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Shutdown rospy timers cleanly #690

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Shutdown rospy timers cleanly #690

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6 changes: 5 additions & 1 deletion clients/rospy/src/rospy/timer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -210,7 +210,11 @@ def run(self):
current_expected = rospy.rostime.get_rostime() + self._period
last_expected, last_real, last_duration = None, None, None
while not rospy.core.is_shutdown() and not self._shutdown:
r.sleep()
try:
r.sleep()
except rospy.exceptions.ROSInterruptException as e:
if rospy.core.is_shutdown():
break
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Before the update there was a raise line in here. My previous comment only referred to the else line. I think the raise still needs to stay otherwise this function changes behavior significantly.

if self._shutdown:
break
current_real = rospy.rostime.get_rostime()
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