From a14db7647e927a50a1e6d4b08488ac30ddfdaec9 Mon Sep 17 00:00:00 2001
From: James Darren Muir <james@jamesdarrenmuir.com>
Date: Thu, 14 Dec 2023 16:38:02 -0800
Subject: [PATCH] properly shutdown xml rpc server

stop CPU usage spike when a rospy node receives a signals.SIGINT interrupt but before it terminates the process (e.g. pressing CTRL+C while the node is sleeping due to a rospy.sleep() call no longer sends CPU usage of a core to 100%)

should also fix https://github.com/ros/ros_comm/issues/2238
---
 tools/rosgraph/src/rosgraph/xmlrpc.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/rosgraph/src/rosgraph/xmlrpc.py b/tools/rosgraph/src/rosgraph/xmlrpc.py
index 4d1de93d9a..fcb6ca4af0 100644
--- a/tools/rosgraph/src/rosgraph/xmlrpc.py
+++ b/tools/rosgraph/src/rosgraph/xmlrpc.py
@@ -229,8 +229,8 @@ def shutdown(self, reason):
             if handler:
                 handler._shutdown(reason)
             if server:
-                server.socket.close()
                 server.server_close()
+                server.shutdown()
                 
     def start(self):
         """