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Shutdown of SimpleActionServer using rospy

asked 2014-07-10 04:42:59 -0500

Michael Stoll gravatar image


I'm trying to implement an actionlib action server in pyhton. But in case of an error the node won't shutdown correctly and runs forever.

Look a this simple code snippet:

#!/usr/bin/env python
import rospy, actionlib 
from my_msgs.msg import MyAction
def execute_cb(goal):
    x = goal
def initNode():
    actionserver = actionlib.SimpleActionServer("test_action", MyAction, execute_cb=execute_cb, auto_start = False)     
    raise KeyError("test")
if __name__ == '__main__':

When run, the "test" error is raised as expected. But afterwars the node does not react to CTRL-C.

I assume the action server created a seperate thread, which keeps the process alive. But IMO that should be interruptable by CTRL-C.

I also tried to use actionserver.shutdown() without success.

Did I make a mistake or is this a bug?

Using hydro on Ubunto 13.04

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1 Answer

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answered 2019-06-26 09:11:45 -0500

nilot gravatar image

Add rospy.spin() after initNode()

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Asked: 2014-07-10 04:42:59 -0500

Seen: 549 times

Last updated: Jun 26 '19