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feat:add INT signal handler for "Ctrl+C" exit

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Livox-SDK
2020-11-02 17:40:00 +08:00
parent ac252afeb6
commit 12c709c0c9
1 changed files with 9 additions and 2 deletions
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11
livox_ros_driver/livox_ros_driver/livox_ros_driver.cpp
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@@ -26,6 +26,7 @@
#include <chrono> #include <chrono>
#include <vector> #include <vector>
#include <csignal>
#include <ros/ros.h> #include <ros/ros.h>
#include "lddc.h" #include "lddc.h"
@@ -38,9 +39,13 @@ using namespace livox_ros;
const int32_t kSdkVersionMajorLimit = 2; const int32_t kSdkVersionMajorLimit = 2;
int main(int argc, char **argv) { inline void SignalHandler(int signum) {
ROS_INFO("Livox Ros Driver Version: %s", LIVOX_ROS_DRIVER_VERSION_STRING); printf("livox ros driver will exit\r\n");
ros::shutdown();
exit(signum);
}
int main(int argc, char **argv) {
/** Ros related */ /** Ros related */
if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME,
ros::console::levels::Debug)) { ros::console::levels::Debug)) {
@@ -49,6 +54,8 @@ int main(int argc, char **argv) {
ros::init(argc, argv, "livox_lidar_publisher"); ros::init(argc, argv, "livox_lidar_publisher");
ros::NodeHandle livox_node; ros::NodeHandle livox_node;
ROS_INFO("Livox Ros Driver Version: %s", LIVOX_ROS_DRIVER_VERSION_STRING);
signal(SIGINT, SignalHandler);
/** Check sdk version */ /** Check sdk version */
LivoxSdkVersion _sdkversion; LivoxSdkVersion _sdkversion;
GetLivoxSdkVersion(&_sdkversion); GetLivoxSdkVersion(&_sdkversion);