Merge pull request #195 from JdeRobot/terminate-harmonic-processes

Kill harmonic processes when switching universes

Author: javizqh

manager/manager/manager.py

@@ -324,7 +324,7 @@ def on_prepare_visualization(self, event):
 
         self.visualization_launcher.run()
 
-        if self.visualization_type in ["gazebo_rae", "gzsim_rae"]:
+        if self.visualization_type in ["gazebo_rae", "gzsim_rae", "console"]:
             self.gui_server = Server(2303, self.update)
             self.gui_server.start()
         elif self.visualization_type in ["bt_studio", "bt_studio_gz"]:
@@ -675,6 +675,7 @@ def terminate_harmonic_processes(self):
         """
         Terminate all processes within the Docker container whose command line contains 'gz' or 'launch'.
         """
+        LogManager.logger.info("Terminate Harmonic process")
         keywords = ['gz', 'launch']
         for keyword in keywords:
             try:
@@ -734,6 +735,7 @@ def on_terminate_universe(self, event):
             self.world_launcher.terminate()
         if self.robot_launcher != None:
             self.robot_launcher.terminate()
+        self.terminate_harmonic_processes()
 
     def on_disconnect(self, event):
         self.terminate_harmonic_processes()
@@ -796,13 +798,13 @@ def on_resume(self, msg):
     def pause_sim(self):
         if self.visualization_type in ["gzsim_rae", "bt_studio_gz"]:
             self.call_gzservice("$(gz service -l | grep '^/world/\w*/control$')","gz.msgs.WorldControl","gz.msgs.Boolean","3000","pause: true")
-        else:
+        elif not self.visualization_type in ["console"]:
             self.call_service("/pause_physics", "std_srvs/srv/Empty")
 
     def unpause_sim(self):
         if self.visualization_type in ["gzsim_rae", "bt_studio_gz"]:
             self.call_gzservice("$(gz service -l | grep '^/world/\w*/control$')","gz.msgs.WorldControl","gz.msgs.Boolean","3000","pause: false")
-        else:
+        elif not self.visualization_type in ["console"]:
             self.call_service("/unpause_physics", "std_srvs/srv/Empty")
 
     def reset_sim(self):
@@ -815,7 +817,7 @@ def reset_sim(self):
             self.call_gzservice("$(gz service -l | grep '^/world/\w*/control$')","gz.msgs.WorldControl","gz.msgs.Boolean","3000","reset: {all: true}")
             if self.is_ros_service_available("/drone0/controller/_reset"):
                 self.call_service("/drone0/controller/_reset", "std_srvs/srv/Trigger", "{}")
-        else:
+        elif not self.visualization_type in ["console"]:
             self.call_service("/reset_world", "std_srvs/srv/Empty")
 
         if self.robot_launcher: