`rosnode kill /naoqi_driver` してもlaunchが終了しない

[kochigami]

これは正しい挙動なのか?

roslaunch naoqi_driver naoqi_driver.launch network_interface:=enp0s31f6

して、

rosnode kill /naoqi_driver 
killing /naoqi_driver
killed

すると

[ WARN] [1557115485.364477975]: Shutdown request received.
[ WARN] [1557115485.364536168]: Reason given for shutdown: [user request]

が出てくるがnaoqi_driver.launchは終了しない。

rosnode listを見るとノードは死んでいるけどプロセスは残っている。

ps aux | grep roscore
pepper    7348 12.9  0.3 1421272 54676 ?       Ssl  13:04   0:20 /home/pepper/catkin_ws/devel/lib/naoqi_driver/naoqi_driver_node --qi-url=tcp://133.11.216.147:9559 --roscore_ip=127.0.0.1 --network_interface=enp0s31f6 --namespace=naoqi_driver --bootconfig_name=boot_config.json __name:=naoqi_driver __log:=/home/pepper/.ros/log/791306d6-6faa-11e9-a27f-e86a6433c63f/naoqi_driver-1.log
pepper    8221  0.0  0.0  15244   976 pts/25   S+   13:07   0:00 grep --exclude-dir=.svn roscore

それで、別ターミナルで

roslaunch naoqi_driver naoqi_driver.launch network_interface:=enp0s31f6

すると、

terminate called after throwing an instance of 'qi::FutureUserException'
  what():  Service "ROS-Driver" (#242) is already registered. Rejecting conflicting registration attempt.
================================================================================REQUIRED process [naoqi_driver-1] has died!
process has died [pid 7968, exit code -6, cmd /home/pepper/catkin_ws/devel/lib/naoqi_driver/naoqi_driver_node --qi-url=tcp://133.11.216.147:9559 --roscore_ip=127.0.0.1 --network_interface=enp0s31f6 --namespace=naoqi_driver --bootconfig_name=boot_config.json __name:=naoqi_driver __log:=/home/pepper/.ros/log/791306d6-6faa-11e9-a27f-e86a6433c63f/naoqi_driver-1.log].
log file: /home/pepper/.ros/log/791306d6-6faa-11e9-a27f-e86a6433c63f/naoqi_driver-1*.log
Initiating shutdown!
================================================================================
[naoqi_driver-1] killing on exit

が出て落ちる。

[kochigami]

https://github.com/kochigami/naoqi_bridge/pull/11 の元 roslaunch naoqi_pose pose_manager.launch

rosnode kill /pose_controller 
killing /pose_controller
killed

したら、

================================================================================REQUIRED process [pose_controller-1] has died!
process has finished cleanly
log file: /home/pepper/.ros/log/791306d6-6faa-11e9-a27f-e86a6433c63f/pose_controller-1*.log
Initiating shutdown!
================================================================================

こうなった。naoqi_driverにバグがあるのではないか

[kochigami]

ちょっと調べた。理由は分かったけれど、解決策は全然分からない。

naoqi_driver/src/external_registration.cpp

  std::cout << BOLDYELLOW << "naoqi_driver initialized" << RESETCOLOR << std::endl;
  app.run();
  std::cout << BOLDYELLOW << "1" << RESETCOLOR << std::endl;
  bs->stopService();
  std::cout << BOLDYELLOW << "2" << RESETCOLOR << std::endl;
  app.session()->close();
  std::cout << BOLDYELLOW << "3" << RESETCOLOR << std::endl;

で、rosnode killするときは、app.run()の中にいるから、シグナルを受け取るだけで、実際にノードを落とせていない。 app.session()->close();まで行って、 ようやくnaoqi_driver.cppのDriverクラスのデコンストラクタが呼ばれて、ros::shutdown()される。