When exited gazebo via the quit menu the system does not shutdown completely.

asked 2013-10-25 11:22:55 -0500

rnunziata gravatar image

updated 2013-10-25 11:24:59 -0500

When exited gazebo via the quit menu the system does not shut down completely. It does not seem to matter how long I wait for shutdown to complete. If restated then a error occurs on the next launch in many instances unless I kill all related processes.

roslaunch rrbot_gazebo rrbot.launch

... logging to /home/viki/.ros/log/b02b5aa8-3d90-11e3-b25e-28cfe95d78b1/roslaunch-viki-4282.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://viki:51345/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)

auto-starting new master
process[master]: started with pid [4296]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b02b5aa8-3d90-11e3-b25e-28cfe95d78b1
process[rosout-1]: started with pid [4309]
started core service [/rosout]
process[gazebo-2]: started with pid [4323]
process[gazebo_gui-3]: started with pid [4328]
Gazebo multi-robot simulator, version 1.9.1
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.9.1
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.[ INFO] [1382717739.929014641]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1382717739.929873735]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.80

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.80
[ INFO] [1382717741.900888129]: Loading gazebo_ros_control plugin
[ INFO] [1382717741.901100554]: Starting gazebo_ros_control plugin in namespace: /rrbot
[ INFO] [1382717741.902397165]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[gazebo_gui-3] process has finished cleanly
log file: /home/viki/.ros/log/b02b5aa8-3d90-11e3-b25e-28cfe95d78b1/gazebo_gui-3*.log

^C[gazebo-2] killing on exit

[gazebo-2] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
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Comments

What version of ROS and gazebo are you using?

nkoenig gravatar imagenkoenig ( 2013-10-25 12:37:33 -0500 )edit

Gazebo 1.9 and any upgrades

rnunziata gravatar imagernunziata ( 2013-10-26 07:08:57 -0500 )edit

This is currently being worked on. Stay tuned.

nkoenig gravatar imagenkoenig ( 2013-11-07 17:05:31 -0500 )edit

I am running into the same problem. When I exit Gazebo, it usually stalls and eventually prints "escalating to SIGKILL on server" before exiting. This is a problem because it's preventing the destructor of a plugin from being called. I am using Gazebo 2.2.2 and ROS Groovy on Ubuntu 12.04.

liangfok gravatar imageliangfok ( 2014-04-15 14:02:40 -0500 )edit

Can you try running Gazebo standalone (no plugins, no ROS)? In this use-case do the problems still exist?

nkoenig gravatar imagenkoenig ( 2014-04-15 18:01:46 -0500 )edit

I am new to gazebo, ran into the same error today. I know this question is a bit old but any updates on this? I'll love a solution. Thanks

pr_db gravatar imagepr_db ( 2020-11-23 08:02:55 -0500 )edit