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Fix gazebo_ros scripts signal handling and do not load the gazebo_ros_api_plugin into the gzclient #1452

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Fix gazebo_ros scripts signal handling and do not load the gazebo_ros_api_plugin into the gzclient #1452

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75ec16b
gazebo_ros: fix killing the gzserver after the client terminated with…
meyerj Feb 2, 2023
b8193d1
gazebo_ros: do not load the gazebo_ros_api_plugin into the gzclient
meyerj Feb 2, 2023
85ed7d4
Merge remote-tracking branch 'origin/noetic-devel' into fix/kill-gzse…
meyerj Jul 7, 2023
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2 changes: 1 addition & 1 deletion gazebo_ros/scripts/debug
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Original file line number Diff line number Diff line change
Expand Up @@ -19,4 +19,4 @@ then
fi

setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/
. $setup_path/setup.sh && rosrun gazebo_ros gdbrun gzserver $final
. $setup_path/setup.sh && exec rosrun gazebo_ros gdbrun gzserver $final
4 changes: 2 additions & 2 deletions gazebo_ros/scripts/gazebo
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Expand Up @@ -49,7 +49,7 @@ if $(kill -0 $! 2> /dev/null); then
fi

# Kill the server if it is alive
if $(kill -0 $! 2> /dev/null); then
if $(kill -0 $gzserver_pid 2> /dev/null); then
# -2 SIGINT valid for Linux and Mac
kill -2 $!
kill -2 $gzserver_pid
fi
8 changes: 1 addition & 7 deletions gazebo_ros/scripts/gzclient
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Expand Up @@ -17,12 +17,6 @@ then
final="$final -g `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`"
fi

# add ros api plugin if it does not already exist in the passed in arguments
if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ]
then
final="$final -g `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`"
fi

setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/

# source setup.sh, but keep local modifications to GAZEBO_MASTER_URI and GAZEBO_MODEL_DATABASE_URI
Expand All @@ -39,4 +33,4 @@ fi
final=$(relocate_remappings "${final}")

# Combine the commands
GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzclient $final
GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" exec gzclient $final
2 changes: 1 addition & 1 deletion gazebo_ros/scripts/gzserver
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Expand Up @@ -38,4 +38,4 @@ fi

final=$(relocate_remappings "${final}")

GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzserver $final
GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" exec gzserver $final
2 changes: 1 addition & 1 deletion gazebo_ros/scripts/perf
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Expand Up @@ -18,4 +18,4 @@ then
fi

setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/
. $setup_path/setup.sh && /usr/bin/valgrind --tool=callgrind gzserver $final
. $setup_path/setup.sh && exec /usr/bin/valgrind --tool=callgrind gzserver $final