Update the shutdown handling in all of the Python examples. (#379)

* Update the shutdown handling in all of the Python examples. In particular, we should deal with KeyboardInterrupt (by just doing 'pass'), as well as ExternalShutdownException (which can come from the executor). In all cases, we should call 'rclpy.try_shutdown()' to cleanup at the end. Note well that I removed some of the *destroy() calls in the cleanup. That's because they weren't correct in all cases, and to fix them up properly would really require us to have a nested set of try..except statements. Given that these are examples, having that complex set of exception handling didn't seem like the correct way to go here. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · May 9, 2024 · 05aa97e · 05aa97e
1 parent b14d2a8
commit 05aa97e
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diff --git a/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client.py b/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client.py
@@ -12,11 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
+
 from action_msgs.msg import GoalStatus
 from example_interfaces.action import Fibonacci
 
 import rclpy
 from rclpy.action import ActionClient
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 
@@ -70,11 +73,16 @@ def send_goal(self):
 def main(args=None):
     rclpy.init(args=args)
 
-    action_client = MinimalActionClient()
+    try:
+        action_client = MinimalActionClient()
 
-    action_client.send_goal()
+        action_client.send_goal()
 
-    rclpy.spin(action_client)
+        rclpy.spin(action_client)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client_cancel.py b/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client_cancel.py
@@ -12,10 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
+
 from example_interfaces.action import Fibonacci
 
 import rclpy
 from rclpy.action import ActionClient
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 
@@ -78,11 +81,16 @@ def send_goal(self):
 def main(args=None):
     rclpy.init(args=args)
 
-    action_client = MinimalActionClient()
+    try:
+        action_client = MinimalActionClient()
 
-    action_client.send_goal()
+        action_client.send_goal()
 
-    rclpy.spin(action_client)
+        rclpy.spin(action_client)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/...tions/minimal_action_client/examples_rclpy_minimal_action_client/client_not_composable.py b/...tions/minimal_action_client/examples_rclpy_minimal_action_client/client_not_composable.py
@@ -12,12 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
+
 from action_msgs.msg import GoalStatus
 
 from example_interfaces.action import Fibonacci
 
 import rclpy
 from rclpy.action import ActionClient
+from rclpy.executors import ExternalShutdownException
 
 
 def feedback_cb(logger, feedback):
@@ -27,50 +30,51 @@ def feedback_cb(logger, feedback):
 def main(args=None):
     rclpy.init(args=args)
 
-    node = rclpy.create_node('minimal_action_client')
-
-    action_client = ActionClient(node, Fibonacci, 'fibonacci')
+    try:
+        node = rclpy.create_node('minimal_action_client')
 
-    node.get_logger().info('Waiting for action server...')
+        action_client = ActionClient(node, Fibonacci, 'fibonacci')
 
-    action_client.wait_for_server()
+        node.get_logger().info('Waiting for action server...')
 
-    goal_msg = Fibonacci.Goal()
-    goal_msg.order = 10
+        action_client.wait_for_server()
 
-    node.get_logger().info('Sending goal request...')
+        goal_msg = Fibonacci.Goal()
+        goal_msg.order = 10
 
-    send_goal_future = action_client.send_goal_async(
-        goal_msg, feedback_callback=lambda feedback: feedback_cb(node.get_logger(), feedback))
+        node.get_logger().info('Sending goal request...')
 
-    rclpy.spin_until_future_complete(node, send_goal_future)
+        send_goal_future = action_client.send_goal_async(
+            goal_msg, feedback_callback=lambda feedback: feedback_cb(node.get_logger(), feedback))
 
-    goal_handle = send_goal_future.result()
+        rclpy.spin_until_future_complete(node, send_goal_future)
 
-    if not goal_handle.accepted:
-        node.get_logger().info('Goal rejected :(')
-        action_client.destroy()
-        node.destroy_node()
-        rclpy.shutdown()
-        return
+        goal_handle = send_goal_future.result()
 
-    node.get_logger().info('Goal accepted :)')
+        if not goal_handle.accepted:
+            node.get_logger().info('Goal rejected :(')
+            action_client.destroy()
+            node.destroy_node()
+            rclpy.shutdown()
+            return
 
-    get_result_future = goal_handle.get_result_async()
+        node.get_logger().info('Goal accepted :)')
 
-    rclpy.spin_until_future_complete(node, get_result_future)
+        get_result_future = goal_handle.get_result_async()
 
-    result = get_result_future.result().result
-    status = get_result_future.result().status
-    if status == GoalStatus.STATUS_SUCCEEDED:
-        node.get_logger().info(
-           'Goal succeeded! Result: {0}'.format(result.sequence))
-    else:
-        node.get_logger().info('Goal failed with status code: {0}'.format(status))
+        rclpy.spin_until_future_complete(node, get_result_future)
 
-    action_client.destroy()
-    node.destroy_node()
-    rclpy.shutdown()
+        result = get_result_future.result().result
+        status = get_result_future.result().status
+        if status == GoalStatus.STATUS_SUCCEEDED:
+            node.get_logger().info(
+               'Goal succeeded! Result: {0}'.format(result.sequence))
+        else:
+            node.get_logger().info('Goal failed with status code: {0}'.format(status))
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server.py b/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server.py
@@ -12,13 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
 import time
 
 from example_interfaces.action import Fibonacci
 
 import rclpy
 from rclpy.action import ActionServer, CancelResponse, GoalResponse
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import ExternalShutdownException
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 
@@ -92,15 +94,17 @@ async def execute_callback(self, goal_handle):
 def main(args=None):
     rclpy.init(args=args)
 
