Improve shutdown

2023-01-17 12:16:48 +02:00
parent 63f707d355
commit afd42c3ede
1 changed files with 5 additions and 4 deletions
--- a/src/axidraw_controller/src/py/axidraw_serial.py
+++ b/src/axidraw_controller/src/py/axidraw_serial.py
@@ -124,9 +124,10 @@ def main(args=None):
    rclpy.init(args=args)

    axidraw_serial = AxidrawSerial()
-
-    rclpy.on_shutdown(axidraw_serial.go_home())
+    try:
        rclpy.spin(axidraw_serial)
+    finally:
+        axidraw_serial.go_home()
        rclpy.shutdown()