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I have now changed my jobs so that they don't use the XShell plugin (instead they use conditional build steps to run either a Windows BAT file or a Unix shell script). This has solved the problem with the child processes not being cleaned up. HOWEVER, I still get a stack trace in the Jenkins log file. This suggests to me that there are two separate problems here. The failure to clean up the child processes is definitely connected with the XShell plugin. The stacktrace is separate.
Here's an example of the stacktrace I get now (this particular one is from a different slave):
INFO: TestMatrixMyProjectName/SLAVE=MyUbuntuSlave #311 aborted
java.lang.InterruptedException
at java.lang.Object.wait(Native Method)
at hudson.remoting.Request.call(Request.java:146)
at hudson.remoting.Channel.call(Channel.java:742)
at hudson.remoting.RemoteInvocationHandler.invoke(RemoteInvocationHandler.java:168)
at com.sun.proxy.$Proxy73.join(Unknown Source)
at hudson.Launcher$RemoteLauncher$ProcImpl.join(Launcher.java:956)
at hudson.tasks.CommandInterpreter.join(CommandInterpreter.java:137)
at hudson.tasks.CommandInterpreter.perform(CommandInterpreter.java:97)
at hudson.tasks.CommandInterpreter.perform(CommandInterpreter.java:66)
at org.jenkinsci.plugins.conditionalbuildstep.BuilderChain.perform(BuilderChain.java:71)
at org.jenkins_ci.plugins.run_condition.BuildStepRunner$2.run(BuildStepRunner.java:110)
at org.jenkins_ci.plugins.run_condition.BuildStepRunner$Fail.conditionalRun(BuildStepRunner.java:154)
at org.jenkins_ci.plugins.run_condition.BuildStepRunner.perform(BuildStepRunner.java:105)
at org.jenkinsci.plugins.conditionalbuildstep.ConditionalBuilder.perform(ConditionalBuilder.java:133)
at hudson.tasks.BuildStepMonitor$1.perform(BuildStepMonitor.java:20)
at hudson.model.AbstractBuild$AbstractBuildExecution.perform(AbstractBuild.java:756)
at hudson.model.Build$BuildExecution.build(Build.java:198)
at hudson.model.Build$BuildExecution.doRun(Build.java:159)
at hudson.model.AbstractBuild$AbstractBuildExecution.run(AbstractBuild.java:529)
at hudson.model.Run.execute(Run.java:1706)
at hudson.matrix.MatrixRun.run(MatrixRun.java:146)
at hudson.model.ResourceController.execute(ResourceController.java:88)
at hudson.model.Executor.run(Executor.java:232)