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fix: rosbridge_websocket cooperative shutdown #1048

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Merged
merged 4 commits into from
Aug 7, 2025
Merged

fix: rosbridge_websocket cooperative shutdown #1048

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c96a082
rosbridge_websocket cooperative shutdown necessary changes
Jul 1, 2025
fb59009
switch back to singlethread, check for ok BEFORE spinning also
Jul 8, 2025
1c93df4
address MatthijsBurgh comments
Jul 15, 2025
f7f9c90
Merge branch 'ros2' into ros2
bjsowa Aug 7, 2025
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4 changes: 4 additions & 0 deletions rosbridge_server/scripts/rosbridge_websocket.py
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Original file line number Diff line number Diff line change
Expand Up @@ -343,6 +343,9 @@ def main(args=None):
executor.add_node(node)

def spin_ros():
if not rclpy.ok():
shutdown_hook()
return
executor.spin_once(timeout_sec=0.01)
if not rclpy.ok():
shutdown_hook()
Expand All @@ -355,6 +358,7 @@ def spin_ros():
rclpy.shutdown()
except KeyboardInterrupt:
print("Exiting due to SIGINT")
spin_callback.stop()
finally:
shutdown_hook() # shutdown hook to stop the server

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