Update for cleaner shutdown

Dockerfile

@@ -21,10 +21,9 @@ WORKDIR /ros2_ws
 # Build the workspace
 RUN colcon build
 
-# Source ROS 2 upon starting the container
+# Source ROS 2 and setup the environment for the launch file
 RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
 RUN echo "source /ros2_ws/install/setup.bash" >> ~/.bashrc
-RUN echo "ros2 launch src/launch_mvsim.launch.py" >> ~/.bashrc
 
-# Default command when starting the container
-CMD ["/bin/bash"]
+# Default command to launch the ROS 2 simulation
+CMD ["bash", "-c", "source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch src/launch_mvsim.launch.py"]

launch_mvsim.launch.py

@@ -1,12 +1,13 @@
 # launch_mvsim.launch.py
 from launch import LaunchDescription
 from launch.substitutions import TextSubstitution
-from launch.actions import DeclareLaunchArgument
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
+from launch.actions import (DeclareLaunchArgument,
+                            EmitEvent, LogInfo, RegisterEventHandler)
+from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
 import os
 
 
@@ -40,16 +41,27 @@ def generate_launch_description():
             }]
     )
 
+    robot_commander_node = Node(
+        # package='ros2_ws',  # Change this if the script is in another package
+        executable='/ros2_ws/src/robot_commander.py',
+        name='robot_commander',
+        output='screen'
+    )
+
     return LaunchDescription([
         world_file_launch_arg,
         headless_launch_arg,
         do_fake_localization_arg,
         mvsim_node,
-        # Node to execute the Python script
-        Node(
-            # package='ros2_ws',  # Change this if the script is in another package
-            executable='/ros2_ws/src/robot_commander.py',
-            name='robot_commander',
-            output='screen'
+        robot_commander_node,
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=robot_commander_node,
+                on_exit=[
+                    LogInfo(msg=('robot_commander_node ended')),
+                    EmitEvent(event=Shutdown(
+                        reason='robot_commander_node ended'))
+                ]
+            )
         )
     ])

robot_commander.py

@@ -78,10 +78,8 @@ def on_timer(self):
                     f"Robot's orientation: {trans.transform.rotation}")
 
             elif self.iter == 4:
-                print("Cleaning up...")
-                rclpy.shutdown()
-            else:
-                print("Run", self.iter)
+                self.get_logger().info("SHUTTING DOWN")
+                raise SystemExit
 
         except Exception as e:
             self.get_logger().error(
@@ -102,8 +100,14 @@ def scan_callback(self, msg):
 
 def main(args=None):
     rclpy.init(args=args)
+
     node = RobotCommander()
-    rclpy.spin(node)
+
+    try:
+        rclpy.spin(node)
+    except SystemExit:
+        rclpy.logging.get_logger("Quitting").info('Done')
+
     node.destroy_node()
     rclpy.shutdown()