> For the complete documentation index, see [llms.txt](https://www.learnros2.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://www.learnros2.com/ros/cookbook/how-to-properly-terminate-ros-and-gazebo.md).

# How to properly terminate ROS and Gazebo

ROS and Gazebo have many components running in the background. To properly terminate the program, one can use the `ps` command to collect all the related process IDs and then kill them manually. Here is a python utility code that collects the process IDs in the `ps` command outputs and execute the `kill -9` command.

```python
import sys
import subprocess

if __name__ == '__main__':
    result = []

    for _line in sys.stdin:
        line = _line.strip()
        if line:
            k = line.find(' ')
            while k < len(line) and line[k] == ' ':
                k += 1

            end_index = line.find(' ', k)
            result.append(line[k:end_index])

    command = ["kill", "-9"]
    command.extend(result[:-1])
    subprocess.run(command)
```

We can create an alias for this utility script, say, `alias kill-all="python <path-to-script>".` To usage the script, we can do

```bash
ps aux | grep -i ros | kill-all
ps aux | grep -i gazebo | kill-all
```


---

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