call shutdown before exiting (#179)

ros2 · Aug 14, 2017 · 1907bac · 1907bac
1 parent f1b02f9
commit 1907bac
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diff --git a/rclcpp/minimal_client/main.cpp b/rclcpp/minimal_client/main.cpp
@@ -45,5 +45,6 @@ int main(int argc, char * argv[])
   auto result = result_future.get();
   printf("result of %" PRId64 " + %" PRId64 " = %" PRId64 "\n",
     request->a, request->b, result->sum);
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_composition/src/composed.cpp b/rclcpp/minimal_composition/src/composed.cpp
@@ -26,5 +26,6 @@ int main(int argc, char * argv[])
   exec.add_node(publisher_node);
   exec.add_node(subscriber_node);
   exec.spin();
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_composition/src/standalone_publisher.cpp b/rclcpp/minimal_composition/src/standalone_publisher.cpp
@@ -20,5 +20,6 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<PublisherNode>());
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_composition/src/standalone_subscriber.cpp b/rclcpp/minimal_composition/src/standalone_subscriber.cpp
@@ -20,5 +20,6 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<SubscriberNode>());
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_publisher/lambda.cpp b/rclcpp/minimal_publisher/lambda.cpp
@@ -48,5 +48,6 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<MinimalPublisher>());
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_publisher/member_function.cpp b/rclcpp/minimal_publisher/member_function.cpp
@@ -48,5 +48,6 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<MinimalPublisher>());
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_publisher/not_composable.cpp b/rclcpp/minimal_publisher/not_composable.cpp
@@ -37,5 +37,6 @@ int main(int argc, char * argv[])
     rclcpp::spin_some(node);
     rclcpp::utilities::sleep_for(500ms);
   }
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_service/main.cpp b/rclcpp/minimal_service/main.cpp
@@ -35,5 +35,6 @@ int main(int argc, char ** argv)
   auto node = rclcpp::Node::make_shared("minimal_service");
   auto server = node->create_service<AddTwoInts>("add_two_ints", handle_service);
   rclcpp::spin(node);
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_subscriber/lambda.cpp b/rclcpp/minimal_subscriber/lambda.cpp
@@ -37,5 +37,6 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<MinimalSubscriber>());
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_subscriber/member_function.cpp b/rclcpp/minimal_subscriber/member_function.cpp
@@ -38,5 +38,6 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<MinimalSubscriber>());
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_subscriber/not_composable.cpp b/rclcpp/minimal_subscriber/not_composable.cpp
@@ -32,5 +32,6 @@ int main(int argc, char * argv[])
   auto subscription = node->create_subscription<std_msgs::msg::String>
       ("topic", topic_callback);
   rclcpp::spin(node);
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_timer/lambda.cpp b/rclcpp/minimal_timer/lambda.cpp
@@ -39,5 +39,6 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<MinimalTimer>());
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/rclcpp/minimal_timer/member_function.cpp b/rclcpp/minimal_timer/member_function.cpp
@@ -41,5 +41,6 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<MinimalTimer>());
+  rclcpp::shutdown();
   return 0;
 }