From f47454a0b644d69b7fcef0e0f71fbf02c8ce3a07 Mon Sep 17 00:00:00 2001
From: joel-mb <joel.moriana@gmail.com>
Date: Thu, 21 Jul 2022 16:00:34 +0200
Subject: [PATCH] Fixed scenario runner node shutdown (#629)

* Fix scenario runner node for foxy

* CHANGELOG updated
---
 CHANGELOG.md                                                | 2 ++
 carla_ad_demo/CMakeLists.txt                                | 2 +-
 .../carla_ros_scenario_runner_node.py                       | 6 +++---
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a76d9037..ee767257 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,7 @@
 ## Latest changed
 
+*   Fixed scenario runner node shutdown for foxy
+*   Fixed actor synchronization creation
 *   Fix of scenario runner status
 
 ## CARLA-ROS-Bridge 0.9.11
diff --git a/carla_ad_demo/CMakeLists.txt b/carla_ad_demo/CMakeLists.txt
index 7d377dab..b57753a1 100644
--- a/carla_ad_demo/CMakeLists.txt
+++ b/carla_ad_demo/CMakeLists.txt
@@ -26,7 +26,7 @@ elseif(${ROS_VERSION} EQUAL 2)
 
   find_package(ament_cmake REQUIRED)
 
-  install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME})
+  install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
 
   install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME})
 
diff --git a/carla_ros_scenario_runner/src/carla_ros_scenario_runner/carla_ros_scenario_runner_node.py b/carla_ros_scenario_runner/src/carla_ros_scenario_runner/carla_ros_scenario_runner_node.py
index 448494d7..ef8796e6 100755
--- a/carla_ros_scenario_runner/src/carla_ros_scenario_runner/carla_ros_scenario_runner_node.py
+++ b/carla_ros_scenario_runner/src/carla_ros_scenario_runner/carla_ros_scenario_runner_node.py
@@ -176,16 +176,16 @@ def main(args=None):
     try:
         scenario_runner.run()
     except KeyboardInterrupt:
-        loginfo("User requested shut down.")
+        scenario_runner.loginfo("User requested shut down.")
     finally:
         if scenario_runner._scenario_runner.is_running():
             scenario_runner.loginfo("Scenario Runner still running. Shutting down.")
             scenario_runner._scenario_runner.shutdown()
         del scenario_runner
-        if ROS_VERSION == 2:
-            spin_thread.join()
 
         roscomp.shutdown()
+        if ROS_VERSION == 2:
+            spin_thread.join()
 
 
 if __name__ == "__main__":