Years Asking - #ROS Issue Finally Solved
For years I have asked every human that would listen, why my ROS nodes complain about a shutdown exception. (And I mean **yeeeeeears**. )
Finally asking #GoogleGemini has shown the pattern that should have been in the ROS tutorials all along.
(I have a feeling the "if rclpy.ok():" is actually all that is needed. Have not tested sufficiently yet.)
https://github.com/turtlebot/turtlebot4/discussions/517#discussioncomment-16121153