Function rclcpp::on_shutdown

Defined in File utilities.hpp

Function Documentation

void rclcpp::on_shutdown(std::function<void()> callback, rclcpp::Context::SharedPtr context = nullptr)

Register a function to be called when shutdown is called on the context.

If nullptr is given for the context, then the global context is used, i.e. the context initialized by rclcpp::init().

These callbacks are called when the associated Context is shutdown with the Context::shutdown() method. When shutdown by the SIGINT handler, shutdown, and therefore these callbacks, is called asynchronously from the dedicated signal handling thread, at some point after the SIGINT signal is received.