Shutdown explicitly while existing (#623)

Signed-off-by: ChenYing Kuo <[email protected]>
(cherry picked from commit 550ef7b)

ros_gz_sim/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(std_msgs REQUIRED)
 
 find_package(gz_math_vendor REQUIRED)
@@ -47,6 +48,7 @@ target_link_libraries(create
   gz-math::core
   gz-msgs::core
   gz-transport::core
+  rcpputils::rcpputils
 )
 
 add_executable(remove src/remove.cpp)

ros_gz_sim/package.xml

@@ -23,6 +23,7 @@
   <depend>libgflags-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>rcpputils</depend>
   <depend>std_msgs</depend>
 
   <depend>gz_math_vendor</depend>

ros_gz_sim/src/create.cpp

@@ -31,6 +31,7 @@
 #include <gz/transport/Node.hh>
 
 #include <rclcpp/rclcpp.hpp>
+#include <rcpputils/scope_exit.hpp>
 #include <std_msgs/msg/string.hpp>
 
 // ROS interface for spawning entities into Gazebo.
@@ -135,6 +136,9 @@ int main(int _argc, char ** _argv)
   ros2_node->declare_parameter("P", static_cast<double>(0));
   ros2_node->declare_parameter("Y", static_cast<double>(0));
 
+  auto always_shutdown = rcpputils::make_scope_exit(
+    []() {rclcpp::shutdown();});
+
   // World
   std::string world_name = ros2_node->get_parameter("world").as_string();
   if (world_name.empty() && !FLAGS_world.empty()) {