| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
I am looking for a way to shut down a node from another node.
from subprocess import call
call(["rosnode", "kill", "my_node"], shell=True)
The code above works fine with ROS Python. I am looking for the same in ROS CPP.
Instead of doing a System call, I'd rather use a ROS Service which then Triggers a shutdown of the node in question. This is way more portable than hard-coding a node Name that can easily be changed using a roslaunch tag.
EDIT
Create a ServiceServer in the node you want to shut down that triggers ros::shutdown and stops the node. Ideally, you wouldn't do the shutdown in the Service "callback" itself, but rather set some flag that shuts down the node after some short time. This will allow the Service to return a Response.
Thus, your calling node requires a ServiceClient with whatever Service type you see fit. I'd suggest std_srvs/Trigger. But std_srvs/Empty would do as well.
You can use system.
system(". PATH_TO_setup.sh ; rosnode kill sub");
or if you want to use bash
system("bash -c 'source PATH_TO_setup.bash ; rosnode kill sub'");
replace PATH_TO_setup with your ROS source file like /opt/ros/melodic/setup.bash
Asked: 2018-06-14 00:44:42 -0600
Seen: 3,252 times
Last updated: Jun 14 '18
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
