Update the shutdown handling in all of the Python examples. #379
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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 <clalancette@gmail.com>
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wjwwood
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rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client.py
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Signed-off-by: Chris Lalancette <clalancette@gmail.com>
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This was referenced May 7, 2024
wjwwood
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Going ahead and merging this one in. |
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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.
This should fix #372 . @fujitatomoya FYI