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Switch to using an rclpy context manager. #787

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merged 1 commit into from
Jul 9, 2024
Merged

Switch to using an rclpy context manager. #787

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5 changes: 1 addition & 4 deletions launch_pytest/test/launch_pytest/examples/check_node_msgs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,14 +46,11 @@ def generate_test_description():

@pytest.mark.launch(fixture=generate_test_description)
def test_check_if_msgs_published():
rclpy.init()
try:
with rclpy.init():
node = MakeTestNode('test_node')
node.start_subscriber()
msgs_received_flag = node.msg_event_object.wait(timeout=5.0)
assert msgs_received_flag, 'Did not receive msgs !'
finally:
rclpy.shutdown()


class MakeTestNode(Node):
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14 changes: 5 additions & 9 deletions launch_pytest/test/launch_pytest/examples/executables/talker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
# limitations under the License.

import rclpy
from rclpy.executors import ExternalShutdownException
from rclpy.node import Node

from std_msgs.msg import String
Expand All @@ -34,17 +35,12 @@ def callback(self):


def main(args=None):
rclpy.init(args=args)

node = Talker()

try:
rclpy.spin(node)
except KeyboardInterrupt:
with rclpy.init(args=args):
node = Talker()
rclpy.spin(node)
except (KeyboardInterrupt, ExternalShutdownException):
pass
finally:
node.destroy_node()
rclpy.shutdown()


if __name__ == '__main__':
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