How can I speed up the shutdown of gazebo with pr2_controler_manager? [closed]

asked 2011-09-28 11:29:30 -0500

updated 2011-09-28 12:01:04 -0500

When shutting down gazebo with I often get the following message:

[gazebo-2] killing on exit
[WARN] [WallTime: 1317250619.639809] [483.903000] Spawner couldn't reach pr2_controller_manager to take down controllers.

and then after about 10 seconds:

[gazebo-2] escalating to SIGTERM

Is there a way, other than just killing it with kill, to make gazebo go down more quickly?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-02-03 07:59:01


You could still maintain a clean shutdown if you type 'killall -9 gazebo' in a different terminal while the ctrl-c is waiting.
hsu gravatar image hsu  ( 2011-09-28 12:03:21 -0500 )edit
It looks like a new while loops are introduced, preventing shutdown (see this [ticket]( Is it possible for you to create a backtrace of the hanging code? thanks, John
hsu gravatar image hsu  ( 2011-09-28 12:25:00 -0500 )edit
I'll try to attach gdb to the relevant process when the hang happens and see what I get
Asomerville gravatar image Asomerville  ( 2011-09-28 13:27:54 -0500 )edit
No luck trying to catch any info from gazebo with gdb. I did track down that the message is coming from pr2_mechanism/pr2_controller_manager/scripts/Spawner though I'm not familiar enough with how they interact to understand why that would make a difference.
Asomerville gravatar image Asomerville  ( 2011-09-28 15:26:24 -0500 )edit
@Asomerville: I asked this question ( which should help us debug this problem. thanks for trying.
hsu gravatar image hsu  ( 2011-09-28 19:06:15 -0500 )edit
@hsu I chased this into gazebo and noticed that there's a "setUserQuit" method that gets called on any signal and interrupts the server only if it's headless. Otherwise the "setUserQuit" method does nothing to the wx app loop from what I can tell.
Asomerville gravatar image Asomerville  ( 2011-10-11 13:37:56 -0500 )edit