I have just checked the source for the daemon() function and the setsid 
executable. They
both call fork() and then setsid(). Do the console/rxvt process stick after 
calling ssh -f
because file descriptors are left open? Can you suggest a strategy to deal with 
this?

I'm not running ssh as a daemon. What I do in order to ssh to another
computer from any other shell is to keep one shell open all the time
running the agent. This is accomplished via the startssh function. In
the function I alias exit to call the stopssh function assuming of
course that this shell is the last to close.  My rxvt closes just fine
this way. You only want to startssh one time. The alias ssh then
sources in the current agent information and calls the real ssh.

startssh()
{
   KSAGENT="`type ssh-agent 2>/dev/null|sed 's/.* is //'`"
   if [ -n "$KSAGENT" ]; then
       ssh-agent |sed '/echo Agent pid/d' > $HOME/.ssh/current_agent
       source $HOME/.ssh/current_agent
       ssh-add
       PROMPT_COMMAND='echo -n -e "\033]0;SSH-AGENT Started! $PWD\007"'
       alias exit='stopssh;exit'
   fi
}

stopssh()
{
   eval `ssh-agent -k`
}

alias ssh="source $HOME/.ssh/current_agent;ssh"

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