Switch to using a context manager for rclpy initialization. (#85)

This ensures that everything will be properly cleaned up
when we leave the context manager.

Signed-off-by: Chris Lalancette <[email protected]>

turtle_tf2_py/turtle_tf2_py/dynamic_frame_tf2_broadcaster.py

@@ -17,6 +17,7 @@
 from geometry_msgs.msg import TransformStamped
 
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 from tf2_ros import TransformBroadcaster
@@ -49,11 +50,9 @@ def broadcast_timer_callback(self):
 
 
 def main():
-    rclpy.init()
-    node = DynamicFrameBroadcaster()
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init():
+            node = DynamicFrameBroadcaster()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-
-    rclpy.shutdown()

turtle_tf2_py/turtle_tf2_py/fixed_frame_tf2_broadcaster.py

@@ -15,6 +15,7 @@
 from geometry_msgs.msg import TransformStamped
 
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 from tf2_ros import TransformBroadcaster
@@ -45,11 +46,9 @@ def broadcast_timer_callback(self):
 
 
 def main():
-    rclpy.init()
-    node = FixedFrameBroadcaster()
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init():
+            node = FixedFrameBroadcaster()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-
-    rclpy.shutdown()

turtle_tf2_py/turtle_tf2_py/static_turtle_tf2_broadcaster.py

@@ -20,6 +20,7 @@
 import numpy as np
 
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster
@@ -104,12 +105,10 @@ def main():
         logger.info('Your static turtle name cannot be "world"')
         sys.exit(2)
 
-    # pass parameters and initialize node
-    rclpy.init()
-    node = StaticFramePublisher(sys.argv)
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init():
+            # pass parameters and initialize node
+            node = StaticFramePublisher(sys.argv)
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-
-    rclpy.shutdown()

turtle_tf2_py/turtle_tf2_py/turtle_tf2_broadcaster.py

@@ -19,6 +19,7 @@
 import numpy as np
 
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 from tf2_ros import TransformBroadcaster
@@ -104,11 +105,9 @@ def handle_turtle_pose(self, msg):
 
 
 def main():
-    rclpy.init()
-    node = FramePublisher()
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init():
+            node = FramePublisher()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-
-    rclpy.shutdown()

turtle_tf2_py/turtle_tf2_py/turtle_tf2_listener.py

@@ -17,6 +17,7 @@
 from geometry_msgs.msg import Twist
 
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 from tf2_ros import TransformException
@@ -109,11 +110,9 @@ def on_timer(self):
 
 
 def main():
-    rclpy.init()
-    node = FrameListener()
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init():
+            node = FrameListener()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-
-    rclpy.shutdown()

turtle_tf2_py/turtle_tf2_py/turtle_tf2_message_broadcaster.py

@@ -16,6 +16,7 @@
 from geometry_msgs.msg import Twist
 
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 from turtlesim_msgs.msg import Pose
@@ -87,11 +88,9 @@ def handle_turtle_pose(self, msg):
 
 
 def main():
-    rclpy.init()
-    node = PointPublisher()
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init():
+            node = PointPublisher()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-
-    rclpy.shutdown()