Update python nodes SIGINT handling (#539)

* Update python nodes sigint handling

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Handle sigterm and other exceptions correctly

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Author: ivanpauno

demo_nodes_py/demo_nodes_py/services/add_two_ints_server.py

@@ -12,9 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
+
 from example_interfaces.srv import AddTwoInts
 
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 
@@ -40,11 +43,13 @@ def main(args=None):
         rclpy.spin(node)
     except KeyboardInterrupt:
         pass
-
-    # Destroy the node explicitly
-    # (optional - Done automatically when node is garbage collected)
-    node.destroy_node()
-    rclpy.shutdown()
+    except ExternalShutdownException:
+        sys.exit(1)
+    finally:
+        # Destroy the node explicitly
+        # (optional - Done automatically when node is garbage collected)
+        rclpy.try_shutdown()
+        node.destroy_node()
 
 
 if __name__ == '__main__':

demo_nodes_py/demo_nodes_py/topics/listener.py

@@ -12,7 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
+
 import rclpy
+from rclpy.executor import ExternalShutdownException
 from rclpy.node import Node
 
 from std_msgs.msg import String
@@ -36,9 +39,11 @@ def main(args=None):
         rclpy.spin(node)
     except KeyboardInterrupt:
         pass
-
-    node.destroy_node()
-    rclpy.shutdown()
+    except ExternalShutdownException:
+        sys.exit(1)
+    finally:
+        node.destroy_node()
+        rclpy.try_shutdown()
 
 
 if __name__ == '__main__':

demo_nodes_py/demo_nodes_py/topics/talker.py

@@ -12,7 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
+
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 from std_msgs.msg import String
@@ -44,9 +47,11 @@ def main(args=None):
         rclpy.spin(node)
     except KeyboardInterrupt:
         pass
-
-    node.destroy_node()
-    rclpy.shutdown()
+    except ExternalShutdownException:
+        sys.exit(1)
+    finally:
+        rclpy.try_shutdown()
+        node.destroy_node()
 
 
 if __name__ == '__main__':

quality_of_service_demo/rclpy/quality_of_service_demo_py/deadline.py

@@ -12,12 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import argparse
+import sys
 
 from quality_of_service_demo_py.common_nodes import Listener
 from quality_of_service_demo_py.common_nodes import Talker
 
 import rclpy
 from rclpy.duration import Duration
+from rclpy.executors import ExternalShutdownException
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.logging import get_logger
 from rclpy.qos import QoSProfile
@@ -68,9 +70,14 @@ def main(args=None):
     executor = SingleThreadedExecutor()
     executor.add_node(listener)
     executor.add_node(talker)
-    executor.spin()
-
-    rclpy.shutdown()
+    try:
+        executor.spin()
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
+    finally:
+        rclpy.try_shutdown()
 
 
 if __name__ == '__main__':

quality_of_service_demo/rclpy/quality_of_service_demo_py/incompatible_qos.py

@@ -20,6 +20,7 @@
 
 import rclpy
 from rclpy.duration import Duration
+from rclpy.executors import ExternalShutdownException
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.logging import get_logger
 from rclpy.qos import QoSDurabilityPolicy
@@ -131,7 +132,7 @@ def main(args=None):
         print()
         print(exc, end='\n\n')
         print('Please try this demo using a different RMW implementation')
-        return -1
+        return 1
 
     executor = SingleThreadedExecutor()
     executor.add_node(listener)
@@ -142,8 +143,10 @@ def main(args=None):
             executor.spin_once()
     except KeyboardInterrupt:
         pass
-
-    rclpy.shutdown()
+    except ExternalShutdownException:
+        return 1
+    finally:
+        rclpy.try_shutdown()
 
     return 0
 

quality_of_service_demo/rclpy/quality_of_service_demo_py/message_lost_listener.py

@@ -12,7 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
+
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.node import Node
 from rclpy.qos_event import SubscriptionEventCallbacks
@@ -68,8 +71,10 @@ def main():
         executor.spin()
     except KeyboardInterrupt:
         pass
+    except ExternalShutdownException:
+        sys.exit(1)
     finally:
-        rclpy.shutdown()
+        rclpy.try_shutdown()
 
 
 if __name__ == '__main__':

quality_of_service_demo/rclpy/quality_of_service_demo_py/qos_overrides_listener.py

@@ -12,7 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
+
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 from rclpy.qos_overriding_options import QosCallbackResult
 from rclpy.qos_overriding_options import QoSOverridingOptions
@@ -52,9 +55,11 @@ def main(args=None):
         rclpy.spin(node)
     except KeyboardInterrupt:
         pass
-
-    node.destroy_node()
-    rclpy.shutdown()
+    except ExternalShutdownException:
+        sys.exit(1)
+    finally:
+        rclpy.try_shutdown()
+        node.destroy_node()
 
 
 if __name__ == '__main__':

quality_of_service_demo/rclpy/quality_of_service_demo_py/qos_overrides_talker.py

@@ -12,7 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
+
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 from rclpy.qos_overriding_options import QosCallbackResult
 from rclpy.qos_overriding_options import QoSOverridingOptions
@@ -60,9 +63,11 @@ def main(args=None):
         rclpy.spin(node)
     except KeyboardInterrupt:
         pass
-
-    node.destroy_node()
-    rclpy.shutdown()
+    except ExternalShutdownException:
+        sys.exit(1)
+    finally:
+        rclpy.try_shutdown()
+        node.destroy_node()
 
 
 if __name__ == '__main__':