Ensure planner_server shuts down cleanly on SIGINT.

Needed to ensure code coverage flushes. See Issue ros-navigation#3271.

Signed-off-by: mbryan <[email protected]>

nav2_planner/include/nav2_planner/planner_server.hpp

@@ -189,6 +189,13 @@ class PlannerServer : public nav2_util::LifecycleNode
    */
   void computePlan();
 
+  /**
+   * @brief Perform destruction activity also performed by rcl preshutdown.
+   */
+  void prepDestruction();
+
+  void on_rcl_preshutdown() override;
+
   /**
    * @brief The action server callback which calls planner to get the path
    * ComputePathThroughPoses

nav2_planner/src/planner_server.cpp

@@ -67,12 +67,25 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
   costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
 }
 
-PlannerServer::~PlannerServer()
+void
+PlannerServer::prepDestruction()
 {
   planners_.clear();
   costmap_thread_.reset();
 }
 
+PlannerServer::~PlannerServer()
+{
+  prepDestruction();
+}
+
+
+void PlannerServer::on_rcl_preshutdown()
+{
+  prepDestruction();
+  LifecycleNode::on_rcl_preshutdown();
+}
+
 nav2_util::CallbackReturn
 PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
 {