From 13a82ced67b7ab6fef3044b871ee85893af8d014 Mon Sep 17 00:00:00 2001
From: Martin Oehler <oehler@sim.tu-darmstadt.de>
Date: Tue, 25 Jun 2024 16:58:37 +0200
Subject: [PATCH] Do not block when node is shut down

---
 controller_manager/scripts/spawner | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/controller_manager/scripts/spawner b/controller_manager/scripts/spawner
index af1dfaf5..374201a3 100755
--- a/controller_manager/scripts/spawner
+++ b/controller_manager/scripts/spawner
@@ -118,6 +118,8 @@ def main():
 
     services_found = False
     while not services_found:
+        if rospy.is_shutdown():
+            return
         try:
             # loader
             rospy.loginfo("Controller Spawner: Waiting for service "+load_controller_service)