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Python interfacing for multiprocess software - A Python blanket for ROS to hide inside
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rosnode kill /rostful (pyros) doesnt stop update #105

Open asmodehn opened 7 years ago

asmodehn commented 7 years ago

An easy way to test is to put a print statement in the ros_interface.update loop.

Something is strange there, the child process should be the one known by the node, and the one killed. In that process the ros interface should be running...

asmodehn commented 7 years ago

BEFORE

alexv@asmodehn:~$ pstree -psl 10320 
init(1)───lightdm(1877)───lightdm(32721)───init(5841)───xfce4-terminal(22140)───bash(24912)───pycharm.sh(16321)───java(16389)───bash(16687)───python(10320)─┬─rostful(10348)───python(10353)─┬─python(10357)─┬─{python}(10418)
                                                                                                                                                            │                                │               └─{python}(10443)
                                                                                                                                                            │                                ├─python(10378)
                                                                                                                                                            │                                └─python(10403)─┬─{python}(10416)
                                                                                                                                                            │                                                ├─{python}(10417)
                                                                                                                                                            │                                                ├─{python}(10423)
                                                                                                                                                            │                                                ├─{python}(10424)
                                                                                                                                                            │                                                ├─{python}(10427)
                                                                                                                                                            │                                                └─{python}(10445)
                                                                                                                                                            ├─{python}(10336)
                                                                                                                                                            └─{python}(10337)
alexv@asmodehn:~$ ps aux | grep rostful
alexv    10320  0.7  0.1 297352 25592 pts/9    Sl+  09:54   0:00 python /home/alexv/ROS/gopher_desktop/devel/bin/roslaunch rostful rostful.launch --screen
alexv    10348  0.0  0.0  29644  3392 ?        Ss   09:54   0:00 /bin/bash /home/alexv/ROS/gopher_bootstrap/src/rostful/scripts/rostful -h 127.0.0.1 -p 8080 -s flask -c /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.cfg -l /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.log ~connections_list:=/rocon/connection_cache/list ~connections_diff:=/rocon/connection_cache/diff __name:=rostful __log:=/home/alexv/.ros/log/0cc1a44e-9cf6-11e6-abf8-0862664558c8/rostful-1.log
alexv    10353  0.2  0.1 111016 31112 ?        S    09:54   0:00 python -tt -m rostful run -h 127.0.0.1 -p 8080 -s flask -c /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.cfg -l /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.log --ros-arg=~connections_list:=/rocon/connection_cache/list --ros-arg=~connections_diff:=/rocon/connection_cache/diff --ros-arg=__name:=rostful --ros-arg=__log:=/home/alexv/.ros/log/0cc1a44e-9cf6-11e6-abf8-0862664558c8/rostful-1.log
alexv    10357  0.0  0.1 222188 23544 ?        Sl   09:54   0:00 python -tt -m rostful run -h 127.0.0.1 -p 8080 -s flask -c /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.cfg -l /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.log --ros-arg=~connections_list:=/rocon/connection_cache/list --ros-arg=~connections_diff:=/rocon/connection_cache/diff --ros-arg=__name:=rostful --ros-arg=__log:=/home/alexv/.ros/log/0cc1a44e-9cf6-11e6-abf8-0862664558c8/rostful-1.log
alexv    10378  0.0  0.1 179704 23804 ?        S    09:54   0:00 python -tt -m rostful run -h 127.0.0.1 -p 8080 -s flask -c /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.cfg -l /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.log --ros-arg=~connections_list:=/rocon/connection_cache/list --ros-arg=~connections_diff:=/rocon/connection_cache/diff --ros-arg=__name:=rostful --ros-arg=__log:=/home/alexv/.ros/log/0cc1a44e-9cf6-11e6-abf8-0862664558c8/rostful-1.log
alexv    10403  1.0  0.2 533820 43200 ?        Sl   09:54   0:01 python -tt -m rostful run -h 127.0.0.1 -p 8080 -s flask -c /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.cfg -l /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.log --ros-arg=~connections_list:=/rocon/connection_cache/list --ros-arg=~connections_diff:=/rocon/connection_cache/diff --ros-arg=__name:=rostful --ros-arg=__log:=/home/alexv/.ros/log/0cc1a44e-9cf6-11e6-abf8-0862664558c8/rostful-1.log
alexv    11026  0.0  0.0  20420  2132 pts/296  S+   09:56   0:00 grep --color=auto rostful
alexv@asmodehn:~$ rosnode kill /rostful
killing /rostful
killed
shutdown request : user request

