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Ros nodes don't exit as requested usually when you use threads. If you have threads running with a while loop and you missed a condition like ros::isShuttingDown() (or another function monitoring the ros state) then the thread will still be running even if you exit your node.

When you exit a ros node with CTRL-C you send a signal : SIGINT. This signal as a default timeout and if the node takes too much time to exit another signal is sent : SIGTERM.

• The SIGINT signal is an interruption of your processes and you are able to define functions to handle this interruption and do whatever you want (usually end your threads and anything that can exit the node).
• The SIGTERM signal kills all the processes so you just end everything without going in another function to deal with it.

With Gazebo it's a common issue. To run, Gazebo needs the process gzserver.

FYI : There is also the process gzclient used for the Gazebo GUI. You can run Gazebo without gzclient, you just won't have the GUI but if you check in Rviz everything will work.Instead of gzserver which is mandatory.

The problem here is that gzserver takes a lot of time to exit when you send a SIGINT signal (I don't know why though). The default timeout is 15.0 seconds so after that time you have the SIGTERM signal sent to exit gzserver. I use a workaround thanks to #q11353 to change the default timeout of the signals. In the file :

/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py

You can modify this line to the value you want (not too low to allow other nodes to exit cleanly)

_TIMEOUT_SIGINT = 15.0 #seconds

You can also try to increase this value to see how much time it takes to actually exit cleanly if you want.

Ros nodes don't exit as requested usually when you use threads. If you have threads running with a while loop and you missed a condition like ros::isShuttingDown() (or another function monitoring the ros state) then the thread will still be running even if you exit your node.node (in that case i use the commands jobs to check the processes running and kill them with kill %1).

When you exit a ros node with CTRL-C you send a signal : SIGINT. This signal as a default timeout and if the node takes too much time to exit another signal is sent : SIGTERM.

• The SIGINT signal is an interruption of your processes and you are able to define functions to handle this interruption and do whatever you want (usually end your threads and anything that can exit the node).
• The SIGTERM signal kills all the processes so you just end everything without going in another function to deal with it.

With Gazebo it's a common issue. To run, Gazebo needs the process gzserver.

FYI : There is also the process gzclient used for the Gazebo GUI. You can run Gazebo without gzclient, you just won't have the GUI but if you check in Rviz everything will work.Instead of gzserver which is mandatory.

The problem here is that gzserver takes a lot of time to exit when you send a SIGINT signal (I don't know why though). The default timeout is 15.0 seconds so after that time you have the SIGTERM signal sent to exit gzserver. I use a workaround thanks to #q11353 to change the default timeout of the signals. In the file :

/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py

You can modify this line to the value you want (not too low to allow other nodes to exit cleanly)

_TIMEOUT_SIGINT = 15.0 #seconds

You can also try to increase this value to see how much time it takes to actually exit cleanly if you want.

Ros nodes don't exit as requested usually when you use threads. If you have threads running with a while loop and you missed a condition like ros::isShuttingDown() (or another function monitoring the ros state) then the thread will still be running even if you exit your node (in that case i use the commands jobs to check the processes running and kill them with kill %1).

When you exit a ros node with CTRL-C you send a signal : SIGINT. This signal as has a default timeout and if the node takes too much time to exit another signal is sent : SIGTERM.

• The SIGINT signal is an interruption of your processes and you are able to define functions to handle this interruption and do whatever you want (usually end your threads and anything that can exit the node).
• The SIGTERM signal kills all the processes so you just end everything without going in another function to deal with it.

With Gazebo it's a common issue. To run, Gazebo needs the process gzserver.

FYI : There is also the process gzclient used for the Gazebo GUI. You can run Gazebo without gzclient, you just won't have the GUI but if you check in Rviz everything will work.Instead of gzserver which is mandatory.

The problem here is that gzserver takes a lot of time to exit when you send a SIGINT signal (I don't know why though). The default timeout is 15.0 seconds so after that time you have the SIGTERM signal sent to exit gzserver. I use a workaround thanks to #q11353 to change the default timeout of the signals. In the file :

/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py

You can modify this line to the value you want (not too low to allow other nodes to exit cleanly)

_TIMEOUT_SIGINT = 15.0 #seconds

You can also try to increase this value to see how much time it takes to actually exit cleanly if you want.