This bug has LP: 1871726 as a quasi-parent.

Those two processes shown in session-status are deceptive; ps(1) shows a
much larger number of processes still remaining from the login session.
When the two processes go away, however, all the others follow. The
impact of this issue, then, is not limited to a mere two lingering
processes.

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https://bugs.launchpad.net/bugs/1877532

Title:
  at-spi-bus-launcher does not terminate at end of X session

Status in at-spi2-core package in Ubuntu:
  New

Bug description:
  This concerns at-spi2-core 2.36.0-2 in Ubuntu focal.

  I log into the Xfce desktop as "skunk" via xrdp, and then logout.

  A few minutes later, "loginctl list-sessions" shows the following:

      SESSION UID USER SEAT TTY
            9 0 root
          c10 1000 skunk              
           c9  116 lightdm seat0   

      3 sessions listed.

  Output from "loginctl session-status c10":

      c10 - skunk (1000)
           Since: Fri 2020-05-08 04:03:51 EDT; 6min ago
          Leader: 6009
         Display: :11
         Service: xrdp-sesman; type x11; class user
           State: closing
            Unit: session-c10.scope
                  ├─6184 /usr/libexec/at-spi-bus-launcher --launch-immediately
                  └─6199 /usr/bin/dbus-daemon 
--config-file=/usr/share/defaults/at-spi2/accessibility.conf --nofork 
--print-address 3

  These two processes stick around forever until I kill them, or their
  parent "systemd --user" process. Only then does the session disappear
  from list-sessions.

  When I run "session-status" while I'm logged in, I see a list of about
  20 desktop-related processes. All of them except these two go away on
  logout. These should too.

  (Note that this problem does not occur when I log in/out via LightDM
  on the console.)

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