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joy_linux: clean shutdown when terminated by signal handler #293

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joy_linux: clean shutdown when terminated by signal handler #293

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3 changes: 2 additions & 1 deletion joy_linux/src/joy_linux_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -532,8 +532,9 @@ class Joystick

close(ff_fd_);
close(joy_fd);
rclcpp::spin_some(node_);

if (rclcpp::ok()) {
rclcpp::spin_some(node_);
RCLCPP_ERROR(
node_->get_logger(), "Connection to joystick device lost unexpectedly. Will reopen.");
}
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