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Fix crash at shutdown of rqt_console plugin #30

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mjeronimo wants to merge 1 commit into from
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Fix crash at shutdown of rqt_console plugin #30

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20 changes: 17 additions & 3 deletions src/rqt_console/console.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,8 @@
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

import os

from rcl_interfaces.msg import Log

import rclpy
Expand All @@ -44,6 +46,7 @@
from rqt_console.message import Message
from rqt_console.message_data_model import MessageDataModel
from rqt_console.message_proxy_model import MessageProxyModel
from rqt_gui_py.rclpy_spinner import RclpySpinner


class Console(Plugin):
Expand Down Expand Up @@ -82,6 +85,13 @@ def __init__(self, context):

self._subscriber = None
self._topic = '/rosout'

# Create a ROS node to handle the subscriptions
self._local_node = rclpy.create_node('rqt_console_plugin_%d' % os.getpid(),
start_parameter_services=False)
self._spinner = RclpySpinner(self._local_node)
self._spinner.start()

self._subscribe(self._topic)

def queue_message(self, log_msg):
Expand Down Expand Up @@ -115,8 +125,12 @@ def insert_messages(self):
self._model.insert_rows(msgs)

def shutdown_plugin(self):
self._context.node.destroy_subscription(self._subscriber)
self._timer.stop()

self._spinner.quit()
self._spinner.wait(msecs=2000) # Wait for the _spinner (a QThread) to finish
self._local_node.destroy_node()

self._widget.cleanup_browsers_on_close()

def save_settings(self, plugin_settings, instance_settings):
Expand All @@ -141,8 +155,8 @@ def trigger_configuration(self):

def _subscribe(self, topic):
if self._subscriber:
self._context.node.destroy_subscription(self._subscriber)
self._subscriber = self._context.node.create_subscription(
self._local_node.destroy_subscription(self._subscriber)
self._subscriber = self._local_node.create_subscription(
Log, topic, self.queue_message, qos_profile_system_default
)
self._currenttopic = topic