Update the shutdown handling in all of the Python examples.

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__':

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__':

rclpy/actions/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__':

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__':

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__':

rclpy/actions/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__':

rclpy/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__':

rclpy/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__':