Non zero exit code on Ctrl-C when using RTI Connext

[hidmic]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04 LTS Bionic Beaver
• Installation type:
  • From source
• Version or commit hash:
  • Latest master @ d2a934b
• DDS implementation:
  • RTI Connext
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

Set Connext as your RMW_IMPLEMENTATION:

export RMW_IMPLEMENTATION=rmw_connext_cpp

Run the server and client demo nodes in separate terminals:

ros2 run demo_nodes_cpp add_two_ints_server

ros2 run demo_nodes_cpp add_two_ints_client

Type Ctrl-C multiple times or right after the response gets to the client

Expected behavior

Process terminates gracefully.

Actual behavior

Process terminates with a non zero exit code.

Additional information

I did some triage by lowering the __log_level to debug. The problem seems to be that while we shutdown explicitly (via rclcpp::shutdown()), node finalization is implicit (via destructor). Thus, context and signal handlers are shutdown and uninstalled, respectively, way before nodes are finalized. In RTI Connext, that last step takes a while, during which we're left with the original signal handler, not ours.