Handle spin() ExternalShutdownException. (#378)

When an rclpy executor is spinning, it can shutdown by raising an ExternalShutdownException. Handle that in wait_for_topics.py so that downstream consumers don't end up throwing an exception themselves. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Aug 29, 2023 · 75952a8 · 75952a8
1 parent 760e219
commit 75952a8
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/launch_testing_ros/launch_testing_ros/wait_for_topics.py b/launch_testing_ros/launch_testing_ros/wait_for_topics.py
@@ -63,9 +63,15 @@ def __init__(self, topic_tuples, timeout=5.0, messages_received_buffer_length=10
         self._prepare_ros_node()
 
         # Start spinning
-        self.__ros_spin_thread = Thread(target=self.__ros_executor.spin)
+        self.__ros_spin_thread = Thread(target=self._spin_handle_external_shutdown)
         self.__ros_spin_thread.start()
 
+    def _spin_handle_external_shutdown(self):
+        try:
+            self.__ros_executor.spin()
+        except rclpy.executors.ExternalShutdownException:
+            pass
+
     def _prepare_ros_node(self):
         node_name = '_test_node_' + ''.join(
             random.choices(string.ascii_uppercase + string.digits, k=10)