Change all of the demos to use the new rclpy context manager. (#694)

This will cleans things up at a much more predictable time.
While we are in here, we make the handling of KeyboardInterrupt
and ExternalShutdownException more consistent across all
of the demos.

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

Author: clalancette

action_tutorials/action_tutorials_py/action_tutorials_py/fibonacci_action_client.py

@@ -17,6 +17,7 @@
 
 import rclpy
 from rclpy.action import ActionClient
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 
@@ -62,13 +63,15 @@ def feedback_callback(self, feedback_msg):
 
 
 def main(args=None):
-    rclpy.init(args=args)
+    try:
+        with rclpy.init(args=args):
+            action_client = FibonacciActionClient()
 
-    action_client = FibonacciActionClient()
+            action_client.send_goal(10)
 
-    action_client.send_goal(10)
-
-    rclpy.spin(action_client)
+            rclpy.spin(action_client)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
 
 
 if __name__ == '__main__':

action_tutorials/action_tutorials_py/action_tutorials_py/fibonacci_action_server.py

@@ -19,6 +19,7 @@
 
 import rclpy
 from rclpy.action import ActionServer
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 
@@ -53,13 +54,11 @@ def execute_callback(self, goal_handle):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    fibonacci_action_server = FibonacciActionServer()
-
     try:
-        rclpy.spin(fibonacci_action_server)
-    except KeyboardInterrupt:
+        with rclpy.init(args=args):
+            fibonacci_action_server = FibonacciActionServer()
+            rclpy.spin(fibonacci_action_server)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
 
 

