ros2 / ros2/launch

Cant kill composition from python script

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Dominant language
Python
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155
Forks
182
Avg merge
2d 14h
Merged PRs (30d)
6

Description

I tried to launch navigation throw asyncio subprocess_shell, because i want to control the process of launch throw python script. And find out, that i cannot kill that process via os.kill, i also tried to kill child processes and its give me nothing. But when i launch ordinary nodes without lifecycle or compose everything works fine for me. So is it a bug or a feature? :) And also maybe some ideas how could i solve this problem?

Required Info:

  • Operating System:
    ubuntu 22.04
  • Installation type:
    binaries
  • Version or commit hash:
    latest apt binaries
  • DDS implementation:
    cyclone_dds
Steps to reproduce issue

Launch any launch file contain composable nodes or lifecycle via asyncio.create_subprocess_shell and try to kill it by the PID of the process and also by the PID of composition.


#### Expected behavior
Composition dies
#### Actual behavior
Killing process stuck in transition

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First steps

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Research direction

Reproduce the issue by launching a file containing composable or lifecycle nodes with asyncio.create_subprocess_shell on Ubuntu 22.04 and attempting termination with os.kill on the launch and composition PIDs. Compare this with ordinary nodes and determine why the composition remains stuck in transition; done means the composition terminates successfully.

Written by the indexing model from the issue text.

Assessment

Tech stack
python
Domain
cli, tooling
Issue type
Bug
Difficulty
4/5
Estimated time
3-5 days
Activity status
Stale
Clarity
Needs clarification
Newbie friendliness
25/100

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