document procedure to kill stale ros2 daemons (#185)

* document procedure to kill stale ros2 daemons * Update README.md Co-authored-by: Yadu <[email protected]> Signed-off-by: Bernd Pfrommer <[email protected]> * Update README.md Co-authored-by: Yadu <[email protected]> Signed-off-by: Bernd Pfrommer <[email protected]> * Update README.md Co-authored-by: Yadu <[email protected]> Signed-off-by: Bernd Pfrommer <[email protected]> * Update README.md Co-authored-by: Yadu <[email protected]> Signed-off-by: Bernd Pfrommer <[email protected]> --------- Signed-off-by: Bernd Pfrommer <[email protected]> Co-authored-by: Yadu <[email protected]>
ros2 · May 29, 2024 · 60b131e · 60b131e
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diff --git a/README.md b/README.md
@@ -47,6 +47,14 @@ ros2 run rmw_zenoh_cpp rmw_zenohd
 
 > Note: Without the zenoh router, nodes will not be able to discover each other since multicast discovery is disabled by default in the node's session config. Instead, nodes will receive discovery information about other peers via the zenoh router's gossip functionality. See more information on the session configs [below](#config).
 
+### Terminate ROS 2 daemon started with another RMW
+```bash
+pkill -9 -f ros && ros2 daemon stop
+```
+Without this step, ROS 2 CLI commands (e.g. `ros2 node list`) may
+not work properly since they would query ROS graph information from the ROS 2 daemon that
+may have been started with different a RMW.
+
 ### Run the `talker`
 ```bash
 # terminal 2