Remove destroy_node() and shutdown() as suggested by https://ros2-tutorial.readthedocs.io/en/latest/python_node_explained.html

Author: fcladera

mocha_core/mocha_core/mocha.py

@@ -216,10 +216,6 @@ def main(args=None):
     except Exception as e:
         print(f"Exception: {e}")
         mocha.shutdown(f"Exception: {e}")
-    finally:
-        # Clean up node and ROS2 from main thread (safe)
-        mocha.destroy_node()
-        rclpy.shutdown()
 
 if __name__ == "__main__":
     main()

mocha_core/mocha_core/translator.py

@@ -149,10 +149,6 @@ def main(args=None):
         print("Keyboard Interrupt")
     except Exception as e:
         print(f"Exception: {e}")
-    finally:
-        # Clean up node and ROS2 from main thread (safe)
-        translator_node.destroy_node()
-        rclpy.shutdown()
 
 if __name__ == "__main__":
     main()