From 81eed99a032b97eec105a3bf749c7977513487f0 Mon Sep 17 00:00:00 2001
From: zpff <s@u.da>
Date: Thu, 14 Aug 2025 17:37:46 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E6=AD=A3=E7=A1=AE=E7=BB=88=E6=AD=A2?=
 =?UTF-8?q?=E6=9C=8D=E5=8A=A1=E5=99=A8=EF=BC=88=E7=96=91=E4=BC=BC=EF=BC=89?=
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---
 http_server.py | 18 +++++++++++++++++-
 main.py        |  3 +--
 2 files changed, 18 insertions(+), 3 deletions(-)

diff --git a/http_server.py b/http_server.py
index f5a7878..cf7ec4d 100644
--- a/http_server.py
+++ b/http_server.py
@@ -95,7 +95,7 @@ class GazeboSimHttpServer(HttpRPCServer):
         # 启动roscore
         self.roscore_proc = subprocess.Popen(
             ['roscore'], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
-        time.sleep(2)
+        time.sleep(5)
         rospy.init_node('gazebo_world_manager', anonymous=True)
 
         # 添加接口
@@ -259,6 +259,22 @@ class GazeboSimHttpServer(HttpRPCServer):
             print('Server remove model done.')
             return jsonify(ret)
 
+    def shutdown(self):
+        """
+        关闭所有资源。
+        """
+        # 1. 关闭场景（如果正在运行）
+        if self.scene_mgr.running_scene:
+            self.shut_scene()
+        # 2. 关闭 HeartbeatServer
+        self.heartbeat_server.stop()
+        # 3. 关闭 roscore 进程
+        if self.roscore_proc:
+            self.roscore_proc.terminate()
+            self.roscore_proc.wait()
+        # 4. 关闭 Flask HTTP 服务器
+        super().stop()
+        print("GazeboSimHttpServer stopped.")
 
 if __name__ == '__main__':
     server = GazeboSimHttpServer()
diff --git a/main.py b/main.py
index c9304d4..5b98c91 100755
--- a/main.py
+++ b/main.py
@@ -6,8 +6,7 @@ from http_server import GazeboSimHttpServer
 server = GazeboSimHttpServer()
 
 def signal_handler(sig, frame):
-    print('Exiting...')
-    server.stop()
+    server.shutdown()
     sys.exit(0)
 
 signal.signal(signal.SIGINT, signal_handler)