Merge remote-tracking branch 'origin/master' into effort-trajectory-m…

…aster

gpio_controllers/package.xml

@@ -4,10 +4,21 @@
   <name>gpio_controllers</name>
   <version>4.15.0</version>
   <description>Controllers to interact with gpios.</description>
-  <maintainer email="[email protected]">Maciej Bednarczyk</maintainer>
-  <maintainer email="[email protected]">Wiktor Bajor</maintainer>
+
+  <maintainer email="[email protected]">Bence Magyar</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Maciej Bednarczyk</author>
+  <author email="[email protected]">Wiktor Bajor</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>controller_interface</depend>
@@ -22,6 +33,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py

@@ -70,14 +70,10 @@ 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__":

ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py

@@ -186,14 +186,10 @@ 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__":