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]>

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__':