Incomplete Resource Release on Shutdown in Autoware with ROS2

[sgNicola]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

When shutting down Autoware that utilizes ROS2, there is an observed issue where not all ROS2-related resources are fully released. This incomplete release of resources causes problems during subsequent attempts to launch Autoware, preventing normal initialization. Shutting down using Ctrl+C does not seem to effectively manage the cleanup of all active resources.

Expected behavior

Upon shutting down Autoware, all resources, especially those tied to ROS2, should be fully released, ensuring that the system is clean and ready for a new startup without any issues.

Actual behavior

Resources remain engaged or partially active after Autoware is shut down using Ctrl+C. This leads to difficulties when attempting to restart Autoware. The only workaround is either system reboot or forceful termination of all ROS-related processes using commands like pkill -f 'ros'.

Steps to reproduce

1. Start Autoware with ROS2 integration.
2. After running some processes, attempt to shut down the system using Ctrl+C.
3. Attempt to relaunch Autoware.

Versions

-OS:Ubuntu 20.04
-ROS2: ROS2 galactic
-Autoware: Autoware.universe galactic

Possible causes

Resource Management

Additional context

No response

[meliketanrikulu]

Hello @sgNicola . Thanks for your sharing. Here I understand that the resources connected to ROS2 remain open after Autoware is closed. Could you explain this a little bit? When you run the ros2 node list command, did you see that there were active nodes? Or do you think TFs are still active?