[tree-watcher] bugfix shutdown for humble

splintered-reality · Feb 7, 2023 · 870f287 · 870f287
1 parent 9727f50
commit 870f287
Showing 1 changed file with 2 additions and 2 deletions.
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()