From e720daf1a7107daf1c20c78473fe3bb3d6d40067 Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dthomas@osrfoundation.org>
Date: Fri, 27 Mar 2015 12:18:19 -0700
Subject: [PATCH] add rclcpp::shutdown() function

---
 rclcpp/include/rclcpp/rclcpp.hpp    | 1 +
 rclcpp/include/rclcpp/utilities.hpp | 9 +++++++++
 2 files changed, 10 insertions(+)

diff --git a/rclcpp/include/rclcpp/rclcpp.hpp b/rclcpp/include/rclcpp/rclcpp.hpp
index 94fbeae..863438c 100644
--- a/rclcpp/include/rclcpp/rclcpp.hpp
+++ b/rclcpp/include/rclcpp/rclcpp.hpp
@@ -60,6 +60,7 @@ using rclcpp::timer::TimerBase;
 using rclcpp::timer::WallTimer;
 typedef rclcpp::context::Context::SharedPtr ContextSharedPtr;
 using rclcpp::utilities::ok;
+using rclcpp::utilities::shutdown;
 using rclcpp::utilities::init;
 using rclcpp::utilities::sleep_for;
 
diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
index b2afd8c..f20be3f 100644
--- a/rclcpp/include/rclcpp/utilities.hpp
+++ b/rclcpp/include/rclcpp/utilities.hpp
@@ -127,6 +127,15 @@ ok()
   return ::g_signal_status == 0;
 }
 
+void
+shutdown()
+{
+  g_signal_status = SIGINT;
+  rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
+  g_interrupt_condition_variable.notify_all();
+}
+
+
 rmw_guard_condition_t *
 get_global_sigint_guard_condition()
 {