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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.