SIGINT handling #476
Comments
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This seems to be an issue with Any thoughts, @ygoumaz ? Other thing to try maybe can be add a |
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Adding the In PythonPlugin.cpp void PythonPlugin::stop() {
PyObject_CallMethod(mPyPlugin, "stop", "");
std::cout << "PythonPlugin::stop" << std::endl;
// PyErr_Print();
std::cout << "PythonPlugin::stop::print" << std::endl;
Py_Finalize();
std::cout << "PythonPlugin::stop::finalize" << std::endl;
}the Python method def stop(self):
self.__node.get_logger().info('stopping')
self.__node.destroy_node()
sys.exit(0)In WebotsNode.cpp int WebotsNode::step() {
if (gShutdownSignalReceived && !mWaitingForUrdfRobotToBeRemoved) {
mRemoveUrdfRobotPublisher->publish(mRemoveUrdfRobotMessage);
mWaitingForUrdfRobotToBeRemoved = true;
}
const int result = wb_robot_step(mStep);
if (result == -1) {
// Check if the plugin is actually an instance of PythonPlugin
for (std::shared_ptr<PluginInterface> plugin : mPlugins) {
std::shared_ptr<webots_ros2_driver::PythonPlugin> pythonPlugin = std::dynamic_pointer_cast<webots_ros2_driver::PythonPlugin>(plugin);
if(pythonPlugin) {
std::cout << "stopssss" << std::endl;
pythonPlugin->stop(); // stop only for python plugins
}
}
return result;
}
for (std::shared_ptr<PluginInterface> plugin : mPlugins)
plugin->step();
return result;
}Using this code in Driver.cpp std::shared_ptr<webots_ros2_driver::WebotsNode> node = std::make_shared<webots_ros2_driver::WebotsNode>(robotName);
node->init();
RCLCPP_INFO(node->get_logger(), "Controller successfully connected to robot in Webots simulation.");
while (true) {
if (node->step() == -1)
break;
rclcpp::spin_some(node);
}
std::cout << "outlook" << std::endl;
// rclcpp::spin_some(node);
// std::cout << "last spin" << std::endl;
RCLCPP_INFO(node->get_logger(), "Controller successfully disconnected from robot in Webots simulation.");
std::cout << "shutting down" << std::endl;
rclcpp::shutdown();
std::cout << "clean" << std::endl;
wb_robot_cleanup();
std::cout << "return" << std::endl;
return 0;However, the print trace reach until UPDATED |
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Regarding issue #655, I will implement a shutdown handler in the launch file that will clean all other started nodes, excluding Webots, and then respawn them. However, before proceeding with this implementation in Iron, I am awaiting the merge of #760. Regarding this issue, I believe your approach is correct. While I haven't examined it in depth yet, you could potentially invoke |
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I will test the In this regard, the Python API seems to require a more in depth examination. |
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Still related to #788. |
Bug Description
when trying to stop a running launch file via CTRL+C the ros driver does not terminate cleanly.
We encountered this issue when writing a C++ plugin which utilizes RAII and found out that objects which are created inside the C++ plugin are not properly destructed.
Steps to Reproduce
mkdir -p ~/dev_ws/src/; cd ~/dev_ws/src; git clone --recursive https://github.com/cyberbotics/webots_ros2.git; cd ..colcon build --symlink-installsource install/local_setup.bash; ros2 launch webots_ros2_tesla robot_launch.pyError:
[ERROR] [ros2_supervisor.py-2]: process has died [pid 413862, exit code -2, cmd '/home/philpolt/ros/webots_shutdown_issue/install/webots_ros2_driver/lib/webots_ros2_driver/ros2_supervisor.py --ros-args'].
Expected behavior
The signal SIGINT should be properly handled inside the driver node. The launch file process
ros2_supervisor.py-2should finish cleanly!System
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