Add support for interruptible ROS processes #129
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Signed-off-by: Michel Hidalgo <[email protected]>
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Nov 15, 2024
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Signed-off-by: Michel Hidalgo <[email protected]>
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@khughes-bdai example added. |
Signed-off-by: Michel Hidalgo <[email protected]>
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Signed-off-by: Michel Hidalgo <[email protected]>
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With green CI, getting this one in. |
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By default,
rclpywill install signal handlers for SIGINT and SIGTERM upon global context initialization. These handlers shutdown ROS 2 contexts. process-wide, making it impossible for ROS 2 aware processes to use most ROS 2 interfaces during shutdown. E.g. a simple example script cannot command a robot to adopt a safe configuration on Ctrl + C,This patch adds the notion of an interruptible ROS process. An interruptible ROS process will not shutdown when interrupted (SIGINT or SIGTERM) but raise a suitable exception (KeyboardInterrupt or SystemExit). When using process-wide APIs, the global context will eventually be shutdown accordingly. This is an opt-in feature.