From 7d6fb7112d247a297531fe8901005b07dd0c6682 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 10 Jul 2026 07:54:49 +0000 Subject: [PATCH] Fix another shutdown race with rqt_jtc --- .../joint_trajectory_controller.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py index c4f39d209a..696350e366 100644 --- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py +++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py @@ -203,6 +203,17 @@ def shutdown_plugin(self): self._unregister_state_sub() self._unregister_cmd_pub() self._unregister_executor() + self._destroy_node() + + def _destroy_node(self): + if self._node is not None: + try: + self._node.destroy_node() + except Exception as e: + if not is_shutdown_context_error(e): + raise + finally: + self._node = None def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value("cm_ns", self._cm_ns)