From 1bbb62249385ddf46506286be80217c1cd3b6c16 Mon Sep 17 00:00:00 2001
From: Nikolai Morin <nikolai.morin@apex.ai>
Date: Tue, 11 Oct 2022 10:07:39 +0200
Subject: [PATCH] Fix a segfault when re-using wait set

---
 rclrs/src/lib.rs  | 2 +-
 rclrs/src/wait.rs | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
index 2c9c812e7..79d19561d 100644
--- a/rclrs/src/lib.rs
+++ b/rclrs/src/lib.rs
@@ -46,7 +46,7 @@ pub use wait::*;
 ///
 /// [1]: crate::RclReturnCode
 pub fn spin_once(node: &Node, timeout: Option<Duration>) -> Result<(), RclrsError> {
-    let mut wait_set = WaitSet::new_for_node(node)?;
+    let wait_set = WaitSet::new_for_node(node)?;
     let ready_entities = wait_set.wait(timeout)?;
 
     for ready_subscription in ready_entities.subscriptions {
diff --git a/rclrs/src/wait.rs b/rclrs/src/wait.rs
index 09284ed75..61bde77b2 100644
--- a/rclrs/src/wait.rs
+++ b/rclrs/src/wait.rs
@@ -321,7 +321,7 @@ impl WaitSet {
     /// This list is not comprehensive, since further errors may occur in the `rmw` or `rcl` layers.
     ///
     /// [1]: std::time::Duration::ZERO
-    pub fn wait(&mut self, timeout: Option<Duration>) -> Result<ReadyEntities, RclrsError> {
+    pub fn wait(mut self, timeout: Option<Duration>) -> Result<ReadyEntities, RclrsError> {
         let timeout_ns = match timeout.map(|d| d.as_nanos()) {
             None => -1,
             Some(ns) if ns <= i64::MAX as u128 => ns as i64,