Call rclcpp::shutdown in test_node for clean shutdown on Windows (#1515)

The graph_listener thread is started in the background in some of the tests and this thread is killed by Windows prior to executing global destructors if it is still running when leaving main(). This then corrupts state because the RMW layer is blocking in a waitset and causes Cyclone to hang trying to destroy the waitset. Signed-off-by: Erik Boasson <[email protected]>
ros2 · Jan 13, 2021 · 8d2c682 · 8d2c682
1 parent 56a037a
commit 8d2c682
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/rclcpp/test/rclcpp/test_node.cpp b/rclcpp/test/rclcpp/test_node.cpp
@@ -43,6 +43,11 @@ class TestNode : public ::testing::Test
     rclcpp::init(0, nullptr);
   }
 
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
   void SetUp() override
   {
     test_resources_path /= "test_node";