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Kill roscore and all nodes when rosbag play finishes?

asked 2012-01-25 01:35:42 -0500

Jason LaPenta gravatar image


I'm writing some automated test scripts. I'd like to run a launch script with a bag file, which works fine. But when the rosbag play completes I would like roslaunch to exit so my script can load up a new bag file and rerun roslaunch with the test.launch file. Is there an elegant way to cause all ros nodes and roscore to exit when a bag file is finished? I was thinking of making another script to monitor when rosbag finished and then execute a rosnode kill, but I thought there might be a better way.

Thanks, Jason

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This is tangential, but you may want to look into using rostest to bring your test fixture up and down using roslaunch files
kwc gravatar image kwc  ( 2012-01-25 04:33:07 -0500 )edit

4 Answers

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answered 2012-01-25 01:53:31 -0500

updated 2015-11-06 10:34:36 -0500

If you're running all your nodes from the same launch file as the bag, just add required="true" to the node tag for rosbag. This will cause the entire roslaunch to die when rosbag terminates.

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this appears to work perfectly, thanks
Jason LaPenta gravatar image Jason LaPenta  ( 2012-01-25 02:33:12 -0500 )edit
When you get a good/the best answer please use the checkbox to the left to mark it as answered. I've done so for you this time.
tfoote gravatar image tfoote  ( 2012-02-02 16:11:30 -0500 )edit

typo: required = 'true'

Roger Yau gravatar image Roger Yau  ( 2015-11-06 03:03:01 -0500 )edit

answered 2012-01-25 01:44:33 -0500

I haven't tried this, but perhaps something like this:

rosbag play foo.bag; rosnode kill -a
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rosnode kill -a kind of works but sometimes not all nodes get killed

fivef gravatar image fivef  ( 2014-10-22 05:54:44 -0500 )edit

answered 2015-09-30 02:27:54 -0500

fivef gravatar image

If you want to kill everything related to ros just use:

pkill -f ros

But careful this matches on the command lines use to start all user processes. If a not ros related process contains "ros" this will also get killed. A safer way would be to use:

pkill -f /opt/ros
pkill -f /<path to your workspace>
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answered 2012-01-25 01:55:57 -0500

DimitriProsser gravatar image

I would personally do this via Bash. I assume that's what you're doing already, but here's how I would do it:


rosbag play my_bag.bag 

while [ ! "$(ps aux | grep bag | grep -v grep)" ] # or $(rosnode list | grep play)
    sleep 1;

if [ "$(ps aux | grep ros | grep -v grep | awk '{print $2}')" ]; then # or $(rosnode list)
    for i in $(ps aux | grep ros | grep -v grep | awk '{print $2}')
        kill -2 $i;

I use this because according to the rosnode kill documentation, it's not guaranteed to actually kill a node, especially when it's set to respawn. This function guarantees that they all die. You'd then be free to launch again. You could even put this all in a loop.

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Asked: 2012-01-25 01:35:42 -0500

Seen: 14,278 times

Last updated: Nov 06 '15