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ros nodes not shutting down

asked 2018-09-07 18:45:11 -0600

debonair gravatar image

updated 2018-09-07 18:45:32 -0600

i have a launch file which first launch another launch file and then it starts another node. When my another node terminates I expect nodes started by first launch file should also terminate. So I have

 while (ros::ok())

in my first launch node so if my second node finishes, i want to terminate first node. but right now on console I get

"escalating to SIGTERM"

. How do I fix this issue?

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Nodes not shutting down is typically caused by either not checking ros::ok() or not having a proper ros::Rate::sleep() somewhere in your while loop. The first is probably not the case, but do please check the second.

gvdhoorn gravatar image gvdhoorn  ( 2018-09-08 13:38:30 -0600 )edit

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answered 2018-09-07 19:05:27 -0600

alsora gravatar image

That's not how it works.

If a node "finishes" its execution, the other nodes could still keep spinning. A node is killed when its node handler goes out of scope or when ros::shutdown() is called.

You can find a detailed description of initialization and shutdown here

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Asked: 2018-09-07 18:45:11 -0600

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Last updated: Sep 07 '18