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Similar to sergey_alexandrov answer, but using psutils python module as highlight on stackoverflow : http://stackoverflow.com/questions/3332043/obtaining-pid-of-child-process

def terminate_process_and_children(p): import psutil process = psutil.Process(p.pid) for sub_process in process.get_children(recursive=True): sub_process.send_signal(signal.SIGINT) p.wait() # we wait for children to terminate p.terminate()

def main(): dir_save_bagfile = '/tmp/' rosbag_process = subprocess.Popen('rosbag record -a -j -o {}'.format("my_rosbag_prefis"), stdin=subprocess.PIPE, shell=True, cwd=dir_save_bagfile) terminate_process_and_children(rosbag_process)

Similar to sergey_alexandrov answer, but using psutils python module as highlight on stackoverflow : http://stackoverflow.com/questions/3332043/obtaining-pid-of-child-process

def terminate_process_and_children(p):
   import psutil
   process = psutil.Process(p.pid)
   for sub_process in process.get_children(recursive=True):
       sub_process.send_signal(signal.SIGINT)
   p.wait()  # we wait for children to terminate
      p.terminate()
p.terminate()
  
def main():
   dir_save_bagfile = '/tmp/'
   rosbag_process = subprocess.Popen('rosbag record -a -j -o {}'.format("my_rosbag_prefis"), stdin=subprocess.PIPE, shell=True, cwd=dir_save_bagfile)
      terminate_process_and_children(rosbag_process)terminate_process_and_children(rosbag_process)