MiJiao #42
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MiJiao #42
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bismarckkk
reviewed
Feb 4, 2023
bismarckkk
reviewed
Feb 4, 2023
| #include <string> | ||
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| void SigintHandler(int sig) { |
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先前没看到这个，其实ros内部已经注册了一个信号管理器，当收到停止信号的时候ros::ok()的结果会变为false，根据你的代码此时将退出while主循环，可以在主循环后面加上退出处理这一部分即可
BTW，ros守护进程会监视node是否正常停止，如果在发送停止信号后15s（默认时间）后该node还没有正常结束将被强制杀死
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但这样改了之后我试了一下似乎ros::shutdown()会先被调用我就发送不了最后的服务了
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