tf2_ros_py: Ignore ExternalShutdownException in background thread

[peci1]

Description

I've seen this exception when Ctrl-C-ing a program with TransformListener that uses background thread:

[exploration_evaluator-1] [occupancy_mapper-19] Exception in thread Thread-1 (run_func):
[exploration_evaluator-1] [occupancy_mapper-19] Traceback (most recent call last):
[exploration_evaluator-1] [occupancy_mapper-19]   File "/usr/lib/python3.12/threading.py", line 1073, in _bootstrap_inner
[exploration_evaluator-1] [occupancy_mapper-19]     self.run()
[exploration_evaluator-1] [occupancy_mapper-19]   File "/usr/lib/python3.12/threading.py", line 1010, in run
[exploration_evaluator-1] [occupancy_mapper-19]     self._target(*self._args, **self._kwargs)
[exploration_evaluator-1] [occupancy_mapper-19]   File "/opt/ros/kilted/lib/python3.12/site-packages/tf2_ros/transform_listener.py", line 115, in run_func
[exploration_evaluator-1] [occupancy_mapper-19]     self.executor.spin()
[exploration_evaluator-1] [occupancy_mapper-19]   File "/opt/ros/kilted/lib/python3.12/site-packages/rclpy/executors.py", line 374, in spin
[exploration_evaluator-1] [occupancy_mapper-19]     self.spin_once()
[exploration_evaluator-1] [occupancy_mapper-19]   File "/opt/ros/kilted/lib/python3.12/site-packages/rclpy/executors.py", line 968, in spin_once
[exploration_evaluator-1] [occupancy_mapper-19]     self._spin_once_impl(timeout_sec)
[exploration_evaluator-1] [occupancy_mapper-19]   File "/opt/ros/kilted/lib/python3.12/site-packages/rclpy/executors.py", line 951, in _spin_once_impl
[exploration_evaluator-1] [occupancy_mapper-19]     handler, entity, node = self.wait_for_ready_callbacks(
[exploration_evaluator-1] [occupancy_mapper-19]                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[exploration_evaluator-1] [occupancy_mapper-19]   File "/opt/ros/kilted/lib/python3.12/site-packages/rclpy/executors.py", line 921, in wait_for_ready_callbacks
[exploration_evaluator-1] [occupancy_mapper-19]     return next(self._cb_iter)
[exploration_evaluator-1] [occupancy_mapper-19]            ^^^^^^^^^^^^^^^^^^^
[exploration_evaluator-1] [occupancy_mapper-19]   File "/opt/ros/kilted/lib/python3.12/site-packages/rclpy/executors.py", line 827, in _wait_for_ready_callbacks
[exploration_evaluator-1] [occupancy_mapper-19]     raise ExternalShutdownException()
[exploration_evaluator-1] [occupancy_mapper-19] rclpy.executors.ExternalShutdownException

This PR silences this exception.

Is this user-facing behavior change?

No

Did you use Generative AI?

No

[ahcorde]

Pulls: #930
Gist: https://gist.githubusercontent.com/ahcorde/f6e705b0c8c0ee3ae81a4195a84bb449/raw/740438f17162012b56511562da8fe6ebdd9011ea/ros2.repos
BUILD args: --packages-above-and-dependencies tf2_ros_py
TEST args: --packages-above tf2_ros_py
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19140

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[ahcorde]

https://github.com/Mergifyio backport lyrical kilted jazzy humble

[mergify]

backport lyrical kilted jazzy humble

✅ Backports have been created

Details

• #931 tf2_ros_py: Ignore ExternalShutdownException in background thread (backport #930) has been created for branch lyrical
• #932 tf2_ros_py: Ignore ExternalShutdownException in background thread (backport #930) has been created for branch kilted
• #933 tf2_ros_py: Ignore ExternalShutdownException in background thread (backport #930) has been created for branch jazzy but encountered conflicts

Cherry-pick of a7a5bcf has failed:

On branch mergify/bp/jazzy/pr-930
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit a7a5bcf.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   tf2_ros_py/tf2_ros/transform_listener.py

no changes added to commit (use "git add" and/or "git commit -a")

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

• #934 tf2_ros_py: Ignore ExternalShutdownException in background thread (backport #930) has been created for branch humble but encountered conflicts

Cherry-pick of a7a5bcf has failed:

On branch mergify/bp/humble/pr-930
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit a7a5bcf.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   tf2_ros_py/tf2_ros/transform_listener.py

no changes added to commit (use "git add" and/or "git commit -a")

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally