closing controller issue

social_mpc/controller.py

@@ -10,6 +10,7 @@
 
 from multiprocessing import Process, Lock
 from multiprocessing.managers import SharedMemoryManager
+from multiprocessing import active_children
 import atexit
 import rospy
 import time
@@ -268,7 +269,7 @@ class RobotController():
                                                   self.flags,
                                                   self.lock))
         self.path_planner_process.start()
-        atexit.register(lambda x: self.on_subprocess_exit("Path planner"), self.path_planner_process)
+        # atexit.register(lambda x: self.on_subprocess_exit("Path planner"), self.path_planner_process)
 
     def update_shared_memory(self, state):
         if self.shared_global_map is None:
@@ -464,7 +465,7 @@ class RobotController():
                                                  self.flags,
                                                  self.lock))
         self.goal_finder_process.start()
-        atexit.register(lambda x: self.on_subprocess_exit("Goal finder"), self.goal_finder_process)
+        # atexit.register(lambda x: self.on_subprocess_exit("Goal finder"), self.goal_finder_process)
 
     def get_static_cost_map(self, state):
         tic = time.time()
@@ -747,6 +748,8 @@ class RobotController():
             self.actions = np.copy(self.initial_action)
 
     def close(self):
+        active = active_children()
+        rospy.loginfo(f'Active Children before closing: {len(active)}') 
         with self.lock:
             self.flags[0] = 0
         if self.path_planner_enabled:
@@ -756,4 +759,6 @@ class RobotController():
         if self.smm_enabled:
             self.smm.shutdown()
         self.is_init = False
+        active = active_children()
+        rospy.loginfo(f'Active Children at the end of closing: {len(active)}')
         rospy.loginfo('RobotController closed')