Handle SIGTERM gracefully in recording

Signed-off-by: Emerson Knapp <[email protected]>

rosbag2_test_common/include/rosbag2_test_common/process_execution_helpers_unix.hpp

@@ -59,9 +59,9 @@ ProcessHandle start_execution(const std::string & command)
   return process_id;
 }
 
-void stop_execution(const ProcessHandle & handle)
+void stop_execution(const ProcessHandle & handle, int signum = SIGINT)
 {
-  killpg(handle, SIGINT);
+  killpg(handle, signum);
   int child_return_code;
   waitpid(handle, &child_return_code, 0);
   // this call will make sure that the process does execute without issues before it is killed by

rosbag2_test_common/include/rosbag2_test_common/process_execution_helpers_windows.hpp

@@ -21,6 +21,7 @@
 #include <Windows.h>
 
 #include <chrono>
+#include <csignal>
 #include <cstdlib>
 #include <string>
 #include <thread>
@@ -104,8 +105,10 @@ ProcessHandle start_execution(const std::string & command)
   return process;
 }
 
-void stop_execution(const ProcessHandle & handle)
+void stop_execution(const ProcessHandle & handle, int signum = SIGINT)
 {
+  // Match the Unix version by allowing for int signum argument - however Windows does not have
+  // Linux signals in the same way, so there isn't a 1:1 mapping to dispatch e.g. SIGTERM
   DWORD exit_code;
   GetExitCodeProcess(handle.process_info.hProcess, &exit_code);
   // 259 indicates that the process is still active: we want to make sure that the process is

rosbag2_tests/test/rosbag2_tests/test_rosbag2_record_end_to_end.cpp

@@ -164,6 +164,20 @@ TEST_F(RecordFixture, record_end_to_end_test) {
   EXPECT_THAT(wrong_topic_messages, IsEmpty());
 }
 
+TEST_F(RecordFixture, record_end_to_end_exits_gracefully_on_sigterm) {
+  const std::string topic_name = "/test_sigterm";
+  auto message = get_messages_strings()[0];
+  message->string_value = "test";
+  rosbag2_test_common::PublicationManager pub_manager;
+  pub_manager.setup_publisher(topic_name, message, 10);
+  auto process_handle = start_execution(
+    "ros2 bag record --output " + root_bag_path_.string() + " " + topic_name);
+  wait_for_db();
+  pub_manager.run_publishers();
+  stop_execution(process_handle, SIGTERM);
+  wait_for_metadata();
+}
+
 // TODO(zmichaels11): Fix and enable this test on Windows.
 // This tests depends on the ability to read the metadata file.
 // Stopping the process on Windows does a hard kill and the metadata file is not written.

rosbag2_transport/src/rosbag2_transport/rosbag2_transport.cpp

@@ -15,6 +15,7 @@
 
 #include "rosbag2_transport/rosbag2_transport.hpp"
 
+#include <csignal>
 #include <memory>
 #include <queue>
 #include <string>
@@ -59,6 +60,10 @@ Rosbag2Transport::Rosbag2Transport(
 void Rosbag2Transport::init()
 {
   rclcpp::init(0, nullptr);
+  std::signal(
+    SIGTERM, [](int /* signal */) {
+      rclcpp::shutdown();
+    });
 }
 
 void Rosbag2Transport::shutdown()