Tully,

Thanks for the advice. I've added a ticket for my small changes:
https://code.ros.org/trac/wg-ros-pkg/ticket/4504.

I appreciate your help!

Mike


On Tue, 2010-06-29 at 10:42 -0700, Tully Foote wrote:
> Mike, 
> rospy.signal_shutdown() is the recommended way to shutdown.
>  See http://www.ros.org/wiki/rospy/Overview/Initialization%20and%
> 20Shutdown
> 
> 
> If you have a patch for a program that you think might be useful to
> others, the best thing to do is to open a ticket in the appropriate
> trac for the repo in which the code lives.  In this case
> wg-ros-pkg https://code.ros.org/trac/wg-ros-pkg/newticket  You can
> find what repository a package is hosted in from it's wiki
> page. http://www.ros.org/wiki/pr2_tuckarm
> 
> 
> Tully
> 
> On Mon, Jun 28, 2010 at 4:23 PM, Michael Styer <michael@styer.net>
> wrote:
>         Hello,
>         
>         I've been learning ROS and the PR2 software this week and last
>         at Bosch
>         RTC. Today I've been looking at the pr2_tuck_arms_action node
>         in
>         pr2_common_actions. I couldn't figure it out for a while
>         because it
>         didn't have a help option, and it didn't exit at the end when
>         it was
>         supposed to. So I looked into it a bit and I've written a
>         version that
>         adds a help option and calls rospy.signal_shutdown(...)
>         (instead of
>         exit()) to quit.
>         
>         So I have a quick question -- is that the right way to force
>         shutdown of
>         a node? The script called exit() before, which didn't seem to
>         work, but
>         is there another method I should use?
>         
>         Then, if it would be useful, I can share my revised script, or
>         a diff --
>         just let me know what the standard procedure is.
>         
>         Thanks!
>         
>         Mike
>         
>         
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> 
> 
> 
> -- 
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote@willowgarage.com
> (650) 475-2827
> 
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