Make lifecycle demo automatically exit when done #558
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Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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mjcarroll
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Apr 8, 2022
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wjwwood
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May 13, 2022
| @@ -321,6 +330,10 @@ int main(int argc, char ** argv) | |||
| std::shared_future<void> script = std::async( | |||
| std::launch::async, | |||
| std::bind(callee_script, lc_client)); | |||
| auto wake_exec = std::async( | |||
| std::launch::async, | |||
| std::bind(wake_executor, script, std::ref(exe))); | |||
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I would say this is unnecessarily complicated. I would instead move the callee_script into a one-off timer with zero duration.
Or better yet, run the executor's spin in a separate thread (use std::async if you like) and do the callee_script here in the main thread, then when that function is done cancel the executor and "join" the thread it was using to spin in.
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Fixes #504
This makes the lifecyle demo automatically exit when it's completed. First this PR fixes a bug in
lifecycle_service_clientwhere it's stuck waiting for the future to complete forever because of ros2/rclcpp#1916. Next this PR adds aShutdownaction to theon_exitargument of thelifecycle_service_clientNodeso that when it shuts down the other nodes are killed too.