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Ralf,

I'm just now playing around with actionlib, so I don't know if there are any other interactions, but I also recently wrote a node with starts recording data via rosbag and subprocess.Popen(). I've been ending the rosbag session with:

rosbag_proc = subprocess.Popen(...)
...
rosbag_proc.send_signal(subprocess.signal.SIGINT)

SIGINT is the same as "Ctrl-C" for Unix. It seems to end the rosbag process cleanly without adversely affecting my ROS node.