Fix race condition on shutdown in try_discover_source()#143
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MarqRazz wants to merge 1 commit intoros-tooling:rollingfrom
Open
Fix race condition on shutdown in try_discover_source()#143MarqRazz wants to merge 1 commit intoros-tooling:rollingfrom
MarqRazz wants to merge 1 commit intoros-tooling:rollingfrom
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Signed-off-by: MarqRazz <marq.razz@gmail.com>
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In ros2_control we have been having issues with topic_tools/relay not playing nice with SIGINT and failing tests. RelayNode creates a
discovery_timer_that fires every 100ms and calls make_subscribe_unsubscribe_decisions() → try_discover_source() → get_publishers_info_by_topic(). When SIGINT is received,rclcpp::shutdown()invalidates the context, but the timer can still fire and callget_publishers_info_by_topicon the now-invalid context, throwing an uncaught exception.This PR adds a guard to check for the node shutting down and returns early so the exception is not thrown.