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In shutdown_plugin you can do basically whichever way you usually do to finish your ROS process .

I'll take rqt_plot as an example. In a class derived from rqt_gui_py.plugin (which I'm sure you've already made in your case), there's a method:

def shutdown_plugin(self):
    self._widget.clean_up_subscribers()

The method called above is defined here in a widget class

def clean_up_subscribers(self):
    for topic_name, rosdata in self._rosdata.items():
        rosdata.close()
        self.data_plot.remove_curve(topic_name)
    self._rosdata = {}

    self._subscribed_topics_changed()

rosdata.close() is defined here that internally calls rospy.Subscriber.unregister.

This isn't the simplest example but you should get the idea.

In shutdown_plugin you can do basically whichever way you usually do to finish your ROS process .process.

I'll take rqt_plot as an example. In a class derived from rqt_gui_py.plugin (which I'm sure you've already made in your case), there's a methodshutdown_plugin defined as:

def shutdown_plugin(self):
    self._widget.clean_up_subscribers()

The Then the method called above is defined here in a widget class

def clean_up_subscribers(self):
    for topic_name, rosdata in self._rosdata.items():
        rosdata.close()
        self.data_plot.remove_curve(topic_name)
    self._rosdata = {}

    self._subscribed_topics_changed()
:

rosdata.close() is defined here that internally calls rospy.Subscriber.unregister.

This isn't the simplest example but you should get the idea.

In shutdown_plugin you can do basically whichever way you usually do to finish your ROS process.

I'll take rqt_plot as an example. In a class derived from rqt_gui_py.plugin (which I'm sure you've already made in your case), there's shutdown_plugin defined as:

def shutdown_plugin(self):
    self._widget.clean_up_subscribers()

Then the method called above is defined here in a widget class

def clean_up_subscribers(self):
    for topic_name, rosdata in self._rosdata.items():
        rosdata.close()
        self.data_plot.remove_curve(topic_name)
    :

rosdata.close() is defined here that internally calls rospy.Subscriber.unregister.

This isn't the simplest example but you should get the idea.

def shutdown_plugin(self):
    self._widget.shutdown_all()

def shutdown_all(self):
    self._timeline.handle_close()

def handle_close(self):
    :
    for topic in self._get_topics():
        self.stop_publishing(topic)
        self._message_loaders[topic].stop()
    :

def stop_publishing(self, topic):
    if not self._player:
        return False

    self._player.stop_publishing(topic)

    :
    if topic in self._publishers:
        self._publishers[topic].unregister()
        del self._publishers[topic]