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Now that I think about it, your incorrect use of rospy.Rate.sleep() may be the cause. So try this:

• turn both of the rate.sleep() calls into rospy.sleep(0.1) calls
• change the loop rate to be 0.5, like rate = rospy.Rate(2)
• put rate.sleep() at the very end of your while loop, after the try/except block and in-line with it

See if that changes anything. Sleep calls listen for Ctrl+C interrupts. Your loop timing will be all out of whack due to using a loop sleep twice, which may be causing the sleeps to not catch interrupts.

Now that I think about it, your incorrect use of rospy.Rate.sleep() may be the cause. So try this:

• turn both of the rate.sleep() calls into rospy.sleep(0.1) calls
• change the loop rate to be 0.5, 0.5 seconds per loop, like rate = rospy.Rate(2)
• put rate.sleep() at the very end of your while loop, after the try/except block and in-line with it

See if that changes anything. Sleep calls listen for Ctrl+C interrupts. Your loop timing will be all out of whack due to using a loop sleep twice, which may be causing the sleeps to not catch interrupts. interrupts.

Now that I think about it, your incorrect use of rospy.Rate.sleep() may be the cause. So try this:

• turn both of the rate.sleep() calls into rospy.sleep(0.1) calls
• change the loop rate to be 0.5 seconds per loop, like rate = rospy.Rate(2)
• put rate.sleep() at the very end of your while loop, after the try/except block and in-line with it

See if that changes anything. Sleep calls listen for Ctrl+C interrupts. Your loop timing will be all out of whack due to using a loop sleep twice, which may be causing the sleeps to not catch interrupts.

Now that I think about it, your incorrect use of rospy.Rate.sleep() may be the cause. So try this:

• turn both of the rate.sleep() calls into rospy.sleep(0.1) calls
• change the loop rate to be 0.5 seconds per loop, like rate = rospy.Rate(2)
• put rate.sleep() at the very end of your while loop, after the try/except block and in-line with it

See if that changes anything. Sleep calls listen for Ctrl+C interrupts. Your loop timing will be all out of whack due to using a loop sleep twice, which may be causing the sleeps to not catch interrupts.

EDIT: Actually, let me alter that a little bit. You don't want a rospy.Rate.sleep() call at all here, because its loop timing will be dependent on user input (not good). So just use another rospy.sleep(1) or something at the end of your loop to catch Ctrl+C interrupts.