Unable to Terminate segway_rmp_node Using Ctrl-c

segwayrmp / segway_rmp

ROS package for interfacing with Segway's RMP{50,100,200,400} series robotic platforms.

http://www.ros.org/wiki/segway_rmp

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Unable to Terminate segway_rmp_node Using Ctrl-c #5

Closed liangfok closed 11 years ago

liangfok commented 12 years ago

After running segway_rmp_node, it cannot be terminated using ctrl-c. Here's the sequence of commands to replicate this error:

$ rosrun segway_rmpX segway_rmp_node $ ctrl-c

After typing ctrl-c, "^C" will appear on the terminal, but the node will not terminate. To terminate it, I need to kill the process using "sudo kill pid".

This problem was noticed on an Asus Eee PC 1215N running Ubuntu Linux 11.10 and ROS Electric. It is usually caused by a thread failing to exit after the SIGINT.

piyushk commented 11 years ago

I believe this problem has been solved in the general case.

The only case I have seen this problem occur is if you power on the segway first and then power on the laptop:

the segway does not move
the only way to shutdown the driver is using SIGKILL. I was unable to locate a problem in the segway driver, and suspect it to be a kernel issue.

Tested on Ubuntu 12.04 + a patched 3.2 kernel