a

robomaster_pi/launch_node.py

@@ -4,6 +4,7 @@ from std_msgs.msg import String
 import subprocess
 import threading
 import signal
+import asyncio
 
 class Launch_Node(Node):
     def __init__(self):
@@ -41,19 +42,26 @@ class Launch_Node(Node):
         else:
             self.get_logger().info(f"Command executed: {command}")
 
-    def kill_node(self, name):
+    async def kill_node(self, name):
         if name in self.running_processes:
             try:
                 process_handle = self.running_processes[name]
                 process_handle.send_signal(signal.SIGINT)
-                process_handle.wait(timeout=30)
-            except subprocess.TimeoutExpired:
-                process_handle.kill()
-                process_handle.wait()
-            self.get_logger().info(f"Node '{name}' killed.")
+                await self.wait_process_termination(process_handle)
+            except Exception as e:
+                self.get_logger().error(f"Failed to kill node '{name}': {e}")
+            else:
+                self.get_logger().info(f"Node '{name}' killed.")
         else:
             self.get_logger().info(f"No active node with name '{name}' to kill.")
 
+    async def wait_process_termination(self, process_handle):
+        try:
+            await asyncio.to_thread(process_handle.wait)
+        except subprocess.TimeoutExpired:
+            process_handle.kill()
+            await asyncio.to_thread(process_handle.wait)
+
 def main(args=None):
     rclpy.init(args=args)
     node = Launch_Node()