From 53c687f9ff216aa2f4863ec4158402541c95706c Mon Sep 17 00:00:00 2001
From: "pinloon.lee" <pinloon.lee@westonrobot.com>
Date: Tue, 18 May 2021 17:55:40 +0800
Subject: [PATCH] added signal to close node properly

---
 scout_base/src/scout_base_node.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/scout_base/src/scout_base_node.cpp b/scout_base/src/scout_base_node.cpp
index 8567f16..7827ff7 100644
--- a/scout_base/src/scout_base_node.cpp
+++ b/scout_base/src/scout_base_node.cpp
@@ -11,12 +11,17 @@
 using namespace westonrobot;
 
 std::shared_ptr<ScoutBase> robot;
+bool keep_run = true;
+
+void DetachRobot(int signal) { keep_run = false; }
 
 int main(int argc, char **argv) {
   // setup ROS node
   ros::init(argc, argv, "scout_node");
   ros::NodeHandle node(""), private_node("~");
 
+  std::signal(SIGINT, DetachRobot);
+
   // instantiate a robot object
   robot = std::make_shared<ScoutBase>();
   ScoutROSMessenger messenger(robot.get(), &node);
@@ -46,7 +51,7 @@ int main(int argc, char **argv) {
 
   // publish robot state at 50Hz while listening to twist commands
   ros::Rate rate(50);
-  while (true) {
+  while (keep_run) {
     if (!messenger.simulated_robot_) {
       messenger.PublishStateToROS();
     } else {