I am working with ROS. And for starting ros-packages you need to have the ROS Master run in the background. Now when I want to start the ROS-package rviz, instead of opening two terminals:
Terminal1:
$ roscore
Terminal2:
$ rviz
I can do the follwing in one Terminal:
$ roscore& rviz
But what exactly is happening here? Because when I end that terminal with Str+C it only closes rivz, but roscore is kept running in the background? Why and how can I close it?
in case using single & the left side will run in the background, while the right side will run normally in the terminal.
Now to close the first process you need to find PID (Process ID) and do the termination command, so first of all you need to find PID and you can use pgrep (in your case PROCESS_NAME can be roscore):
pgrep -f PROCESS_NAME
Now to kill the process you can easily do:
kill -9 PID_HERE
Or you can do it by single command:
pgrep -f PROCESS_NAME | xargs kill -9
On linux device, the following process ID runs:
I'm trying to kill the process ids related to ads2 (shown in the image above) remotely (through a bash script that runs on another device). So I tried:
ssh nvidia#"id-address" "kill pgrep ads2"
where pgrep returns the process IDs related to ads2. When i run the script it prompts me to enter the password and then nothing happen, i mean the processes are not terminated.
However, i can't figure out where the error is.
Thanks in advance
kill expects a number (or list of numbers) following it. pgrep ads2 is just words!
For bash to replace the words pgrep ads2 with the result of running that command to produce kill 15951 15995 you can use backticks.
i.e. : kill `pgrep ads2` will first run pgrep ads and then kill (result of pgrep ads2)
However, as you are performing this over ssh, your computer would run the backticks before the remote. I.e. pgrep ads would be run on your local machine, and kill on the remote, which wouldn't work. So you must escape the backticks like so:
ssh nvidia#"id-address" "kill \`pgrep ads2\`"
I looking to have a script, inside a .app (using Platypus or something) that can check a running process with something like pgrep and handle the output by running the process if it isn't already running but killing it if it is (pkill or something).
The kill would need to stop the process that the script started first time round plus the app that it ran from in the first place.
I know this isn't right but something like this:
#!/bin/bash
if pgrep 'process' &> /dev/null;
then 'command';
else pkill "command,app" || true;
fi
How can I get the PID of a TERMINAL running a process with given PID? For example, I open a new terminal and run it a process, say ". / dbserver", then I have the PID of the process using pidof dbServer, so I want the PID of the terminal that is running dbserver. bash.
The output of ps -f includes the parent PID of each process. You could also use -o ppid along with whichever other fields you are interested in.
Considering that the Terminal is then that process's parent, see here: https://superuser.com/questions/150117/how-to-get-parent-pid-of-a-given-process-in-gnu-linux-from-command-line
ps -p `pidof dbserver` -o ppid=
I have a process that is already running for a long time and don't want to end it.
How do I put it under nohup (that is, how do I cause it to continue running even if I close the terminal?)
Using the Job Control of bash to send the process into the background:
Ctrl+Z to stop (pause) the program and get back to the shell.
bg to run it in the background.
disown -h [job-spec] where [job-spec] is the job number (like %1 for the first running job; find about your number with the jobs command) so that the job isn't killed when the terminal closes.
Suppose for some reason Ctrl+Z is also not working, go to another terminal, find the process id (using ps) and run:
kill -SIGSTOP PID
kill -SIGCONT PID
SIGSTOP will suspend the process and SIGCONT will resume the process, in background. So now, closing both your terminals won't stop your process.
The command to separate a running job from the shell ( = makes it nohup) is disown and a basic shell-command.
From bash-manpage (man bash):
disown [-ar] [-h] [jobspec ...]
Without options, each jobspec is removed from the table of active jobs. If the -h option is given, each jobspec is not
removed from the table, but is marked so that SIGHUP is not sent to the job if the shell receives a SIGHUP. If no jobspec is
present, and neither the -a nor the -r option is supplied, the current job is used. If no jobspec is supplied, the -a option
means to remove or mark all jobs; the -r option without a jobspec argument restricts operation to running jobs. The return
value is 0 unless a jobspec does not specify a valid job.
That means, that a simple
disown -a
will remove all jobs from the job-table and makes them nohup
These are good answers above, I just wanted to add a clarification:
You can't disown a pid or process, you disown a job, and that is an important distinction.
A job is something that is a notion of a process that is attached to a shell, therefore you have to throw the job into the background (not suspend it) and then disown it.
Issue:
% jobs
[1] running java
[2] suspended vi
% disown %1
See http://www.quantprinciple.com/invest/index.php/docs/tipsandtricks/unix/jobcontrol/
for a more detailed discussion of Unix Job Control.
Unfortunately disown is specific to bash and not available in all shells.
Certain flavours of Unix (e.g. AIX and Solaris) have an option on the nohup command itself which can be applied to a running process:
nohup -p pid
See http://en.wikipedia.org/wiki/Nohup
Node's answer is really great, but it left open the question how can get stdout and stderr redirected. I found a solution on Unix & Linux, but it is also not complete. I would like to merge these two solutions. Here it is:
For my test I made a small bash script called loop.sh, which prints the pid of itself with a minute sleep in an infinite loop.
