Switch to using the rclpy.init context manager. (#920)

This ensures that we properly cleanup after outselves

Signed-off-by: Chris Lalancette <[email protected]>

ros2cli/test/test_daemon.py

@@ -52,57 +52,54 @@
 
 @pytest.fixture(autouse=True, scope='module')
 def local_node():
-    rclpy.init()
-    node = rclpy.create_node(
-        node_name=TEST_NODE_NAME, namespace=TEST_NODE_NAMESPACE
-    )
-    publisher = node.create_publisher(
-        msg_type=test_msgs.msg.Empty,
-        topic=TEST_TOPIC_NAME,
-        qos_profile=TEST_TOPIC_PUBLISHER_QOS
-    )
-    subscription = node.create_subscription(
-        msg_type=test_msgs.msg.Empty,
-        topic=TEST_TOPIC_NAME,
-        callback=(lambda msg: None),
-        qos_profile=TEST_TOPIC_SUBSCRIPTION_QOS
-    )
-    service = node.create_service(
-        srv_type=test_msgs.srv.Empty,
-        srv_name=TEST_SERVICE_NAME,
-        callback=(lambda req, res: res)
-    )
-    client = node.create_client(
-        srv_type=test_msgs.srv.Empty,
-        srv_name=TEST_SERVICE_NAME
-    )
-
-    def noop_execute_callback(goal_handle):
-        goal_handle.succeed()
-        return test_msgs.action.Fibonacci.Result()
+    with rclpy.init():
+        node = rclpy.create_node(
+            node_name=TEST_NODE_NAME, namespace=TEST_NODE_NAMESPACE
+        )
+        publisher = node.create_publisher(
+            msg_type=test_msgs.msg.Empty,
+            topic=TEST_TOPIC_NAME,
+            qos_profile=TEST_TOPIC_PUBLISHER_QOS
+        )
+        publisher  # to avoid "assigned by never used" warning
+        subscription = node.create_subscription(
+            msg_type=test_msgs.msg.Empty,
+            topic=TEST_TOPIC_NAME,
+            callback=(lambda msg: None),
+            qos_profile=TEST_TOPIC_SUBSCRIPTION_QOS
+        )
+        subscription  # to avoid "assigned by never used" warning
+        service = node.create_service(
+            srv_type=test_msgs.srv.Empty,
+            srv_name=TEST_SERVICE_NAME,
+            callback=(lambda req, res: res)
+        )
+        service  # to avoid "assigned by never used" warning
+        client = node.create_client(
+            srv_type=test_msgs.srv.Empty,
+            srv_name=TEST_SERVICE_NAME
+        )
+        client  # to avoid "assigned by never used" warning
+
+        def noop_execute_callback(goal_handle):
+            goal_handle.succeed()
+            return test_msgs.action.Fibonacci.Result()
+
+        action_server = rclpy.action.ActionServer(
+            node=node,
+            action_type=test_msgs.action.Fibonacci,
+            action_name=TEST_ACTION_NAME,
+            execute_callback=noop_execute_callback
+        )
+        action_server  # to avoid "assigned by never used" warning
+        action_client = rclpy.action.ActionClient(
+            node=node,
+            action_type=test_msgs.action.Fibonacci,
+            action_name=TEST_ACTION_NAME
+        )
+        action_client  # to avoid "assigned by never used" warning
 
-    action_server = rclpy.action.ActionServer(
-        node=node,
-        action_type=test_msgs.action.Fibonacci,
-        action_name=TEST_ACTION_NAME,
-        execute_callback=noop_execute_callback
-    )
-    action_client = rclpy.action.ActionClient(
-        node=node,
-        action_type=test_msgs.action.Fibonacci,
-        action_name=TEST_ACTION_NAME
-    )
-    try:
         yield node
-    finally:
-        action_client.destroy()
-        action_server.destroy()
-        node.destroy_client(client)
-        node.destroy_service(service)
-        node.destroy_subscription(subscription)
-        node.destroy_publisher(publisher)
-        node.destroy_node()
-        rclpy.shutdown()
 
 
 @pytest.fixture(scope='module')

ros2service/test/fixtures/introspectable.py

@@ -69,24 +69,18 @@ def timer_callback(self):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
-    service_node = IntrospectableService()
-    client_node = IntrospectableClient()
+    try:
+        with rclpy.init(args=args):
+            service_node = IntrospectableService()
+            client_node = IntrospectableClient()
 
-    executor = SingleThreadedExecutor()
-    executor.add_node(service_node)
-    executor.add_node(client_node)
+            executor = SingleThreadedExecutor()
+            executor.add_node(service_node)
+            executor.add_node(client_node)
 
-    try:
-        executor.spin()
+            executor.spin()
     except (KeyboardInterrupt, ExternalShutdownException):
-        executor.remove_node(client_node)
-        executor.remove_node(service_node)
-        executor.shutdown()
-        service_node.destroy_node()
-        client_node.destroy_node()
-        rclpy.try_shutdown()
+        pass
 
 
 if __name__ == '__main__':