demo_nodes_py/demo_nodes_py/events/matched_event_detect.py

@@ -17,6 +17,7 @@
 from rclpy.event_handler import QoSPublisherMatchedInfo
 from rclpy.event_handler import QoSSubscriptionMatchedInfo
 from rclpy.event_handler import SubscriptionEventCallbacks
+from rclpy.executors import ExternalShutdownException
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.node import Node
 from rclpy.publisher import Publisher
@@ -133,72 +134,69 @@ def destroy_one_pub(self, pub: Publisher):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    topic_name_for_detect_pub_matched_event = 'pub_topic_matched_event_detect'
-    topic_name_for_detect_sub_matched_event = 'sub_topic_matched_event_detect'
-
-    matched_event_detect_node = MatchedEventDetectNode(
-        topic_name_for_detect_pub_matched_event, topic_name_for_detect_sub_matched_event)
-    multi_subs_node = MultiSubNode(topic_name_for_detect_pub_matched_event)
-    multi_pubs_node = MultiPubNode(topic_name_for_detect_sub_matched_event)
-
-    maximum_wait_time = 10  # 10s
-
-    executor = SingleThreadedExecutor()
-
-    executor.add_node(matched_event_detect_node)
-    executor.add_node(multi_subs_node)
-    executor.add_node(multi_pubs_node)
-
-    # MatchedEventDetectNode will output:
-    # First subscription is connected.
-    sub1 = multi_subs_node.create_one_sub()
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
-
-    # MatchedEventDetectNode will output:
-    # The changed number of connected subscription is 1 and current number of connected
-    # subscription is 2.
-    sub2 = multi_subs_node.create_one_sub()
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
-
-    # MatchedEventDetectNode will output:
-    # The changed number of connected subscription is -1 and current number of connected
-    # subscription is 1.
-    multi_subs_node.destroy_one_sub(sub1)
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
-
-    # MatchedEventDetectNode will output:
-    # Last subscription is disconnected.
-    multi_subs_node.destroy_one_sub(sub2)
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
-
-    # MatchedEventDetectNode will output:
-    # First publisher is connected.
-    pub1 = multi_pubs_node.create_one_pub()
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
-
-    # MatchedEventDetectNode will output:
-    # The changed number of connected publisher is 1 and current number of connected publisher
-    # is 2.
-    pub2 = multi_pubs_node.create_one_pub()
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
-
-    # MatchedEventDetectNode will output:
-    # The changed number of connected publisher is -1 and current number of connected publisher
-    # is 1.
-    multi_pubs_node.destroy_one_pub(pub1)
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
-
-    # MatchedEventDetectNode will output:
-    # Last publisher is disconnected.
-    multi_pubs_node.destroy_one_pub(pub2)
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
-
-    multi_pubs_node.destroy_node()
-    multi_subs_node.destroy_node()
-    matched_event_detect_node.destroy_node()
-    rclpy.try_shutdown()
+    try:
+        with rclpy.init(args=args):
+            topic_name_for_detect_pub_matched_event = 'pub_topic_matched_event_detect'
+            topic_name_for_detect_sub_matched_event = 'sub_topic_matched_event_detect'
+
+            matched_node = MatchedEventDetectNode(
+                topic_name_for_detect_pub_matched_event, topic_name_for_detect_sub_matched_event)
+            multi_subs_node = MultiSubNode(topic_name_for_detect_pub_matched_event)
+            multi_pubs_node = MultiPubNode(topic_name_for_detect_sub_matched_event)
+
+            max_wait_time = 10  # 10s
+
+            executor = SingleThreadedExecutor()
+
+            executor.add_node(matched_node)
+            executor.add_node(multi_subs_node)
+            executor.add_node(multi_pubs_node)
+
+            # MatchedEventDetectNode will output:
+            # First subscription is connected.
+            sub1 = multi_subs_node.create_one_sub()
+            executor.spin_until_future_complete(matched_node.get_future(), max_wait_time)
+
+            # MatchedEventDetectNode will output:
+            # The changed number of connected subscription is 1 and current number of connected
+            # subscription is 2.
+            sub2 = multi_subs_node.create_one_sub()
+            executor.spin_until_future_complete(matched_node.get_future(), max_wait_time)
+
+            # MatchedEventDetectNode will output:
+            # The changed number of connected subscription is -1 and current number of connected
+            # subscription is 1.
+            multi_subs_node.destroy_one_sub(sub1)
+            executor.spin_until_future_complete(matched_node.get_future(), max_wait_time)
+
+            # MatchedEventDetectNode will output:
+            # Last subscription is disconnected.
+            multi_subs_node.destroy_one_sub(sub2)
+            executor.spin_until_future_complete(matched_node.get_future(), max_wait_time)
+
+            # MatchedEventDetectNode will output:
+            # First publisher is connected.
+            pub1 = multi_pubs_node.create_one_pub()
+            executor.spin_until_future_complete(matched_node.get_future(), max_wait_time)
+
+            # MatchedEventDetectNode will output:
+            # The changed number of connected publisher is 1 and current number of connected
+            # publisher is 2.
+            pub2 = multi_pubs_node.create_one_pub()
+            executor.spin_until_future_complete(matched_node.get_future(), max_wait_time)
+
+            # MatchedEventDetectNode will output:
+            # The changed number of connected publisher is -1 and current number of connected
+            # publisher is 1.
+            multi_pubs_node.destroy_one_pub(pub1)
+            executor.spin_until_future_complete(matched_node.get_future(), max_wait_time)
+
+            # MatchedEventDetectNode will output:
+            # Last publisher is disconnected.
+            multi_pubs_node.destroy_one_pub(pub2)
+            executor.spin_until_future_complete(matched_node.get_future(), max_wait_time)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
 
 
 if __name__ == '__main__':

