From afd42c3ededf41428d33a066affa4b39706c4341 Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Tue, 17 Jan 2023 12:16:48 +0200 Subject: [PATCH] Improve shutdown --- src/axidraw_controller/src/py/axidraw_serial.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/axidraw_controller/src/py/axidraw_serial.py b/src/axidraw_controller/src/py/axidraw_serial.py index d137e2c..36b0adf 100644 --- a/src/axidraw_controller/src/py/axidraw_serial.py +++ b/src/axidraw_controller/src/py/axidraw_serial.py @@ -124,10 +124,11 @@ def main(args=None): rclpy.init(args=args) axidraw_serial = AxidrawSerial() - - rclpy.on_shutdown(axidraw_serial.go_home()) - rclpy.spin(axidraw_serial) - rclpy.shutdown() + try: + rclpy.spin(axidraw_serial) + finally: + axidraw_serial.go_home() + rclpy.shutdown() if __name__ == '__main__':