Cannot shutdown context from callbacks #1489
Description
Generated by Generative AI
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Operating System:
Docker: ros:humble-perception-jammy (Ubuntu 22)
ROS version or commit hash:
Docker: ros:humble-perception-jammy (Humble)
RMW implementation (if applicable):
No response
RMW Configuration (if applicable):
No response
Client library (if applicable):
rclpy
'ros2 doctor --report' output
Steps to reproduce issue
Execute the following node code:
import rclpy
from rclpy.node import Node
class ShutdownTimerNode(Node):
def __init__(self):
super().__init__('shutdown_timer_node')
self.create_timer(2.0, self.timer_callback)
def timer_callback(self):
self.get_logger().info('Timer triggered, shutting down...')
rclpy.shutdown()
def main(args=None):
rclpy.init(args=args)
node = ShutdownTimerNode()
try:
node.get_logger().info('Node is running, waiting for timer...')
rclpy.spin(node)
except KeyboardInterrupt:
node.get_logger().info('Keyboard interrupt received, shutting down...')
if __name__ == '__main__':
main()Expected behavior
According to the documentation , rclpy.shutdown() shuts down the node context including the executor. rclpy.spin() blocks until the executor is shut down. Thus, calling rclpy.shutdown() from the timer callback should cause the node to terminate.
Actual behavior
The node does not terminate. This means either the rclpy has a bug or the documentation is incorrect. If the documentation is incorrect, I would like to learn about the intended way to shutdown a ROS node without using sys.exit().
Additional information
No response