
-      } while (anyExecutable != null);
+      anyExecutable = getNextExecutable();
+    }
+
+    while (anyExecutable != null) {
+      executeAnyExecutable(anyExecutable);
+      anyExecutable = getNextExecutable();
     }
   }