Exit with code 0 if ExternalShutdownException is raised (ros2#581)

* Exit with code 0 if ExternalShutdownException is raised

This is an expected exception from the executor on a keyboard interrupt, so I don't think it should be an error.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

demo_nodes_py/demo_nodes_py/services/add_two_ints_server.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 from example_interfaces.srv import AddTwoInts
 
 import rclpy
@@ -41,10 +39,8 @@ def main(args=None):
 
     try:
         rclpy.spin(node)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
     finally:
         # Destroy the node explicitly
         # (optional - Done automatically when node is garbage collected)

demo_nodes_py/demo_nodes_py/topics/listener.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
 from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
@@ -37,10 +35,8 @@ def main(args=None):
     node = Listener()
     try:
         rclpy.spin(node)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
     finally:
         node.destroy_node()
         rclpy.try_shutdown()

demo_nodes_py/demo_nodes_py/topics/listener_qos.py

@@ -68,10 +68,8 @@ def main(argv=sys.argv[1:]):
         while rclpy.ok() and cycle_count < args.number_of_cycles:
             rclpy.spin_once(node)
             cycle_count += 1
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
     finally:
         node.destroy_node()
         rclpy.try_shutdown()

demo_nodes_py/demo_nodes_py/topics/listener_serialized.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
 from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
@@ -43,10 +41,8 @@ def main(args=None):
 
     try:
         rclpy.spin(serialized_subscriber)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
     finally:
         # Destroy the node explicitly
         # (optional - otherwise it will be done automatically

demo_nodes_py/demo_nodes_py/topics/talker.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
 from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
@@ -45,10 +43,8 @@ def main(args=None):
 
     try:
         rclpy.spin(node)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
     finally:
         node.destroy_node()
         rclpy.try_shutdown()

demo_nodes_py/demo_nodes_py/topics/talker_qos.py

@@ -75,10 +75,8 @@ def main(argv=sys.argv[1:]):
         while rclpy.ok() and cycle_count < args.number_of_cycles:
             rclpy.spin_once(node)
             cycle_count += 1
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
     finally:
         node.destroy_node()
         rclpy.try_shutdown()

quality_of_service_demo/rclpy/quality_of_service_demo_py/deadline.py

@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import argparse
-import sys
 
 from quality_of_service_demo_py.common_nodes import Listener
 from quality_of_service_demo_py.common_nodes import Talker
@@ -72,10 +71,8 @@ def main(args=None):
     executor.add_node(talker)
     try:
         executor.spin()
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
     finally:
         rclpy.try_shutdown()
 

quality_of_service_demo/rclpy/quality_of_service_demo_py/incompatible_qos.py

@@ -141,10 +141,8 @@ def main(args=None):
     try:
         while talker.publish_count < num_msgs:
             executor.spin_once()
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        return 1
     finally:
         rclpy.try_shutdown()
 

quality_of_service_demo/rclpy/quality_of_service_demo_py/message_lost_listener.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
 from rclpy.executors import ExternalShutdownException
 from rclpy.executors import SingleThreadedExecutor
@@ -69,10 +67,8 @@ def main():
 
     try:
         executor.spin()
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
     finally:
         rclpy.try_shutdown()
 

quality_of_service_demo/rclpy/quality_of_service_demo_py/qos_overrides_listener.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
 from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
@@ -53,10 +51,8 @@ def main(args=None):
     node = Listener()
     try:
         rclpy.spin(node)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
     finally:
         rclpy.try_shutdown()
         node.destroy_node()

quality_of_service_demo/rclpy/quality_of_service_demo_py/qos_overrides_talker.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
 from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
@@ -61,10 +59,8 @@ def main(args=None):
 
     try:
         rclpy.spin(node)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
     finally:
         rclpy.try_shutdown()
         node.destroy_node()