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ros2 / rmw_zenoh

RMW for ROS 2 using Zenoh as the middleware
Apache License 2.0
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ctrl+c not killing ros2 cli tools when the rmw_zenohd router is not running #236

Open jmount1992 opened 2 days ago

jmount1992 commented 2 days ago

As a user I would expect that pressing ctrl+c when running a ros2 cli tool such as ros2 topic list or ros2 node list would kill the process. However, if a Zenoh router isn't running this signal isn't handled and it continues to print the default behaviour message of [ERROR] [1719974909.135681607] [rmw_zenoh_cpp]: Unable to connect to a Zenoh router. Have you started a router withros2 run rmw_zenoh_cpp rmw_zenohd? I understand the default behaviour can be changed. However, I would expect users would still expect ctrl+c to kill this process.

Yadunund commented 1 day ago

This is a known issue with signal handlers in rclpy + issues in rmw_shutdown. See https://github.com/ros2/rmw_zenoh/pull/135#pullrequestreview-1955014517

We don't have a solution yet but hoping this will be addressed when we resolve #170.