How to stop launched Livox LIDAR HAP?

[Froas]

After launching:

ros2 lauch livox_ros_driver2 msg_HAP_launch.py

I would like to stop publishing and turn off the Livox lidar, but I cannot.

I found this code in src/livox_ros_driver2/launch_ROS2/msg_HAP_launch.py:

return LaunchDescription([
        livox_driver,
        # launch.actions.RegisterEventHandler(
        #     event_handler=launch.event_handlers.OnProcessExit(
        #         target_action=livox_driver,
        #         on_exit=[
        #             launch.actions.EmitEvent(event=launch.events.Shutdown()),
        #         ]
        #     )
        # )
    ])

But if I uncomment it, I get the following error message:

[livox_ros_driver2_node-1] successfully parse base config, counts: 1
[livox_ros_driver2_node-1] [INFO] [1703756374.717869962] [livox_lidar_publisher]: Init lds lidar success!
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_1677830336.
[livox_ros_driver2_node-1] set pcl data type, handle: 1677830336, data type: 1
[livox_ros_driver2_node-1] set scan pattern, handle: 1677830336, scan pattern: 0
[livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 1677830336
[livox_ros_driver2_node-1] successfully set data type, handle: 1677830336, set_bit: 2
[livox_ros_driver2_node-1] successfully set pattern mode, handle: 1677830336, set_bit: 0
[livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.1.100
[livox_ros_driver2_node-1] successfully change work mode, handle: 1677830336
[livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.1.100
[livox_ros_driver2_node-1] [INFO] [1703756381.245650634] [livox_lidar_publisher]: livox/imu publish use imu format
[livox_ros_driver2_node-1] [INFO] [1703756381.379768986] [livox_lidar_publisher]: livox/lidar publish use livox custom format
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[livox_ros_driver2_node-1] [INFO] [1703756383.267249357] [rclcpp]: signal_handler(signum=2)
[livox_ros_driver2_node-1] Init queue, real query size:16.
[livox_ros_driver2_node-1] Lidar[0] storage queue size: 10
[livox_ros_driver2_node-1] Livox Lidar SDK Deinit completely!
[livox_ros_driver2_node-1] lddc destory!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
[ERROR] [livox_ros_driver2_node-1]: process has died [pid 653, exit code -11, cmd '/root/ros2_ws/install/livox_ros_driver2/lib/livox_ros_driver2/livox_ros_driver2_node --ros-args -r __node:=livox_lidar_publisher --params-file /tmp/launch_params_0sj06i89 --params-file /tmp/launch_params_r3vs8m64 --params-file /tmp/launch_params_i6gg6l81 --params-file /tmp/launch_params_ivd0upv8 --params-file /tmp/launch_params_oblbposa --params-file /tmp/launch_params_fzwrr677 --params-file /tmp/launch_params_e2ov4kb2 --params-file /tmp/launch_params_vx0l1yd0 --params-file /tmp/launch_params_zyb3hlty'].

If someone has faced the same problem, can you help me solve it?

[Froas]

SetLivoxLidarWorkMode(config.handle, kLivoxLidarWakeUp, nullptr, nullptr);

[Murphy41]

You saved my life, bro! Much appreciated!