From 86b729deb3d104dfb885cf598b5017c7ba2c7844 Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@westonrobot.com>
Date: Thu, 5 Nov 2020 12:49:14 +0800
Subject: [PATCH] installed signal handler to terminate robot more quickly when
 ctrl+c is pressed

---
 scout_base/src/scout_base_node.cpp | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/scout_base/src/scout_base_node.cpp b/scout_base/src/scout_base_node.cpp
index 215a257..2308887 100644
--- a/scout_base/src/scout_base_node.cpp
+++ b/scout_base/src/scout_base_node.cpp
@@ -8,13 +8,21 @@
 
 using namespace westonrobot;
 
+ScoutBase robot;
+
+void DetachRobot(int signal) {
+  robot.Disconnect();
+  robot.Terminate();
+}
+
 int main(int argc, char **argv) {
   // setup ROS node
   ros::init(argc, argv, "scout_odom");
   ros::NodeHandle node(""), private_node("~");
 
+  std::signal(SIGINT, DetachRobot);
+
   // instantiate a robot object
-  ScoutBase robot;
   ScoutROSMessenger messenger(&robot, &node);
 
   // fetch parameters before connecting to robot