Not sure how you are intercepting the CTRL+C, but if you are waiting
for is_shutdown to become true then ROS has been shut down before you
take action.

I believe that to do what you are trying to do, you need to set up
your own CTRL-C handler that publishes, waits a bit to let the message
get out (ideally wait until the server confirms that the action is
cancelled), and then tells rospy to shut down (I forget the exact
call).

Blaise

On Wed, Feb 16, 2011 at 8:44 AM, Axelrod, Benjamin <baxelrod@irobot.com> wrote:
> I am trying to set up my actionlib server so that when I CTRL-C on the
> server, it sends a cancel goal message to the client.  (The client was
> started via separate terminal / launch script so will continue to run).  I
> am finding that the “/my_action_server/cancel” message never gets
> published.  I have so far only tested in python.  I am wondering if this is
> a limitation of rospy or bug/feature in actionlib.
>
>
>
> Thanks,
>
> -Ben
>
>
>
> Ben Axelrod
>
> Research Scientist
>
> iRobot Corporation
>
> 8 Crosby Drive, Mail Stop 8-1
>
> Bedford, MA 01730
>
> (781) 430-3315 (Tel)
>
> (781) 960-2628 (Fax)
>
> baxelrod@irobot.com
>
>
>
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