ros_sugar.launch.signals

SIGTERM for the launcher.

ROS launch before 3.10 registers a SIGTERM handler that cancels its run and orphans the processes, and never installs a Python-level handler for the signal, so a SIGTERM ends the launcher process at once instead.

Fixed by ros2/launch#712. This does the same on the launch versions that lack it. (Humble, Jazzy, Kilted, Lyrical)

Module Contents

Functions

launch_handles_sigterm	Whether this launch shuts down on SIGTERM by itself (ros2/launch#712)
sigterm_shuts_down	Have SIGTERM shut launch_service down like SIGINT while it runs.

API

ros_sugar.launch.signals.launch_handles_sigterm() → bool

Whether this launch shuts down on SIGTERM by itself (ros2/launch#712)

ros_sugar.launch.signals.sigterm_shuts_down(launch_service: launch.LaunchService) → Iterator[None]

Have SIGTERM shut launch_service down like SIGINT while it runs.

launch registers its signal handlers on its manager as the run starts. The manager’s handle is wrapped for the run, so the SIGTERM registration becomes a shutdown, and a Python-level handler is installed so the signal reaches the manager instead of ending the process.