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kdl_parser
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Use signal and sys.exit to fix shutdown in joint_state_publisher (#139)

This commit is contained in:
Jackie Kay 2016-06-09 00:21:41 -07:00
parent 735ca9e870
commit 7fcfc19115
1 changed files with 5 additions and 3 deletions
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8
joint_state_publisher/joint_state_publisher/joint_state_publisher
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@ -19,7 +19,8 @@ import xml.dom.minidom
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
from math import pi from math import pi
from threading import Thread from threading import Thread
from sys import argv import sys
import signal
RANGE = 10000 RANGE = 10000
@ -117,7 +118,7 @@ class JointStatePublisher():
use_gui = get_param("use_gui", False) use_gui = get_param("use_gui", False)
if use_gui: if use_gui:
self.app = QApplication(argv) self.app = QApplication(sys.argv)
self.gui = JointStatePublisherGui("Joint State Publisher", self) self.gui = JointStatePublisherGui("Joint State Publisher", self)
self.gui.show() self.gui.show()
else: else:
@ -364,7 +365,8 @@ if __name__ == '__main__':
jsp.loop() jsp.loop()
else: else:
Thread(target=jsp.loop).start() Thread(target=jsp.loop).start()
jsp.app.exec_() signal.signal(signal.SIGINT, signal.SIG_DFL)
sys.exit(jsp.app.exec_())
except rospy.ROSInterruptException: except rospy.ROSInterruptException:
pass pass