-    minimal_action_server = MinimalActionServer()
+    try:
+        minimal_action_server = MinimalActionServer()
 
-    # Use a MultiThreadedExecutor to enable processing goals concurrently
-    executor = MultiThreadedExecutor()
+        # Use a MultiThreadedExecutor to enable processing goals concurrently
+        executor = MultiThreadedExecutor()
 
-    rclpy.spin(minimal_action_server, executor=executor)
-
-    minimal_action_server.destroy()
-    rclpy.shutdown()
+        rclpy.spin(minimal_action_server, executor=executor)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_defer.py b/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_defer.py
@@ -12,13 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
 import time
 
 from example_interfaces.action import Fibonacci
 
 import rclpy
 from rclpy.action import ActionServer, CancelResponse, GoalResponse
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import ExternalShutdownException
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 
@@ -106,15 +108,17 @@ async def execute_callback(self, goal_handle):
 def main(args=None):
     rclpy.init(args=args)
 
-    minimal_action_server = MinimalActionServer()
+    try:
+        minimal_action_server = MinimalActionServer()
 
-    # Use a MultiThreadedExecutor to enable processing goals concurrently
-    executor = MultiThreadedExecutor()
+        # Use a MultiThreadedExecutor to enable processing goals concurrently
+        executor = MultiThreadedExecutor()
 
-    rclpy.spin(minimal_action_server, executor=executor)
-
-    minimal_action_server.destroy()
-    rclpy.shutdown()
+        rclpy.spin(minimal_action_server, executor=executor)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/...tions/minimal_action_server/examples_rclpy_minimal_action_server/server_not_composable.py b/...tions/minimal_action_server/examples_rclpy_minimal_action_server/server_not_composable.py
@@ -12,13 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
 import time
 
 from example_interfaces.action import Fibonacci
 
 import rclpy
 from rclpy.action import ActionServer, CancelResponse
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import ExternalShutdownException
 from rclpy.executors import MultiThreadedExecutor
 
 
@@ -71,28 +73,30 @@ def main(args=None):
     global logger
     rclpy.init(args=args)
 
-    node = rclpy.create_node('minimal_action_server')
-    logger = node.get_logger()
-
-    # Use a ReentrantCallbackGroup to enable processing multiple goals concurrently
-    # Default goal callback accepts all goals
-    # Default cancel callback rejects cancel requests
-    action_server = ActionServer(
-        node,
-        Fibonacci,
-        'fibonacci',
-        execute_callback=execute_callback,
-        cancel_callback=cancel_callback,
-        callback_group=ReentrantCallbackGroup())
-
-    # Use a MultiThreadedExecutor to enable processing goals concurrently
-    executor = MultiThreadedExecutor()
-
-    rclpy.spin(node, executor=executor)
-
-    action_server.destroy()
-    node.destroy_node()
-    rclpy.shutdown()
+    try:
+        node = rclpy.create_node('minimal_action_server')
+        logger = node.get_logger()
+
+        # Use a ReentrantCallbackGroup to enable processing multiple goals concurrently
+        # Default goal callback accepts all goals
+        # Default cancel callback rejects cancel requests
+        action_server = ActionServer(
+            node,
+            Fibonacci,
+            'fibonacci',
+            execute_callback=execute_callback,
+            cancel_callback=cancel_callback,
+            callback_group=ReentrantCallbackGroup())
+        action_server  # Quiet flake8 warnings about unused variable
+
+        # Use a MultiThreadedExecutor to enable processing goals concurrently
+        executor = MultiThreadedExecutor()
+
+        rclpy.spin(node, executor=executor)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/.../actions/minimal_action_server/examples_rclpy_minimal_action_server/server_queue_goals.py b/.../actions/minimal_action_server/examples_rclpy_minimal_action_server/server_queue_goals.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 
 import collections
+import sys
 import threading
 import time
 
@@ -21,6 +22,7 @@
 import rclpy
 from rclpy.action import ActionServer, CancelResponse, GoalResponse
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import ExternalShutdownException
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 
@@ -123,14 +125,16 @@ def execute_callback(self, goal_handle):
 def main(args=None):
     rclpy.init(args=args)
 
-    minimal_action_server = MinimalActionServer()
+    try:
+        minimal_action_server = MinimalActionServer()
 
-    executor = MultiThreadedExecutor()
+        executor = MultiThreadedExecutor()
 
-    rclpy.spin(minimal_action_server, executor=executor)
-
-    minimal_action_server.destroy()
-    rclpy.shutdown()
+        rclpy.spin(minimal_action_server, executor=executor)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/.../actions/minimal_action_server/examples_rclpy_minimal_action_server/server_single_goal.py b/.../actions/minimal_action_server/examples_rclpy_minimal_action_server/server_single_goal.py
@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import sys
 import threading
 import time
 
@@ -20,6 +21,7 @@
 import rclpy
 from rclpy.action import ActionServer, CancelResponse, GoalResponse
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import ExternalShutdownException
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 
@@ -112,14 +114,16 @@ def execute_callback(self, goal_handle):
 def main(args=None):
     rclpy.init(args=args)
 
-    action_server = MinimalActionServer()
+    try:
+        action_server = MinimalActionServer()
 
-    # We use a MultiThreadedExecutor to handle incoming goal requests concurrently
-    executor = MultiThreadedExecutor()
-    rclpy.spin(action_server, executor=executor)
-
-    action_server.destroy()
-    rclpy.shutdown()
+        # We use a MultiThreadedExecutor to handle incoming goal requests concurrently
+        executor = MultiThreadedExecutor()
+        rclpy.spin(action_server, executor=executor)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
 
 
 if __name__ == '__main__':