Differences

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--- getting_started:practical_problems:abort [2017/09/25 07:43] – graf
+++ getting_started:practical_problems:abort [2017/11/05 13:32] – [Define Signal Handler when using ROS] graf
@@ Line 40: / Line 40: @@
 });
 </code>
-This will cause the executor to stop running and return control to the main programm which in turns will exit.
+This will cause the executor to stop running and return control to the main programm. Further, any running sequences will terminate and the main program will exit.
+===== Define Signal Handler when using ROS =====
+If you use ROS you have to keep in mind to register the signal handler only after the
+<code cpp>
+#include "MySafetyProperties.hpp>
+#include <signal.h>
+void signalHandler(int signum) {
+  SafetySystem::exitHandler();
+}
+int main() {
+  signal(SIGINT, signalHandler);
+  ...
+  // Create and initialize safety system
+  double period = 1;
+  MySafetyProperties ssProperties;
+  SafetySystem safetySys(ssProperties, period);
+  ...
+}
+</code>