demo_nodes_py/demo_nodes_py/logging/use_logger_service.py

@@ -19,6 +19,7 @@
 from rcl_interfaces.srv import GetLoggerLevels
 from rcl_interfaces.srv import SetLoggerLevels
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.impl.logging_severity import LoggingSeverity
 from rclpy.node import Node
@@ -106,70 +107,73 @@ def get_logger_level_func(test_node):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    logger_service_node = LoggerServiceNode()
-    test_node = TestNode('LoggerServiceNode')
-
-    executor = SingleThreadedExecutor()
-    executor.add_node(logger_service_node)
-
-    thread = threading.Thread(target=executor.spin)
-    thread.start()
-
-    # Output with default logger level
-    test_node.get_logger().info('Output with default logger level:')
-    msg = String()
-    msg.data = 'Output 1'
-    test_node.pub.publish(msg)
-    time.sleep(0.5)
-
-    # Get logger level. Logger level should be 0 (Unset)
-    get_logger_level_func(test_node)
-
-    # Output with debug logger level
-    test_node.get_logger().info('Output with debug logger level:')
-    if test_node.set_logger_level_on_remote_node(LoggingSeverity.DEBUG):
-        msg = String()
-        msg.data = 'Output 2'
-        test_node.pub.publish(msg)
-        time.sleep(0.5)
-    else:
-        test_node.get_logger().error('Failed to set debug logger level via logger service !')
-
-    # Get logger level. Logger level should be 10 (Debug)
-    get_logger_level_func(test_node)
-
-    # Output with warn logger level
-    test_node.get_logger().info('Output with warn logger level:')
-    if test_node.set_logger_level_on_remote_node(LoggingSeverity.WARN):
-        msg = String()
-        msg.data = 'Output 3'
-        test_node.pub.publish(msg)
-        time.sleep(0.5)
-    else:
-        test_node.get_logger().error('Failed to set warn logger level via logger service !')
-
-    # Get logger level. Logger level should be 30 (warn)
-    get_logger_level_func(test_node)
-
-    # Output with error logger level
-    test_node.get_logger().info('Output with error logger level:')
-    if test_node.set_logger_level_on_remote_node(LoggingSeverity.ERROR):
-        msg = String()
-        msg.data = 'Output 4'
-        test_node.pub.publish(msg)
-        time.sleep(0.5)
-    else:
-        test_node.get_logger().error('Failed to set error logger level via logger service !')
-
-    # Get logger level. Logger level should be 40 (Error)
-    get_logger_level_func(test_node)
-
-    executor.shutdown()
-    if thread.is_alive():
-        thread.join()
-    rclpy.try_shutdown()
+    try:
+        with rclpy.init(args=args):
+            logger_service_node = LoggerServiceNode()
+            test_node = TestNode('LoggerServiceNode')
+
+            executor = SingleThreadedExecutor()
+            executor.add_node(logger_service_node)
+
+            thread = threading.Thread(target=executor.spin)
+            thread.start()
+
+            logger = test_node.get_logger()
+
+            # Output with default logger level
+            logger.info('Output with default logger level:')
+            msg = String()
+            msg.data = 'Output 1'
+            test_node.pub.publish(msg)
+            time.sleep(0.5)
+
+            # Get logger level. Logger level should be 0 (Unset)
+            get_logger_level_func(test_node)
+
+            # Output with debug logger level
+            logger.info('Output with debug logger level:')
+            if test_node.set_logger_level_on_remote_node(LoggingSeverity.DEBUG):
+                msg = String()
+                msg.data = 'Output 2'
+                test_node.pub.publish(msg)
+                time.sleep(0.5)
+            else:
+                logger.error('Failed to set debug logger level via logger service !')
+
+            # Get logger level. Logger level should be 10 (Debug)
+            get_logger_level_func(test_node)
+
+            # Output with warn logger level
+            logger.info('Output with warn logger level:')
+            if test_node.set_logger_level_on_remote_node(LoggingSeverity.WARN):
+                msg = String()
+                msg.data = 'Output 3'
+                test_node.pub.publish(msg)
+                time.sleep(0.5)
+            else:
+                logger.error('Failed to set warn logger level via logger service !')
+
+            # Get logger level. Logger level should be 30 (warn)
+            get_logger_level_func(test_node)
+
+            # Output with error logger level
+            logger.info('Output with error logger level:')
+            if test_node.set_logger_level_on_remote_node(LoggingSeverity.ERROR):
+                msg = String()
+                msg.data = 'Output 4'
+                test_node.pub.publish(msg)
+                time.sleep(0.5)
+            else:
+                logger.error('Failed to set error logger level via logger service !')
+
+            # Get logger level. Logger level should be 40 (Error)
+            get_logger_level_func(test_node)
+
+            executor.shutdown()
+            if thread.is_alive():
+                thread.join()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
 
 
 if __name__ == '__main__':