Managing Resources

When using resources in axros, you must be mindful of how you start the resource, and how you clean the resource up. Many times, these actions are not done for you (to give you more control), and you must be mindful of when you plan to do them yourself. Doing these actions in the improper order or not doing them at all can result in resources becoming broken.

For example, to start a publisher, you must first call the Publisher.setup() after initializing the class. Then, you must either shut down the publisher using Publisher.shutdown() or shut down the entire node handle using NodeHandle.shutdown() - this will shutdown all publishers spawned by the node.

Furthermore, attempting to shut down a resource more than once will result in an instance of RuntimeError being raised.