Switch to using rclpy.init context manager. (#918)

This allows us to clean up things substantially, so we can still clean up after ourselves, but use less code doing so. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Jul 8, 2024 · 6e743c8 · 6e743c8
1 parent f92225c
commit 6e743c8
Show file tree

Hide file tree

Showing 13 changed files with 156 additions and 252 deletions.
diff --git a/ros2action/test/fixtures/fibonacci_action_server.py b/ros2action/test/fixtures/fibonacci_action_server.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 # Copyright 2019 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -13,10 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.import time
 
-import sys
-
 import rclpy
 from rclpy.action import ActionServer
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 from test_msgs.action import Fibonacci
@@ -52,19 +50,12 @@ def execute_callback(self, goal_handle):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    node = FibonacciActionServer()
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init(args=args):
+            node = FibonacciActionServer()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         print('server stopped cleanly')
-    except BaseException:
-        print('exception in server:', file=sys.stderr)
-        raise
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == '__main__':

diff --git a/ros2doctor/test/fixtures/listener_node_with_reliable_qos.py b/ros2doctor/test/fixtures/listener_node_with_reliable_qos.py
@@ -12,9 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 from rclpy.qos import QoSProfile
 from rclpy.qos import QoSReliabilityPolicy
@@ -39,20 +38,12 @@ def callback(self, msg):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    node = ListenerNode()
-
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init(args=args):
+            node = ListenerNode()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         print('listener stopped cleanly')
-    except BaseException:
-        print('exception in listener:', file=sys.stderr)
-        raise
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == '__main__':

diff --git a/ros2doctor/test/fixtures/talker_node_with_best_effort_qos.py b/ros2doctor/test/fixtures/talker_node_with_best_effort_qos.py
@@ -12,9 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 from rclpy.qos import QoSProfile
 from rclpy.qos import QoSReliabilityPolicy
@@ -40,20 +39,12 @@ def callback(self):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    node = TalkerNode()
-
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init(args=args):
+            node = TalkerNode()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         print('talker stopped cleanly')
-    except BaseException:
-        print('exception in talker:', file=sys.stderr)
-        raise
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == '__main__':

diff --git a/ros2doctor/test/fixtures/talker_node_with_reliable_qos.py b/ros2doctor/test/fixtures/talker_node_with_reliable_qos.py
@@ -12,9 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 from rclpy.qos import QoSProfile
 from rclpy.qos import QoSReliabilityPolicy
@@ -40,20 +39,12 @@ def callback(self):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    node = TalkerNode()
-
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init(args=args):
+            node = TalkerNode()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         print('talker stopped cleanly')
-    except BaseException:
-        print('exception in talker:', file=sys.stderr)
-        raise
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == '__main__':

diff --git a/ros2node/test/fixtures/complex_node.py b/ros2node/test/fixtures/complex_node.py
@@ -12,10 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
 from rclpy.action import ActionServer
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 from rclpy.qos import qos_profile_system_default
 
@@ -56,20 +55,12 @@ def action_callback(self, goal_handle):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    node = ComplexNode()
-
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init(args=args):
+            node = ComplexNode()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         print('node stopped cleanly')
-    except BaseException:
-        print('exception in node:', file=sys.stderr)
-        raise
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == '__main__':

diff --git a/ros2param/test/fixtures/parameter_node.py b/ros2param/test/fixtures/parameter_node.py
@@ -13,33 +13,30 @@
 # limitations under the License.
 
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.parameter import PARAMETER_SEPARATOR_STRING
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    node = rclpy.create_node('parameter_node')
-    node.declare_parameter('bool_param', True)
-    node.declare_parameter('int_param', 42)
-    node.declare_parameter('double_param', 1.23)
-    node.declare_parameter('str_param', 'Hello World')
-    node.declare_parameter('bool_array_param', [False, False, True])
-    node.declare_parameter('int_array_param', [1, 2, 3])
-    node.declare_parameter('str_array_param', ['foo', 'bar', 'baz'])
-    node.declare_parameter('double_array_param', [3.125, 6.25, 12.5])
-    node.declare_parameter('foo' + PARAMETER_SEPARATOR_STRING + 'str_param', 'foo')
-    node.declare_parameter('foo' + PARAMETER_SEPARATOR_STRING +
-                           'bar' + PARAMETER_SEPARATOR_STRING +
-                           'str_param', 'foobar')
-
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init(args=args):
+            node = rclpy.create_node('parameter_node')
+            node.declare_parameter('bool_param', True)
+            node.declare_parameter('int_param', 42)
+            node.declare_parameter('double_param', 1.23)
+            node.declare_parameter('str_param', 'Hello World')
+            node.declare_parameter('bool_array_param', [False, False, True])
+            node.declare_parameter('int_array_param', [1, 2, 3])
+            node.declare_parameter('str_array_param', ['foo', 'bar', 'baz'])
+            node.declare_parameter('double_array_param', [3.125, 6.25, 12.5])
+            node.declare_parameter('foo' + PARAMETER_SEPARATOR_STRING + 'str_param', 'foo')
+            node.declare_parameter('foo' + PARAMETER_SEPARATOR_STRING +
+                                   'bar' + PARAMETER_SEPARATOR_STRING +
+                                   'str_param', 'foobar')
+
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         print('parameter node stopped cleanly')
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == '__main__':

