Did Cooper die?

Rating: 10/10 (22 June 2019)

This is one of my all time favorite films, but in an discussion I had, does Cooper die? I read "All time greatest plot twists", that Dr Mann kills Cooper on his planet then escapes, or that he dies in Gargantua, but was told by Dr Romily that Gargarnua was a "gentle singularity', which means he didn't die, but when he comes out of his state from the black hole, he sees his childrens, sees a light at the end of the tunnel"......?????????