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Hello,
I am using ROS2 Humble on Ubuntu 22.04.
I sometimes have problems with "ghost" nodes that continue to run after I kill the launch file. I can still see them when running ros2 node list and running the launch file again creates several bugs due to duplicate nodes and topics.
I don't really know where to look to solve this problem. Has anyone observed this behavior and have any ideas on how to fix it?
There is a general solution which can also apply to ros2 nodes. Do this by using killall on Linux:
Install psmisc:
sudo apt install psmisc
Create an alias for killing all processes to facilitate ease. Attached is just a sample of what you can include for repeated killing.
alias killros2='killall -9 \
ros2 \
_ros2_daemon \
rviz2 \
gzserver \
robot_state_publisher \
gzclient controller_server \
lifecycle_manager'
Add the above snippet to your ~./bashrc file.
In a separate terminal, run:
killros2
This should kill all ros2-related processes and provide you with a log on the screen showing which processes have been found and killed.
Consider doing ros2 daemon stop and then ros2 daemon start in that case. I do not have a prevention unfortunately.
Asked: 2023-05-12 08:59:38 -0500
Seen: 611 times
Last updated: May 16 '23
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I have same problem :( You find any solution?
The only time I see this is when I repeatedly use ctrl-c on my launch process. Typically if I use it once and let launch actually clean itself up then I don't get left-over processes running.
Good point, I will try only calling it once.