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rosnode kill doesn't kill a node

asked 2011-11-01 12:27:47 -0600

Paul0nc gravatar image

I have created a rosnode in C++. It will not be killed by rosnode kill <nodename>.

Can anyone tell me why this might this might be happening?

Thanks, Paul.

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answered 2011-11-02 02:14:42 -0600

DimitriProsser gravatar image

updated 2011-11-02 02:18:23 -0600

On the rosnode page, it states that rosnode kill is not guaranteed to succeed. If your node is set to "respawn", rosnode kill won't kill it properly. The other (more likely) cause of this problem is that your node is "hanging". What this means is that you're trapped in some infinite loop that does not check for the continued existence of ROS.

For example, instead of

while (1) {}

use

while (ros::ok()) {}

I've also run into problems with nodes hanging due to socket connections that fail to close properly.

In the case that you must shut down a node immediately, you can use the following command to kill it less nicely (provided that you're on a *Nix operating system):

kill $(ps aux | grep your_node | grep -v grep | awk '{print $2}')
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Thanks Dimitri!
Paul0nc gravatar image Paul0nc  ( 2011-11-05 01:22:55 -0600 )edit
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answered 2019-01-11 14:51:58 -0600

dsoike gravatar image

If you're using roslaunch to start your nodes and rosnode kill <my_node> isn't working, try re-roslaunching first. This will replace the existing nodes with freshly-launched ones, which you should be able to kill.

roslaunch <my_package> <launch_file>
rosnode kill <my_node>
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Asked: 2011-11-01 12:27:47 -0600

Seen: 8,662 times

Last updated: Jan 11 '19