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add signal handler SIGIN/SIGTERM to ros2run. #899

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add signal handler SIGIN/SIGTERM to ros2run. #899

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10 changes: 10 additions & 0 deletions ros2run/ros2run/api/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,16 @@ def run_executable(*, path, argv, prefix=None):
cmd = prefix + cmd

process = subprocess.Popen(cmd)

# add signal handler for the parent process, so that we can finalize the child process
def signal_handler(sig, frame):
print(ROS2RUN_MSG_PREFIX, 'Received signal: ', signal.strsignal(sig))
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if process.poll() is None:
# If child process is running, forward the signal to it
process.send_signal(sig)
signal.signal(signal.SIGINT, signal_handler)
signal.signal(signal.SIGTERM, signal_handler)
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while process.returncode is None:
try:
process.communicate()
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