AFTER

alexv@asmodehn:~$ pstree -psl 10320
init(1)───lightdm(1877)───lightdm(32721)───init(5841)───xfce4-terminal(22140)───bash(24912)───pycharm.sh(16321)───java(16389)───bash(16687)───python(10320)─┬─rostful(10348)───python(10353)─┬─python(10357)─┬─{python}(10418)
                                                                                                                                                            │                                │               └─{python}(10443)
                                                                                                                                                            │                                ├─python(10378)
                                                                                                                                                            │                                └─python(10403)─┬─{python}(10416)
                                                                                                                                                            │                                                ├─{python}(10417)
                                                                                                                                                            │                                                └─{python}(10427)
                                                                                                                                                            ├─{python}(10336)
                                                                                                                                                            └─{python}(10337)
alexv@asmodehn:~$ ps aux | grep rostful
alexv    10320  0.4  0.1 297352 25592 pts/9    Sl+  09:54   0:01 python /home/alexv/ROS/gopher_desktop/devel/bin/roslaunch rostful rostful.launch --screen
alexv    10348  0.0  0.0  29644  3392 ?        Ss   09:54   0:00 /bin/bash /home/alexv/ROS/gopher_bootstrap/src/rostful/scripts/rostful -h 127.0.0.1 -p 8080 -s flask -c /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.cfg -l /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.log ~connections_list:=/rocon/connection_cache/list ~connections_diff:=/rocon/connection_cache/diff __name:=rostful __log:=/home/alexv/.ros/log/0cc1a44e-9cf6-11e6-abf8-0862664558c8/rostful-1.log
alexv    10353  0.1  0.1 111016 31112 ?        S    09:54   0:00 python -tt -m rostful run -h 127.0.0.1 -p 8080 -s flask -c /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.cfg -l /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.log --ros-arg=~connections_list:=/rocon/connection_cache/list --ros-arg=~connections_diff:=/rocon/connection_cache/diff --ros-arg=__name:=rostful --ros-arg=__log:=/home/alexv/.ros/log/0cc1a44e-9cf6-11e6-abf8-0862664558c8/rostful-1.log
alexv    10357  0.0  0.1 222188 23544 ?        Sl   09:54   0:00 python -tt -m rostful run -h 127.0.0.1 -p 8080 -s flask -c /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.cfg -l /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.log --ros-arg=~connections_list:=/rocon/connection_cache/list --ros-arg=~connections_diff:=/rocon/connection_cache/diff --ros-arg=__name:=rostful --ros-arg=__log:=/home/alexv/.ros/log/0cc1a44e-9cf6-11e6-abf8-0862664558c8/rostful-1.log
alexv    10378  0.0  0.1 179704 23804 ?        S    09:54   0:00 python -tt -m rostful run -h 127.0.0.1 -p 8080 -s flask -c /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.cfg -l /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.log --ros-arg=~connections_list:=/rocon/connection_cache/list --ros-arg=~connections_diff:=/rocon/connection_cache/diff --ros-arg=__name:=rostful --ros-arg=__log:=/home/alexv/.ros/log/0cc1a44e-9cf6-11e6-abf8-0862664558c8/rostful-1.log
alexv    10403  0.9  0.2 607552 43308 ?        Sl   09:54   0:02 python -tt -m rostful run -h 127.0.0.1 -p 8080 -s flask -c /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.cfg -l /home/alexv/ROS/gopher_bootstrap/src/rostful/instance/rostful.log --ros-arg=~connections_list:=/rocon/connection_cache/list --ros-arg=~connections_diff:=/rocon/connection_cache/diff --ros-arg=__name:=rostful --ros-arg=__log:=/home/alexv/.ros/log/0cc1a44e-9cf6-11e6-abf8-0862664558c8/rostful-1.log
alexv    11601  0.0  0.0  20420  2144 pts/302  S+   09:58   0:00 grep --color=auto rostful
asmodehn commented 7 years ago

Actually rosnode kill is NOT using Unix signals : https://github.com/ros/ros_comm/blob/kinetic-devel/tools/rosnode/src/rosnode/__init__.py#L224

So there are two ways to shutdown nodes and we need to test both....