Add terminate handler to ros2_control_node

ros-controls / ros2_control

Generic and simple controls framework for ROS 2

https://control.ros.org

Apache License 2.0

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Add terminate handler to ros2_control_node #450

Open bmagyar opened 3 years ago

bmagyar commented 3 years ago

A terminate handler should be added to ros2_control_node as a last resort to ensure destructors of system components are called and (when done) everything in ResourceManager can be put through their lifecycles properly.

Implementation idea:

ResourceManager and ResourceStorage could have some way of resetting
which should be triggered from terminate_handler defined in ros2_control_node.

This should help with issues similar to #445 in the future.

bmagyar commented 3 years ago

@Karsten1987 @destogl @v-lopez @mahaarbo