I've seen many questions about this, including one of mine from a year ago. What about this case, where I think it all looks correct and nothing in the loop is long running, and yet I often have to do ^c many many times before it responds. Oddly shift ^c seems to interrupt better. I don't even know what shift ^c is!

I am running Kinetic on Ubuntu 16.04 dual botted on a 5 year old Mac Pro.

[I can hardly think this is related, but. I have this problem when I run terminator as the shell. But, it seems, without extensive testing, that when I run this same script from the shell built into vscode, the ^cs work reliably.]

    rate = rospy.Rate(5)
    count_log = 0

    while not rospy.is_shutdown():
        count_log += 1
        if (count_log % 10 == 0):
            print("\n#%s [%s] %s=%1.2f" % (count_log, self.state,
                                         self.m.closest_dir, self.m.closest_dist))
        if (self.m is None):
            pass
        elif (self.state == "find_wall"):
            self.handle_find_wall()
        elif (self.state == "follow_wall"):
            self.handle_follow_wall()
        elif (self.state == "emer_stop"):
            self.handle_emer_stop()
        rate.sleep()