killing command_astrobee on exit

nasa · Feb 14, 2024 · 736c4d1 · 736c4d1
1 parent 39fbc27
commit 736c4d1
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diff --git a/astrobee/survey_manager/survey_planner/include/survey_planner/isaac_action_node.h b/astrobee/survey_manager/survey_planner/include/survey_planner/isaac_action_node.h
@@ -29,6 +29,7 @@ namespace plansys2_actions {
 class IsaacAction : public plansys2::ActionExecutorClient {
  public:
   IsaacAction(ros::NodeHandle nh, const std::string& action, const std::chrono::nanoseconds& rate);
+  ~IsaacAction();
 
  protected:
   void do_work();

diff --git a/astrobee/survey_manager/survey_planner/src/isaac_action_node.cpp b/astrobee/survey_manager/survey_planner/src/isaac_action_node.cpp
@@ -103,6 +103,13 @@ void IsaacAction::do_work() {
     }
   }
 }
+
+IsaacAction::~IsaacAction() {
+  if (pid_ != 0) {
+    // Kill the child process
+    kill(pid_, SIGKILL);
+  }
+}
 }  // namespace plansys2_actions