How to close cleanly the simulator

[RocaPiedra]

CARLA version: 0.9.13 Platform/OS: Linux and Windows (I'm using mostly linux but I want it to be agnostic) Problem you have experienced: Can't automate simulator termination

Hi,

I'm doing an app to interact with the simulator and I haven't found a reliable way to automate the process of shutting down the simulator. What I do is try to connect to the simulator like this:

try:
        client = carla.Client(args.host, args.port)
        client.set_timeout(5.0)
        run_simulation(args, client)

except (RuntimeError, TypeError, NameError):
        roc_functions.launch_carla_simulator_locally()
        client = carla.Client(args.host, args.port)
        client.set_timeout(5.0)
        run_simulation(args, client)

and if it is not reachable I spawn it as a Python subprocess through this function:

def launch_carla_simulator_locally(unreal_engine_path = None):
    if unreal_engine_path is None:
        unreal_engine_path = parameters.unreal_engine_path
    print('Launching Unreal Engine Server...')
    if os.name == 'nt':
        unreal_engine = subprocess.Popen(unreal_engine_path, stdout=subprocess.PIPE)
    else:
        unreal_engine = subprocess.Popen([unreal_engine_path], stdout=subprocess.PIPE)
    sleep(5)
    print('Generating traffic...')
    generate_traffic = subprocess.Popen(["python", "../carlacomms/generate_traffic.py", '--asynch', '--tm-port=8001'], stdout=subprocess.PIPE)
    return unreal_engine, generate_traffic

Then, when the run simulation is finished or an exception is thrown, I terminate the processes like this:

finally:
        print('terminating traffic...')
        generate_traffic.terminate()
        print(generate_traffic.poll())
        print('terminating simulator...')
        unreal_engine.terminate()
        print(unreal_engine.poll())

But the simulator keeps running and I have to close the process manually.

[fangchaooo]

You can kill -9 $ps aux |grep Unreal.

[stale[bot]]

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