How do I kill background processes / jobs when my shell script exits?

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To clean up some mess, trap can be used. It can provide a list of stuff executed when a specific signal arrives:

trap "echo hello" SIGINT

but can also be used to execute something if the shell exits:

trap "killall background" EXIT

It’s a builtin, so help trap will give you information (works with bash). If you only want to kill background jobs, you can do

trap 'kill $(jobs -p)' EXIT

Watch out to use single ', to prevent the shell from substituting the $() immediately.

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