Install signal handlers after context is initialized. (#1333) (#1335)

Signed-off-by: Tomoya Fujita <[email protected]> Co-authored-by: Shane Loretz <[email protected]> (cherry picked from commit 53855e3) Co-authored-by: Tomoya Fujita <[email protected]>
ros2 · Aug 17, 2024 · 6a6e24b · 6a6e24b
1 parent 95b7da2
commit 6a6e24b
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/rclpy/rclpy/__init__.py b/rclpy/rclpy/__init__.py
@@ -81,12 +81,16 @@ def init(
     """
     context = get_default_context() if context is None else context
     if signal_handler_options is None:
-        if context is None or context is get_default_context():
+        if context is get_default_context():
             signal_handler_options = SignalHandlerOptions.ALL
         else:
             signal_handler_options = SignalHandlerOptions.NO
+    context.init(args, domain_id=domain_id)
+    # Install signal handlers after initializing the context because the rclpy signal
+    # handler only does something if there is at least one initialized context.
+    # It is desirable for sigint or sigterm to be able to terminate the process if rcl_init
+    # takes a long time, and the default signal handlers work well for that purpose.
     install_signal_handlers(signal_handler_options)
-    return context.init(args, domain_id=domain_id)
 
 
 # The global spin functions need an executor to do the work