diff --git a/ros2service/ros2service/verb/call.py b/ros2service/ros2service/verb/call.py
@@ -89,37 +89,33 @@ def requester(service_type, service_name, values, period):
 
     values_dictionary = yaml.safe_load(values)
 
-    rclpy.init()
-
-    node = rclpy.create_node(NODE_NAME_PREFIX + '_requester_%s_%s' % (package_name, srv_name))
-
-    cli = node.create_client(srv_module, service_name)
-
-    request = srv_module.Request()
-
-    try:
-        set_message_fields(request, values_dictionary)
-    except Exception as e:
-        return 'Failed to populate field: {0}'.format(e)
-
-    if not cli.service_is_ready():
-        print('waiting for service to become available...')
-        cli.wait_for_service()
-
-    while True:
-        print('requester: making request: %r\n' % request)
-        last_call = time.time()
-        future = cli.call_async(request)
-        rclpy.spin_until_future_complete(node, future)
-        if future.result() is not None:
-            print('response:\n%r\n' % future.result())
-        else:
-            raise RuntimeError('Exception while calling service: %r' % future.exception())
-        if period is None or not rclpy.ok():
-            break
-        time_until_next_period = (last_call + period) - time.time()
-        if time_until_next_period > 0:
-            time.sleep(time_until_next_period)
-
-    node.destroy_node()
-    rclpy.shutdown()
+    with rclpy.init():
+        node = rclpy.create_node(NODE_NAME_PREFIX + '_requester_%s_%s' % (package_name, srv_name))
+
+        cli = node.create_client(srv_module, service_name)
+
+        request = srv_module.Request()
+
+        try:
+            set_message_fields(request, values_dictionary)
+        except Exception as e:
+            return 'Failed to populate field: {0}'.format(e)
+
+        if not cli.service_is_ready():
+            print('waiting for service to become available...')
+            cli.wait_for_service()
+
+        while True:
+            print('requester: making request: %r\n' % request)
+            last_call = time.time()
+            future = cli.call_async(request)
+            rclpy.spin_until_future_complete(node, future)
+            if future.result() is not None:
+                print('response:\n%r\n' % future.result())
+            else:
+                raise RuntimeError('Exception while calling service: %r' % future.exception())
+            if period is None or not rclpy.ok():
+                break
+            time_until_next_period = (last_call + period) - time.time()
+            if time_until_next_period > 0:
+                time.sleep(time_until_next_period)
diff --git a/ros2service/test/fixtures/echo_server.py b/ros2service/test/fixtures/echo_server.py
@@ -12,9 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 from test_msgs.srv import BasicTypes
@@ -33,21 +32,12 @@ def callback(self, request, response):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    node = EchoServer()
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init(args=args):
+            node = EchoServer()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         print('server stopped cleanly')
-    except BaseException:
-        print('exception in server:', file=sys.stderr)
-        raise
-    finally:
-        # Destroy the node explicitly
-        # (optional - Done automatically when node is garbage collected)
-        node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == '__main__':

diff --git a/ros2topic/test/fixtures/controller_node.py b/ros2topic/test/fixtures/controller_node.py
@@ -12,11 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 from geometry_msgs.msg import TwistStamped
 
 import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 from rclpy.qos import qos_profile_system_default
 
@@ -38,20 +37,12 @@ def callback(self):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    node = ControllerNode()
-
     try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
+        with rclpy.init(args=args):
+            node = ControllerNode()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
         print('controller stopped cleanly')
-    except BaseException:
-        print('exception in controller:', file=sys.stderr)
-        raise
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == '__main__':