shutdown fails for some nodes
I notice that when I launch
ros2 launch autoware_auto_avp_demo ms2.launch
then, shutdown with ctrl+c
, shutdown failed for the following nodes.
- /control/mpc_controller
- /planning/recordreplay_planner
- /rviz2
Thus, they still exist after ctrl+c
and you can see it with ros2 node list
.
Some error messages are also shown in the terminal.
[mpc_controller_node_exe-10] what(): rclcpp shutdown failed
After I changed the following code
if (!rclcpp::shutdown()) {
throw std::runtime_error{"rclcpp shutdown failed"};
}
to just
rclcpp::shutdown();
, every process has finished cleanly.
I don't know why rclcpp::shutdown()
returns false. Maybe the dashing problem?
Edited by takamasa horibe