[SOLVED] [ROS2 humble linux] Wait until a node has been destroyed in launch_testing

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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.