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roslaunchした後にCtrl-Cをすると、shutdown errorになってしまいます。 #373

Open 708yamaguchi opened 8 years ago

708yamaguchi commented 8 years ago

roslaunch test_cpp test_cpp.launch とすると、以下のようなメッセージが出て、gazeboでのシミュレーションが出来ました。

mech-user@test1-pc:~$ roslaunch test_cpp test_cpp.launch
... logging to /home/mech-user/.ros/log/1df23faa-361a-11e6-9a35-e8b1fce8918a/roslaunch-test1-pc-3509.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://test1-pc:46910/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.19
 * /rrbot/joint1_position_controller/joint: joint1
 * /rrbot/joint1_position_controller/pid/d: 10.0
 * /rrbot/joint1_position_controller/pid/i: 0.01
 * /rrbot/joint1_position_controller/pid/p: 100.0
 * /rrbot/joint1_position_controller/type: effort_controller...
 * /rrbot/joint2_position_controller/joint: joint2
 * /rrbot/joint2_position_controller/pid/d: 10.0
 * /rrbot/joint2_position_controller/pid/i: 0.01
 * /rrbot/joint2_position_controller/pid/p: 100.0
 * /rrbot/joint2_position_controller/type: effort_controller...
 * /rrbot/joint_state_controller/publish_rate: 50
 * /rrbot/joint_state_controller/type: joint_state_contr...
 * /use_sim_time: True

NODES
  /rrbot/
    controller_spawner (controller_manager/spawner)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    link_state_sub (test_cpp/link_state_sub)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    test_cpp_node (test_cpp/test_cpp_node)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [3524]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1df23faa-361a-11e6-9a35-e8b1fce8918a
process[rosout-1]: started with pid [3537]
started core service [/rosout]
process[gazebo-2]: started with pid [3540]
process[gazebo_gui-3]: started with pid [3544]
process[urdf_spawner-4]: started with pid [3548]
process[rrbot/controller_spawner-5]: started with pid [3553]
process[robot_state_publisher-6]: started with pid [3556]
process[test_cpp_node-7]: started with pid [3557]
process[link_state_sub-8]: started with pid [3558]
[INFO] [WallTime: 1466339656.700520] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master
[ INFO] [1466339657.959381975]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for masterMsg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.13
[ INFO] [1466339657.959881122]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.13
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
spawn_model script started
[INFO] [WallTime: 1466339659.674376] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1466339659.676708] [0.000000] Waiting for service /gazebo/spawn_urdf_model
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
[ INFO] [1466339660.119083567, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1466339660.166094403, 0.068000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1466339660.283274] [0.181000] Calling service /gazebo/spawn_urdf_model
[ INFO] [1466339661.475027684, 0.259000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1466339661.742954418, 0.259000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1466339661.770601122, 0.259000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1466339661.770687551, 0.259000000]: Starting GazeboRosLaser Plugin (ns = /)!
[INFO] [WallTime: 1466339661.796252] [0.259000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1466339661.947211497, 0.259000000]: GPU Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1466339661.948190231, 0.259000000]: LoadThread function completed
[urdf_spawner-4] process has finished cleanly
log file: /home/mech-user/.ros/log/1df23faa-361a-11e6-9a35-e8b1fce8918a/urdf_spawner-4*.log
[ INFO] [1466339662.098829835, 0.259000000]: Loading gazebo_ros_control plugin
[ INFO] [1466339662.098969418, 0.259000000]: Starting gazebo_ros_control plugin in namespace: /rrbot
[ INFO] [1466339662.099839826, 0.259000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1466339663.703021569, 0.259000000]: Loaded gazebo_ros_control.
[INFO] [WallTime: 1466339663.934893] [0.458000] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1466339663.936203] [0.460000] Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [WallTime: 1466339663.937276] [0.461000] Loading controller: joint_state_controller
[INFO] [WallTime: 1466339664.068020] [0.590000] Loading controller: joint1_position_controller
[INFO] [WallTime: 1466339664.259978] [0.780000] Loading controller: joint2_position_controller
[INFO] [WallTime: 1466339664.295859] [0.816000] Controller Spawner: Loaded controllers: joint_state_controller, joint1_position_controller, joint2_position_controller
[INFO] [WallTime: 1466339664.298775] [0.819000] Started controllers: joint_state_controller, joint1_position_controller, joint2_position_controller

ここでCtrl-Cとすると、以下のメッセージが出て、shutdown errorとなってしまいます。

^C[link_state_sub-8] killing on exit
[test_cpp_node-7] killing on exit
[robot_state_publisher-6] killing on exit
[rrbot/controller_spawner-5] killing on exit
[gazebo_gui-3] killing on exit
[gazebo-2] killing on exit
[INFO] [WallTime: 1466339667.090957] [3.603000] Shutting down spawner. Stopping and unloading controllers...
[rrbot/controller_spawner-5] escalating to SIGTERM
[rrbot/controller_spawner-5] escalating to SIGKILL
[rosout-1] killing on exit
[master] killing on exit
Shutdown errors:
 * process[rrbot/controller_spawner-5, pid 3553]: required SIGKILL. May still be running.
shutting down processing monitor...
... shutting down processing monitor complete
done

ここで、エラーを出しているcontroller_spawnerは次のlaunchファイルからlaunchされています。

<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>

  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/rrbot" args="joint_state_controller
                      joint1_position_controller
                      joint2_position_controller"/>

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="/rrbot/joint_states" />
  </node>

</launch>

お手数をお掛けしますが、よろしくお願いいたいます。

k-okada commented 8 years ago

基本的には気にしなくてよいとおもいます ps -aux | grep controller_spawner をして残っていればkill -KILLなどで殺して下さい．

708yamaguchi commented 8 years ago

教えてもらったとおりにしたところ、以下のような結果になったので、おそらく大丈夫だと思います。 ありがとうございました。 mech-user@test1-pc:~$ ps -aux | grep controller_spawner mech-us+ 3963 0.0 0.0 16908 948 pts/11 S+ 23:09 0:00 grep --color=auto controller_spawner