From 2042b73010657ee207455d7f87ccf981f8d0a273 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Juraj=20Or=C5=A1uli=C4=87?= <juraj.orsulic@fer.hr>
Date: Thu, 3 Aug 2017 12:29:07 +0200
Subject: [PATCH] Remove custom SIGINT handler from offline node. (#470)

---
 .../cartographer_ros/offline_node_main.cc           | 13 +++----------
 1 file changed, 3 insertions(+), 10 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/offline_node_main.cc b/cartographer_ros/cartographer_ros/offline_node_main.cc
index a59a35a..efe13e1 100644
--- a/cartographer_ros/cartographer_ros/offline_node_main.cc
+++ b/cartographer_ros/cartographer_ros/offline_node_main.cc
@@ -16,7 +16,6 @@
 
 #include <time.h>
 #include <chrono>
-#include <csignal>
 #include <sstream>
 #include <string>
 #include <vector>
@@ -62,10 +61,6 @@ constexpr char kClockTopic[] = "clock";
 constexpr char kTfStaticTopic[] = "/tf_static";
 constexpr char kTfTopic[] = "tf";
 
-volatile std::sig_atomic_t sigint_triggered = 0;
-
-void SigintHandler(int) { sigint_triggered = 1; }
-
 // TODO(hrapp): This is duplicated in node_main.cc. Pull out into a config
 // unit.
 std::tuple<NodeOptions, TrajectoryOptions> LoadOptions() {
@@ -130,7 +125,7 @@ void Run(const std::vector<string>& bag_filenames) {
   }
 
   for (const string& bag_filename : bag_filenames) {
-    if (sigint_triggered) {
+    if (!::ros::ok()) {
       break;
     }
 
@@ -148,7 +143,7 @@ void Run(const std::vector<string>& bag_filenames) {
     // because it gets very inefficient with a large one.
     std::deque<rosbag::MessageInstance> delayed_messages;
     for (const rosbag::MessageInstance& msg : view) {
-      if (sigint_triggered) {
+      if (!::ros::ok()) {
         break;
       }
 
@@ -252,9 +247,7 @@ int main(int argc, char** argv) {
       << "-configuration_basename is missing.";
   CHECK(!FLAGS_bag_filenames.empty()) << "-bag_filenames is missing.";
 
-  std::signal(SIGINT, &::cartographer_ros::SigintHandler);
-  ::ros::init(argc, argv, "cartographer_offline_node",
-              ::ros::init_options::NoSigintHandler);
+  ::ros::init(argc, argv, "cartographer_offline_node");
   ::ros::start();
 
   cartographer_ros::ScopedRosLogSink ros_log_sink;