Ending a Gazebo simulation session properly

[andrews-quest]

My issue is twofold.

1. I have no idea, as to how should I end tmuxinator simulation sessions properly. My provisional solution is to Ctrl+C and tmux kill-server, which doesn't feel as the intended way and probably causes the next problem.
2. Sessions start normally for the first time after I turn on my PC. Further sessions are a coin toss, they sometimes start normally, but mostly the drone fails to arm and to take off as on the image.

[klaxalk]

Hey, https://ctu-mrs.github.io/docs/simulations/gazebo/howto, section Stopping the simulation.

If you stop the sim by tmux kill-server it does not necessarily kill all the processes (some really want to survive, e.g., the PX4 SITL). Our custom way kills all processes in the process tree recursively.

[klaxalk]

Also, I really recommend https://github.com/ctu-mrs/mrs_cheatsheet

[andrews-quest]

Hi, thanks for the answer, but it seems not to work for me, unlike the ctrl+a k method. I start the ./kill.sh scipt from a new terminal pane and it doesn't seem to have any effect.

[MJavadZallaghi]

I use ctrl+a k then enter for ending mrs tmux sessions.

[klaxalk]

So did it help since you started using that?

[MJavadZallaghi]

Yes. I don't run kill scripts. Isn't it the correct way?

[klaxalk]

What do you mean? Why didn't you run the kill script? We have two options how to stop the session:

1. running the kill.sh
2. ctrl+a k and then confirming that you want to stop the sim.
   Any other method will result in zombie processing being left out in the sim.

Alternatively, you could orchestrate the session using docker compose, that will solve the killing as well. But we find tmux to be much simpler to introspect and use for development.

[MJavadZallaghi]

So it should be fine as I use second method and it works fine

[klaxalk]

Hey, it just occurred to me: were you calling the kill.sh in a new terminal pane within the tmux session? Or have you opened a completely new shell in your terminal emulator? If you call the script outside of the tmux session, it won't work.