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ROS nodes killed by "rosnode kill" are reborn

asked 2020-12-16 02:02:16 -0500

murakami gravatar image

Hello. I'm ROS beginner trying to move my robot.

I'm facing problem that another node prevent my robot from moving correctly. I found the node preventing my robot, but I don't understand where it comes from. So, as a short time solution, I killed that node by "rosnode kill" and checked it by "rqt_graph". But few second later, the node were reborn.

Is there any idea how this is happened? I've already checked crontab but there is no hint.

Thanks for your help.

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I'd say you need to figure out which launch file starts this. Maybe there is the respawn flag set to true. If the robot automatically starts up the ROS master, there might be several ways how it is started. Maybe a custom init script (could be whereever) or using robot_usptart (check /etc/ros/<DISTRO>) for launch files.

mgruhler gravatar image mgruhler  ( 2020-12-16 02:56:21 -0500 )edit

The launch file starts this was found and I could solve this problem by deleting the launch file. Thank you for advice. But I still don't understand why this was happend. So I want to know about potential causes. How can I know about custom init script?

murakami gravatar image murakami  ( 2020-12-16 21:11:17 -0500 )edit

I'm not sure deleting the file would be the right way to go. Someone else using the robot (IF someone else is using the robot, that is) might be expecting this to start up.

There is no default way to know about custom init scripts. If you've bought the robot, it might be somewhere in the documentation. If it is developed by your lab or something, ask a "robot admin" or someone familiar with the system.

There is no default ROS custom init script or something.

mgruhler gravatar image mgruhler  ( 2020-12-17 01:03:48 -0500 )edit

Thanks for your advice. I gonna ask previous owner about it.

murakami gravatar image murakami  ( 2020-12-18 00:43:04 -0500 )edit

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answered 2020-12-16 22:46:28 -0500

murakami gravatar image

Thanks to @mgruhler 's advice, I could solve this problem.

The node that prevent my robot was executed by a launch file. The launch file was automatically executed when my robot booted by the ubuntu function "systemed". And it was automatically restarted every 10 seconds. I could check it by $sudo systemctl list-unit-files --type=service.

I really appriciate your help.

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Asked: 2020-12-16 02:02:16 -0500

Seen: 194 times

Last updated: Dec 16 '20