[ros-users] handling multiple topics in Python

Blaise Gassend blaise at willowgarage.com
Thu Apr 15 17:59:20 UTC 2010

> Rospy replaces the signal handler for SIGINT.  A running loop in your
> main thread will no longer be interrupted with a KeyboardInterrupt.
> Instead you should check rospy.is_shutdown() as a condition of your
> loop.

Also, if you are using threads, SIGINT will only kill one of them even
without rospy. You have to make sure that each thread exits after a
KeyboardInterrupt (or after rospy.is_shutdown() goes true in the case of

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