From 33c17ea10bf678dcdaefd0c3433eb57638ce19f9 Mon Sep 17 00:00:00 2001
From: cyan-at <cyanatg@gmail.com>
Date: Thu, 7 Aug 2025 11:28:38 -0700
Subject: [PATCH] fix: rosbridge_websocket cooperative shutdown (backport
 #1048)

* rosbridge_websocket cooperative shutdown necessary changes

* switch back to singlethread, check for ok BEFORE spinning also

* address MatthijsBurgh comments
---
 rosbridge_server/scripts/rosbridge_websocket.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/rosbridge_server/scripts/rosbridge_websocket.py b/rosbridge_server/scripts/rosbridge_websocket.py
index e49b46db4..2edf63ae1 100755
--- a/rosbridge_server/scripts/rosbridge_websocket.py
+++ b/rosbridge_server/scripts/rosbridge_websocket.py
@@ -369,9 +369,10 @@ def main(args=None):
     executor.add_node(node)
 
     def spin_ros():
-        executor.spin_once(timeout_sec=0.01)
         if not rclpy.ok():
             shutdown_hook()
+            return
+        executor.spin_once(timeout_sec=0.01)
 
     spin_callback = PeriodicCallback(spin_ros, 1)
     spin_callback.start()
@@ -382,6 +383,7 @@ def spin_ros():
     except KeyboardInterrupt:
         print("Exiting due to SIGINT")
     finally:
+        spin_callback.stop()
         shutdown_hook()  # shutdown hook to stop the server