How do you implement a rospy KeyboardInterrupt without killing the node?

asked 2016-07-20 17:45:06 -0500

2327 ●55 ●80 ●81

updated 2016-07-20 20:27:06 -0500

I want to run a process in a while loop that prints to screen, and exit the while loop by pressing a key or 'Ctrl+C'. But I don't want the same key press to also kill the ros node - I just want to exit the loop. In python you can use KeyboardInterrupt like so:

import time     

while True:
    try:
        print 'Help! Im stuck in a while loop! Press Ctrl+C to save me!'
        time.sleep(0.5)
    except KeyboardInterrupt:
        break

do_other_stuff()

But this doesn't work in a ROS node, and I assume it's because rospy handles the 'Ctrl+C' command in a slightly different way (but please correct me if I'm wrong).

I've tried the ROS equivalent, which replaces KeyboardInterrupt with rospy.ROSInterruptException but this doesn't work either - ROS simply never acknowledges the 'Ctrl+C' command. I've also tried checking for rospy.is_shutdown() in the while loop, as per this question. But this kills the node outright, so I can't continue running other functions or run the while loop again.

Does anyone have a way of achieving this? Or does one of my methods work but I've got the syntax wrong?

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7

answered 2016-07-20 17:52:35 -0500

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

rospy sets up an interrupt handler for SIGINT (ctrl-C), and uses that to trigger shutdown of ROS.

If you don't want rospy to shut down when your program gets SIGINT, you should pass the disable_signals argument to rospy.init_node(), as described in rospy initialization and shutdown:

rospy.init_node('my_node', disable_signals=True)

You will then be able to do your own handling of SIGINT (or KeyboardInterrupt).

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Yeap, that did the trick! As usual I read the right documentation but not thoroughly enough. The rospy exceptions still don't work, but setting disable_signals=True lets you deal with the interrupt as normal, just using KeyboardInterrupt Thanks again ahendrix!