[tree-watcher] bugfix shutdown for humble

splintered-reality · Feb 7, 2023 · 5250426 · 5250426
1 parent 018b087
commit 5250426
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -4,6 +4,10 @@ Changelog
 
 Forthcoming
 -----------
+
+* [watchers] handle explicit args and memory details,  `#196 <https://github.com/splintered-reality/py_trees_ros/pull/196>`_
+* [watchers] bugfix blackboard watcher shutdownon humble, `#194 <https://github.com/splintered-reality/py_trees_ros/pull/194>`_
+* [code] refactor for explicit arguments, `#191 <https://github.com/splintered-reality/py_trees_ros/pull/191>`_
 * [trees] optional node and node name args to setup, `#188 <https://github.com/splintered-reality/py_trees_ros/pull/188>`_
 * [trees] switch deprecating qos policy for shorter versions, `#187 <https://github.com/splintered-reality/py_trees_ros/pull/187>`_
 

diff --git a/py_trees_ros/programs/tree_watcher.py b/py_trees_ros/programs/tree_watcher.py
@@ -223,11 +223,11 @@ def main():
                     # xdot running, wait for it to terminate
                     break
             executor.spin_once(timeout_sec=0.1)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
         pass
     finally:
         if tree_watcher.xdot_process is not None:
             if tree_watcher.xdot_process.poll() is not None:
                 tree_watcher.xdot_process.terminate()
         tree_watcher.shutdown()
-        rclpy.shutdown()
+        rclpy.try_shutdown()