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How to shutdown gazebo from a plugin?

asked 2014-09-25 07:44:45 -0600

AndreiHaidu gravatar image

updated 2015-01-07 02:23:00 -0600

Hi,

how would one safely terminate gazebo from a plugin?

Calling gazebo::shutdown() kills it but not in a nicely fashion (errors appear in the terminal)

Thanks, Andrei

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Excellent question! I called gazebo::shutdown() from the UpdateCallback(...) of a ModelPlugin and it left the simulation in a frozen state without terminating gazebo. I can still press the buttons in the menu. Is this the intended behavior? (Ubuntu 12.04, Gazebo 4.1.0)

Georg Bartels gravatar imageGeorg Bartels ( 2015-01-07 08:30:41 -0600 )edit

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answered 2015-01-07 09:37:26 -0600

nkoenig gravatar image

Try sending a SeverControl message to the /gazebo/server/control topic where the message has "stop" set to true.

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This worked nicely for me, i.e. when starting the simulation with gzserver it terminates cleanly after the message was send. When started with gazebo, the server terminates cleanly and the gui remains. Thanks a lot! EDIT: I'd like to up-vote your answer but I do not have enough karma..

Georg Bartels gravatar imageGeorg Bartels ( 2015-01-09 03:02:39 -0600 )edit
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Asked: 2014-09-25 07:44:45 -0600

Seen: 1,759 times

Last updated: Jan 07 '15