call this funtion client.terminate() or close(), then can not reconnect.

[liuxinxiao]

My code : client = roslibpy.Ros(host='localhost', port=9090) client.run() print('Is ROS connected?', client.is_connected) client.terminate()

reconnect ros:

client = roslibpy.Ros(host='localhost', port=9090) client.run() print('Is ROS connected?', client.is_connected)

client.is_connecting is True, client.is_connected is False.

[gonzalocasas]

@liuxinxiao it depends on your context (ie. IronPython vs CPython), but in the normal case, calling terminate() is a final operation that signals the termination of the main event loop. In other words, you're really saying "My code is going to finish completely" and there's no reconnection possibility (see docs). So, in this case, the behavior you are seeing is correct.

Now, you also mention this happens if you use .close(). In that case, reconnections should work. Could you please confirm that using .close() only without terminate() also causes it to fail to reconnect?

[liuxinxiao]

the first connect. It work. 2022-06-08 20:39:57,383 autoware_adapter.py[line:17] ERROR ros_client is None IP : XXX 2022-06-08 20:39:57,383 autoware_adapter.py[line:18] ERROR ros_client is None port is : 9090 2022-06-08 20:39:57,402 comm_autobahn.py[line:30] INFO Connection to ROS ready. 2022-06-08 20:39:57,403 autoware_adapter.py[line:22] ERROR Is ROS connected ? True

stop function. I use ros.close(), But is_connected is True still. 2022-06-08 20:41:18,788 autoware_adapter.py[line:82] ERROR Stop function Is ROS connected ? True 2022-06-08 20:41:18,789 autoware_adapter.py[line:84] ERROR Stop function close Is ROS connected ? True 2022-06-08 20:41:18,797 comm_autobahn.py[line:45] INFO WebSocket connection closed: Code=1000, Reason=None 2022-06-08 20:41:18,798 _legacy.py[line:147] INFO Stopping factory <roslibpy.comm.comm_autobahn.AutobahnRosBridgeClientFactory object at 0x7f1767f83b50> 2022-06-08 20:41:18,883 server.py[line:259] INFO connection closed 2022-06-08 20:42:43,154 server.py[line:641] INFO connection open

The second connect. log is : 2022-06-08 20:42:46,178 autoware_adapter.py[line:17] ERROR ros_client is None IP : XXX 2022-06-08 20:42:46,178 autoware_adapter.py[line:18] ERROR ros_client is None port is : 9090 2022-06-08 20:42:46,180 _legacy.py[line:147] INFO Starting factory <roslibpy.comm.comm_autobahn.AutobahnRosBridgeClientFactory object at 0x7f174874c2e0>

The second connect, Throw except. /usr/local/lib/python3.8/dist-packages/pymongo/compression_support.py:56: UserWarning: Unsupported compressor: disabled warnings.warn("Unsupported compressor: %s" % (compressor,)) /usr/local/lib/python3.8/dist-packages/pymongo/common.py:803: UserWarning: Unknown option gssapiservicename warnings.warn(str(exc)) Exception in thread Thread-94: Traceback (most recent call last): File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner self.run() File "/sdg_engine_code/Engine/src/main/engine.py", line 86, in run self.ads_adapter = AutowareAdapter(ros_bridge_ip, log=self.log, task_id=self.task_id) File "/sdg_engine_code/Engine/src/main/autoware_adapter.py", line 21, in init self.ros_client.run() File "/usr/local/lib/python3.8/dist-packages/roslibpy/ros.py", line 91, in run raise Exception('Failed to connect to ROS') Exception: Failed to connect to ROS

My code is : def init(self, ip, ws_port=9091, ros_port=9090, log=None, task_id=None): self.ros_client = None logging.error("ros_client is None IP : {}".format(ip)) logging.error("ros_client is None port is : {}".format(ros_port))

self.ros_client = roslibpy.Ros(host=ip, port=ros_port)
self.ros_client.run()
logging.error('Is ROS connected ? {}'.format(self.ros_client.is_connected))

def stop(self):

    try:
        # self.trace_listener.unsubscribe()
        self.state_listener.unsubscribe()
        logging.error('Stop function Is ROS connected ? {}'.format(self.ros_client.is_connected))
        self.ros_client.close()
        logging.error('Stop function close Is ROS connected ? {}'.format(self.ros_client.is_connected))
    except Exception as exception:
        print(exception)
        self.log.error_log({"msg": "{}".format(traceback.format_exc()), "task_id": self.task_id})

[gonzalocasas]

@liuxinxiao could you please paste the entire code? I don't totally get what is going on without more context.