def myhook():  print "shutdown time!"rospy.on_shutdown(myhook)

 

或

---

 

rospy.signal_shutdown(reason)

• 初始化节点关闭
• reason 为关闭理由，字符串内容。

 

例子：

#!/usr/bin/env pythonimport rospyimport mathimport sysfrom tf import transformationsfrom geometry_msgs.msg import PoseWithCovarianceStampedclass PoseSetter(rospy.SubscribeListener):    def __init__(self, pose):        self.pose = pose    def peer_subscribe(self, topic_name, topic_publish, peer_publish):        p = PoseWithCovarianceStamped()        print("hh")        p.header.frame_id = "map"        p.pose.pose.position.x = self.pose[0]        p.pose.pose.position.y = self.pose[1]        (p.pose.pose.orientation.x,        p.pose.pose.orientation.y,        p.pose.pose.orientation.z,        p.pose.pose.orientation.w) = transformations.quaternion_from_euler(0, 0, self.pose[2])        p.pose.covariance[6*0+0] = 0.5 * 0.5        p.pose.covariance[6*1+1] = 0.5 * 0.5        p.pose.covariance[6*3+3] = math.pi/12.0 * math.pi/12.0        peer_publish(p)        print("ll")        rospy.signal_shutdown("closed!")x=Trueprint("dd")pose = [-9.983256,-2.641909,-1.201580]#x,y,arospy.init_node('pose_setter', anonymous=True)if(x):    print("tt")    pub=rospy.Publisher("initialpose", PoseWithCovarianceStamped,PoseSetter(pose),queue_size=10)    x=Falseelse:    print("x=False")print("ff")rospy.spin()print("pp")