rosbridge_websocket: Stop websocket server if ROS shuts down (RobotWe…

…bTools#945) (RobotWebTools#946) Signed-off-by: Brad Martin <[email protected]>
PickNikRobotics · Aug 15, 2024 · 8b0b4c5 · 8b0b4c5
1 parent 974c6b7
commit 8b0b4c5
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/rosbridge_server/scripts/rosbridge_websocket.py b/rosbridge_server/scripts/rosbridge_websocket.py
@@ -337,7 +337,13 @@ def main(args=None):
 
     executor = rclpy.executors.SingleThreadedExecutor()
     executor.add_node(node)
-    spin_callback = PeriodicCallback(lambda: executor.spin_once(timeout_sec=0.01), 1)
+
+    def spin_ros():
+        executor.spin_once(timeout_sec=0.01)
+        if not rclpy.ok():
+            shutdown_hook()
+
+    spin_callback = PeriodicCallback(spin_ros, 1)
     spin_callback.start()
     try:
         start_hook()