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Expressly destroy a node's objects before the node. #456

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merged 5 commits into from
Nov 13, 2019
Merged

Expressly destroy a node's objects before the node. #456

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30600a1
Expressly destroy a node's objects before the node.
nuclearsandwich Nov 7, 2019
0337867
Don't iterate over a collection being modified.
nuclearsandwich Nov 8, 2019
deee908
Fix whitespace and method name.
nuclearsandwich Nov 8, 2019
025ffee
Fix method name.
nuclearsandwich Nov 8, 2019
503b3db
Don't pre-emptively remove items from Node lists.
nuclearsandwich Nov 8, 2019
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20 changes: 14 additions & 6 deletions rclpy/rclpy/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1461,12 +1461,20 @@ def destroy_node(self) -> bool:
# It will be destroyed with other publishers below.
self._parameter_event_publisher = None

self.__publishers.clear()
self.__subscriptions.clear()
self.__clients.clear()
self.__services.clear()
self.__timers.clear()
self.__guards.clear()
# Destroy dependent items eagerly to work around a possible hang
# https://github.com/ros2/build_cop/issues/248
while self.__publishers:
self.destroy_publisher(self.__publishers[0])
while self.__subscriptions:
self.destroy_subscription(self.__subscriptions[0])
while self.__clients:
self.destroy_client(self.__clients[0])
while self.__services:
self.destroy_service(self.__services[0])
while self.__timers:
self.destroy_timer(self.__timers[0])
while self.__guards:
self.destroy_guard_condition(self.__guards[0])
self.handle.destroy()
self._wake_executor()

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