The ODIN sonar node had a bug where any new subscription to /diagnostics caused an unhandled exception in the publisher's callback. When rqt_console subscribed to /diagnostics , it triggered the bug.
# odin_rqt_plugin/odin_controller.py import rclpy from rclpy.node import Node from python_qt_binding.QtWidgets import QPushButton from rqt_gui_py.plugin import Plugin class OdinController(Plugin): def (self, context): super(). init (context) self._node = Node('odin_rqt_controller') self._button = QPushButton('Gracefully Shutdown ODIN') self._button.clicked.connect(self.shutdown_odin) self.setWidget(self._button) odin rqtclose
Create a persistent workspace state:
ros2 launch odin_bringup minimal.launch.py # In a new terminal rqt --no-plugins If rqt stays open, add plugins one by one. The crash will reveal the problematic plugin. ros2 topic echo /rosout --once | grep -i "odin.*close" Also inspect ~/.ros/log/latest/ for fatal errors. Step 3: Use gdb on rqt gdb python run /usr/bin/rqt When it crashes, type bt (backtrace) to see the call stack. Step 4: Monitor Node State Transitions ros2 lifecycle get /odin/driver_node If it returns finalized , some process called LifecycleNode::shutdown() . Step 5: Network & DDS Configuration ODIN and rqt must share the same DDS domain and discovery protocol. Mismatched ROS_DOMAIN_ID or CycloneDDS/ FastDDS settings can cause rqt to lose contact and close the GUI due to "no liveliness." Fix with: The ODIN sonar node had a bug where
Patch odin_sonar.cpp to check for null pointers in the diagnostic publisher: init (context) self
In the evolving landscape of robotics middleware, debugging and managing node lifecycles are critical skills. If you have stumbled upon the search term "odin rqtclose" , you are likely at the intersection of two powerful robotics tools: ODIN (an open-source framework for autonomous maritime and aerial systems) and rqt (the Qt-based graphical framework for ROS/ROS 2 plugins). Specifically, you are probably trying to understand why a node (or the entire rqt GUI) closes unexpectedly when executing a stop command.
After the patch, the rqtclose behavior vanished. The keyword "odin rqtclose" is not a command you type—it is a symptom. It represents the unintended termination of ODIN nodes or the rqt GUI due to lifecycle mismatches, resource exhaustion, signal handling errors, or software bugs. By understanding the architectural layers (DDS, ROS 2, Qt, and ODIN's lifecycle hooks), you can diagnose and fix the problem systematically.