fix(ros2): precise TF timeout and API cleanup on connector shutdown#799
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Bartok9 wants to merge 1 commit into
Open
fix(ros2): precise TF timeout and API cleanup on connector shutdown#799Bartok9 wants to merge 1 commit into
Bartok9 wants to merge 1 commit into
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Salvage of RobotecAI#775 by @maciejmajek — rebased to main. - Duration uses seconds+nanoseconds for fractional timeouts - ServiceAPI.shutdown destroys services/clients - TopicAPI.shutdown clears publishers and subscriptions - Connector shuts down APIs before destroying the node and only rclpy.shutdown() when it initialized the context
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Summary
get_transformtimeout to honor fractional seconds viaDuration(seconds=, nanoseconds=).ServiceAPI.shutdown(); ensure topic shutdown destroys publishers/subscriptions.rclpy.shutdown()only if this connector auto-inited rclpy.Motivation
Resource teardown and sub-second TF timeouts were incomplete on main.
Salvage of #775 by @maciejmajek — rebased to main (skipped version bump / lockfile churn from the original PR).
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Attribution
Salvage of #775 by @maciejmajek — rebased to main