def native_shutdown(self):
output.console_log("Shutting down native run...")
ProcessProcedure.subprocess_call('rosnode kill -a', "rosnode_kill")
ProcessProcedure.process_kill_by_name('rosmaster')
ProcessProcedure.process_kill_by_name('roscore')
ProcessProcedure.process_kill_by_name('rosout')
while ProcessProcedure.process_is_running('rosmaster') and \
ProcessProcedure.process_is_running('roscore') and \
ProcessProcedure.process_is_running('rosout'):
output.console_log_animated("Waiting for roscore to gracefully exit...")
output.console_log("Native run successfully shutdown!")
def sim_shutdown(self):
output.console_log("Shutting down sim run...")
ProcessProcedure.subprocess_call("ros2 service call /reset_simulation std_srvs/srv/Empty {}", "ros2_reset_call")
ProcessProcedure.process_kill_by_name("gzserver")
ProcessProcedure.process_kill_by_name("gzclient")
ProcessProcedure.process_kill_by_name("_ros2_daemon")
ProcessProcedure.process_kill_by_name("ros2")
ProcessProcedure.process_kill_by_cmdline("/opt/ros/")
while ProcessProcedure.process_is_running("gzserver") or \
ProcessProcedure.process_is_running("gzclient") or \
ProcessProcedure.process_is_running("ros2") or \
ProcessProcedure.process_is_running("_ros2_daemon"):
output.console_log_animated("Waiting for graceful exit...")
output.console_log("Sim run successfully shutdown!")
def sim_shutdown(self):
output.console_log("Shutting down sim run...")
subprocess.call("rosservice call /gazebo/reset_simulation \"{}\"", shell=True)
self.roslaunch_proc.send_signal(signal.SIGINT)
try:
with open("/tmp/roslaunch.pid", 'r') as myfile:
pid = int(myfile.read())
os.kill(pid, signal.SIGINT)
except FileNotFoundError:
output.console_log("roslaunch pid not found, continuing normally...")
while self.roslaunch_proc.poll() is None:
output.console_log_animated("Waiting for graceful exit...")
ProcessProcedure.subprocess_call('rosnode kill -a', "rosnode_kill")
output.console_log("Sim run successfully shutdown!")
def rosbag_stop_recording_topics(self, bag_name):
output.console_log(f"Stop recording rosbag on ROS node: {bag_name}")
ProcessProcedure.subprocess_call(f"rosnode kill {bag_name}", "ros1bag_kill")