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ros-drivers / rosserial

A ROS client library for small, embedded devices, such as Arduino. See: http://wiki.ros.org/rosserial
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[rosserial_python] Use rospy.on_shutdown in SerialClient shutdown #594

Open 708yamaguchi opened 1 year ago

708yamaguchi commented 1 year ago

When I use serial_node.py from roslaunch, we cannot kill serial_node.py by Ctrl-c.

This is because serial_node.py does not catch SystemExit exception caused by sys.exit(0) in txStopRequest. https://github.com/ros-drivers/rosserial/blob/c169ae2173dcfda7cee567d64beae45198459400/rosserial_python/nodes/serial_node.py#L94-L109

In this PR, I used rospy.on_shutdown instead of signal.signal(signal.SIGINT, self.txStopRequest), following 8fb7954 (#508) and https://github.com/ros-drivers/rosserial/pull/551 This change enables to kill serial_node.py by Ctrl-c.

Thank you very much for your help, @sktometometo

Hommus commented 1 year ago

Thanks for this PR @708yamaguchi!