Don't call shutdown() after an exception (#1400)

(cherry picked from commit b9a7cfc)
ros-controls · Dec 6, 2024 · 8d5f1e7 · 8d5f1e7
1 parent 7904d4b
commit 8d5f1e7
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Showing 2 changed files with 2 additions and 10 deletions.
diff --git a/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py b/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
@@ -72,14 +72,10 @@ def main(args=None):
 
     try:
         rclpy.spin(publisher_forward_position)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
         print("Keyboard interrupt received. Shutting down node.")
     except Exception as e:
         print(f"Unhandled exception: {e}")
-    finally:
-        if rclpy.ok():
-            publisher_forward_position.destroy_node()
-            rclpy.shutdown()
 
 
 if __name__ == "__main__":

diff --git a/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py b/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
@@ -212,14 +212,10 @@ def main(args=None):
 
     try:
         rclpy.spin(publisher_joint_trajectory)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
         print("Keyboard interrupt received. Shutting down node.")
     except Exception as e:
         print(f"Unhandled exception: {e}")
-    finally:
-        if rclpy.ok():
-            publisher_joint_trajectory.destroy_node()
-            rclpy.shutdown()
 
 
 if __name__ == "__main__":