How can I kill a ros2 node with rclpy?

asked 2021-09-16 06:42:40 -0600

Hi, I have a launch file that launches 3 ROS2 nodes and the nodes are wrote using rclpy. Now, I'm planning to write a service call that will kill 2 of those nodes. After doing some research, I found something called "lifecycle Node", but as far as I know "lifecycle" still only supports C++ (according to the outlook https://github.com/ros2/demos/blob/fo...).

I did found a hacky way (https://answers.ros.org/question/3781...) but I'm not confident with that approach.

So, my questions are: 1) Is there any other way I can kill the ROS2 node other than using pressing ctrl+c and lifecycle node? 2) How can I do the killing of a node properly in rclpy?

I'm using OS=Linux 20.04 LTS | ROS_DISTRO=Foxy | ROS_PYTHON_VERSION=3

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Please specify how to use os to find the node's names and PID numbers?

FA ( 2023-06-22 03:30:34 -0600 )edit

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answered 2021-09-19 10:50:38 -0600

flo

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You are correct, LifeCycle Nodes are only cpp and would be a nicer implementation. The node in this case would never be completely killed but you can easily restart a node with decent tools.

If you just want to kill the node through a service call, I would recommend to do it with the normal python way: exit(). Than your node should be gracefully exited which has the same effect than what you might desire.

Restarting would then be a part that might be a little bit harder. But probably you could hack your way around with using parts of a launch file in a normal python script. But I would not straight forward recommend that, as I do not know the possible side effects of that.

Cheers!

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Thanks for the comment and suggestion. I have also tried another method, which is using python os to find out all the nodes' name and their PID numbers. Then, killing those by using os.kill((PID), signal.SIGTERM).

FlyingChickenGang ( 2021-09-22 03:26:20 -0600 )edit

please consider adding this comment as own answer and tick it as the correct one. Or use mine to show others that this problem can be solved.. :)

flo ( 2021-09-23 15:03:32 -0600 )edit

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How can I kill a ros2 node with rclpy?

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