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You can cancel an executor to stop a spin() from blocking:

http://docs.ros2.org/crystal/api/rclcpp/classrclcpp_1_1executor_1_1Executor.html#a7496f96836709f72f9a7cd69b5966c2b

Separately you can shutdown completely, requiring another call to rclcpp::init(), see:

http://docs.ros2.org/crystal/api/rclcpp/namespacerclcpp.html#a493714a679d1591142800416a286689f

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