Hello. This is what I am trying to do:

1. Create a lifecycle-managed C++ node using launch_testing
2. Perform a test on the node
3. Stop the node
4. Wait until the node has been destroyed
5. Exit the test

My question is: how would you approach problem 4.?

---

Here is what I came up with:

• inside the node under test:

  LifecycleNodeInterface::CallbackReturn on_shutdown(const rclcpp_lifecycle::State& state) {
      RCLCPP_INFO(get_logger(), "on shutdown() is called from state %s.", state.label().c_str());
      std::raise(SIGINT);
      return LifecycleNode::on_shutdown(state);
  }
  

• inside the test routine:

  proc_info.assertWaitForShutdown(process=node, timeout=60)
  

This is working somehow but it is ugly as hell. Why should I manually raise SIGINT just to destroy a node?

I have tried to use theTRANSITION_DESTROY but run into this bug.

destroy_node = RegisterEventHandler(
    OnStateTransition(
        target_lifecycle_node=node,
        start_state="shuttingdown",
        goal_state="finalized",
        entities=[
            EmitEvent(event=ShutdownProcess(process_matcher=matches_action(node))),
        ],
    )
)