IntelligentSystemsLabUTV / ros2_signal_handler

Signal handler module for ROS 2 applications.

ros2_signal_handler

Signal handler module for ROS 2 applications.

Can be used by any ROS 2 standalone application (but also to component managers, if that's needed), and allows to define custom behaviours upon process termination.

The main motivation behind this is that rclcpp::init installs its own signal handler, thus overriding any other termination procedure you might need.

This also adds support for initialization of custom ROS 2 contexts, and uses sigaction to manage handlers.

Usage

This package is made of a single header only: signal_handler.hpp, so to access its functions you just need to include that.

All operations are performed by a ROS2SignalHandler::SignalHandler object; to use it, interface it with the following public methods:

• SignalHandler::init to initialize it;
• SignalHandler::install to install a new signal handler for a given signal;
• SignalHandler::uninstall to uninstall a previously-installed signal handler;
• SignalHandler::ignore to ignore a specific signal;
• SignalHandler::fini to reset the SignalHandler object and restore everything to default settings and behaviours.

Routines may throw std exceptions upon error.

Refer to code comments for specific API documentation.