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tf2_ros_py: Ignore ExternalShutdownException in background thread #930

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Merged
ahcorde merged 1 commit into from
May 6, 2026
+5 −2
Merged

tf2_ros_py: Ignore ExternalShutdownException in background thread #930

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7 changes: 5 additions & 2 deletions tf2_ros_py/tf2_ros/transform_listener.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@
from typing import Union

from rclpy.callback_groups import ReentrantCallbackGroup
from rclpy.executors import SingleThreadedExecutor
from rclpy.executors import ExternalShutdownException, SingleThreadedExecutor
from rclpy.node import Node
from rclpy.qos import DurabilityPolicy
from rclpy.qos import HistoryPolicy
Expand Down Expand Up @@ -112,7 +112,10 @@ def __init__(

def run_func():
self.executor.add_node(self.node)
self.executor.spin()
try:
self.executor.spin()
except ExternalShutdownException:
pass
self.executor.remove_node(self.node)

self.dedicated_listener_thread = Thread(target=run_func)
Expand Down