Node shutdown error about create_robot HOT 3 CLOSED

Apparently, I just needed to voice my problem to have the solution work, (guess I should invest in a rubber duck.) I will leave this issue open for a little longer, as the resulting solution is incredibly hacky and may have underlying problems.

Simply creating yet another signalhanlder over-ride (as mentioned in roscpp and 317 linked above) closes everything correctly. I'm not very content on this solution, because I tried this the other day and it didn't change anything. Not sure why it worked this time around, but the edits I made are:

Starting around line 655 in create_driver.cpp

void mySigintHandler(int sig){  //ADDITION
  rclcpp::shutdown();                //ADDITION
}                                               //ADDITION

int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  auto create_driver = std::make_shared<CreateDriver>();
  signal(SIGINT, mySigintHandler); //ADDITION
  try
  {
    rclcpp::spin(create_driver);
    std::cout <<"PRINT" <<std::endl; //NOW THIS CORRECTLY PRINTS!
  }
  catch (std::runtime_error& ex)
  {
    RCLCPP_FATAL_STREAM(create_driver->get_logger(), "[CREATE] Runtime error: " << ex.what());
    return 1;
  }

  rclcpp::shutdown();
  return 0;
}

Again, a second opinion is greatly appreciated on this so I'll leave the issue for at least a couple days.

Thanks!

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Thanks for opening the issue! I suspect that the signal handler registered by libcreate is interferring with the rclcpp signal handler. I'll see if I can reproduce later this evening.

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@cbcoutu
I was able to reproduce the issue (thanks for the detailed investigation!). I think #89 should fix this issue, which depends on a new option in libcreate for disabling it's signal handler (AutonomyLab/libcreate#65). If you are able to try it out and report back that would be awesome 🙂

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