[NRRPLT-4885] Cleanup ROS nodes created by distributed launch.

The distributed launch now creates a ROS node in the CLE to ensure
logs are properly redirected to stdout. This node and any future nodes
should be cleaned up as we do in the CLELauncher, but this needs to be
done after shutdown of all launched components.

Change-Id: I00733872978d13cf4c3f319c7e594feae866d930

hbp_nrp_music_interface/hbp_nrp_music_interface/launch/MUSICLauncher.py

@@ -133,3 +133,6 @@ class MUSICLauncher(object):
         if self._launcher:
             self._launcher.shutdown()
         self._launcher = None
+
+        # finally, cleanup the roscore and any registrations launched by the above
+        os.system("echo 'y' | timeout -s SIGKILL 10s rosnode cleanup >/dev/null 2>&1")

hbp_nrp_music_interface/hbp_nrp_music_interface/tests/launch/test_music_launcher.py

@@ -47,7 +47,8 @@ class TestMUSICLauncher(unittest.TestCase):
           self.__launcher.cle_server.build.assert_called_once()
           self.__launcher.cle_server.launch.assert_called_once()
 
-      def test_shutdown(self):
+      @patch('os.system')
+      def test_shutdown(self, system_mock):
 
           # mock the cleserver and launcher
           mock_cle_server = Mock()
@@ -68,5 +69,8 @@ class TestMUSICLauncher(unittest.TestCase):
           self.assertEqual(self.__launcher.cle_server, None)
           self.assertEqual(self.__launcher._launcher, None)
 
+          # verify the ros cleanup command has been called
+          system_mock.assert_called_once()
+
 if __name__ == "__main__":
     unittest.main()