ROSInterruptException example

caught_exception.py

#!/usr/bin/env python
import rospy

name = "caught_exception"
rospy.init_node(name)

r = rospy.Rate(1.)
start = rospy.Time.now()
while not rospy.is_shutdown():
  rospy.logwarn(name)
  try:
    r.sleep()
  except rospy.ROSInterruptException:
    pass

dying_node.py

#!/usr/bin/env python
import rospy

name = "dying_node"
rospy.init_node(name)
r = rospy.Rate(1.)
start = rospy.Time.now()
while not rospy.is_shutdown():
  rospy.logwarn(name)
  r.sleep()

killer_node.py

#!/usr/bin/env python
import rospy

name = "killer_node"
rospy.init_node(name)
r = rospy.Rate(1.)
start = rospy.Time.now()
while not rospy.is_shutdown() and (rospy.Time.now() - start) < rospy.Duration(5.):
  rospy.logwarn(name)
  r.sleep()

test.launch

<launch>
  <node pkg="gazebo_ros" name="gzserver" type="gzserver" required="true"/>
  <node pkg="my_pkg" name="killer" type="killer_node.py" output="screen" required="true"/>
  <node pkg="my_pkg" name="testing" type="dying_node.py" output="screen" required="false"/>
  <!-- These two nodes solve the issue from above -->
  <!-- <node pkg="my_pkg" name="testing" type="caught_exception.py" output="screen" required="false"/> -->
  <!-- <node pkg="my_pkg" name="testing" type="timer_node.py" output="screen" required="false"/> -->
</launch>

timer_node.py

#!/usr/bin/env python
import rospy

def timer(event):
  print 'Timer called at ' + str(event.current_real)

name = "timer_node"
rospy.init_node(name)
rospy.Timer(rospy.Duration(1.), timer)
rospy.spin()