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Fix another shutdown race with rqt_jtc #2467

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Fix another shutdown race with rqt_jtc #2467

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11 changes: 11 additions & 0 deletions ...oint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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