kill nodelet manager at once

jsk-ros-pkg · Oct 25, 2022 · 59b823e · 59b823e
1 parent 8152773
commit 59b823e
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py
@@ -77,11 +77,12 @@ def restart_openni_node(self):
             # 1. kill nodelet manager
             self.speak("something wrong with kinect, I'll restart it, killing nodelet manager")
             retcode = subprocess.call('rosnode kill /%s/%s_nodelet_manager' % (self.camera, self.camera), shell=True)
-            time.sleep(10)
-            # 2. pkill
-            self.speak("killing child processes")
             retcode = subprocess.call('pkill -f %s_nodelet_manager' % self.camera, shell=True)
             # time.sleep(10)
+            # 2. pkill
+            # self.speak("killing child processes")
+            # retcode = subprocess.call('pkill -f %s_nodelet_manager' % self.camera, shell=True)
+            # time.sleep(10)
             # 3 restarting
             # self.speak("restarting processes")
             # retcode = subprocess.call('roslaunch openni_launch openni.launch camera:=%s publish_tf:=false depth_registration:=true rgb_processing:=false ir_processing:=false depth_processing:=false depth_registered_processing:=false disparity_processing:=false disparity_registered_processing:=false hw_registered_processing:=true sw_registered_processing:=false rgb_frame_id:=/head_mount_kinect_rgb_optical_frame depth_frame_id:=/head_mount_kinect_ir_optical_frame' % self.camera, shell=True)