expand documentation for MultiThreadedExecutor's spin method

ros2 · Mar 28, 2024 · 6946937 · 6946937
1 parent c3e1c7d
commit 6946937
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp b/rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
@@ -61,8 +61,12 @@ class MultiThreadedExecutor : public rclcpp::Executor
   RCLCPP_PUBLIC
   virtual ~MultiThreadedExecutor();
 
+  /// Multi-threaded implementation of spin.
   /**
-   * \sa rclcpp::Executor:spin() for more details
+   * This function will block until work comes in, and try to execute all work with
+   * configured multiple threads, and then repeat the process until canceled.
+   * It may be interrupted by a call to rclcpp::Executor::cancel() or by ctrl-c
+   * if the associated context is configured to shutdown on SIGINT.
    * \throws std::runtime_error when spin() called while already spinning
    */
   RCLCPP_PUBLIC