$./loop.sh
Now get the PID of this process somehow. Usually ps -C loop.sh is good enough, but it is printed in my case.
Now we can switch to another terminal (or press ^Z and in the same terminal). Now gdb should be attached to this process.
$ gdb -p <PID>
This stops the script (if running). Its state can be checked by ps -f <PID>, where the STAT field is 'T+' (or in case of ^Z 'T'), which means (man ps(1))
T Stopped, either by a job control signal or because it is being traced
+ is in the foreground process group
(gdb) call close(1)
$1 = 0
Close(1) returns zero on success.
(gdb) call open("loop.out", 01102, 0600)
$6 = 1
Open(1) returns the new file descriptor if successful.
This open is equal with open(path, O_TRUNC|O_CREAT|O_RDWR, S_IRUSR|S_IWUSR).
Instead of O_RDWR O_WRONLY could be applied, but /usr/sbin/lsof says 'u' for all std* file handlers (FD column), which is O_RDWR.
I checked the values in /usr/include/bits/fcntl.h header file.
The output file could be opened with O_APPEND, as nohup would do, but this is not suggested by man open(2), because of possible NFS problems.
If we get -1 as a return value, then call perror("") prints the error message. If we need the errno, use p errno gdb comand.
Now we can check the newly redirected file. /usr/sbin/lsof -p <PID> prints:
loop.sh <PID> truey 1u REG 0,26 0 15008411 /home/truey/loop.out
If we want, we can redirect stderr to another file, if we want to using call close(2) and call open(...) again using a different file name.
Now the attached bash has to be released and we can quit gdb:
(gdb) detach
Detaching from program: /bin/bash, process <PID>
(gdb) q
If the script was stopped by gdb from an other terminal it continues to run. We can switch back to loop.sh's terminal. Now it does not write anything to the screen, but running and writing into the file. We have to put it into the background. So press ^Z.
^Z
[1]+ Stopped ./loop.sh
(Now we are in the same state as if ^Z was pressed at the beginning.)
Now we can check the state of the job:
$ ps -f 24522
UID PID PPID C STIME TTY STAT TIME CMD
<UID> <PID><PPID> 0 11:16 pts/36 S 0:00 /bin/bash ./loop.sh
$ jobs
[1]+ Stopped ./loop.sh
So process should be running in the background and detached from the terminal. The number in the jobs command's output in square brackets identifies the job inside bash. We can use in the following built in bash commands applying a '%' sign before the job number :
$ bg %1
[1]+ ./loop.sh &
$ disown -h %1
$ ps -f <PID>
UID PID PPID C STIME TTY STAT TIME CMD
<UID> <PID><PPID> 0 11:16 pts/36 S 0:00 /bin/bash ./loop.sh
And now we can quit from the calling bash. The process continues running in the background. If we quit its PPID become 1 (init(1) process) and the control terminal become unknown.
$ ps -f <PID>
UID PID PPID C STIME TTY STAT TIME CMD
<UID> <PID> 1 0 11:16 ? S 0:00 /bin/bash ./loop.sh
$ /usr/bin/lsof -p <PID>
...
loop.sh <PID> truey 0u CHR 136,36 38 /dev/pts/36 (deleted)
loop.sh <PID> truey 1u REG 0,26 1127 15008411 /home/truey/loop.out
loop.sh <PID> truey 2u CHR 136,36 38 /dev/pts/36 (deleted)
COMMENT
The gdb stuff can be automatized creating a file (e.g. loop.gdb) containing the commands and run gdb -q -x loop.gdb -p <PID>. My loop.gdb looks like this:
call close(1)
call open("loop.out", 01102, 0600)
# call close(2)
# call open("loop.err", 01102, 0600)
detach
quit
Or one can use the following one liner instead:
gdb -q -ex 'call close(1)' -ex 'call open("loop.out", 01102, 0600)' -ex detach -ex quit -p <PID>
I hope this is a fairly complete description of the solution.
Simple and easiest steps
Ctrl + Z ----------> Suspends the process
bg --------------> Resumes and runs background
disown %1 -------------> required only if you need to detach from the terminal
To send running process to nohup (http://en.wikipedia.org/wiki/Nohup)
nohup -p pid , it did not worked for me
Then I tried the following commands and it worked very fine
Run some SOMECOMMAND,
say /usr/bin/python /vol/scripts/python_scripts/retention_all_properties.py 1.
Ctrl+Z to stop (pause) the program and get back to the shell.
bg to run it in the background.
disown -h so that the process isn't killed when the terminal closes.
Type exit to get out of the shell because now you're good to go as the operation will run in the background in its own process, so it's not tied to a shell.
This process is the equivalent of running nohup SOMECOMMAND.
ctrl + z - this will pause the job (not going to cancel!)
bg - this will put the job in background and return in running process
disown -a - this will cut all the attachment with job (so you can close the terminal and it will still run)
These simple steps will allow you to close the terminal while keeping process running.
It wont put on nohup (based on my understanding of your question, you don't need it here).
On my AIX system, I tried
nohup -p processid>
This worked well. It continued to run my process even after closing terminal windows. We have ksh as default shell so the bg and disown commands didn't work.