This is clearly bug, that could raise std::system_error with Invalid argument.
Test would be ideal.

@clalancette could you take a look at this?

CI:

• Linux
• Linux-aarch64
• Windows

The one failure on Windows is a known flake, so I'm going to go ahead with this. Thanks for the contribution.

Is there a way to workaround this problem on Humble? The best way I've found is to override the signal handler with a custom one then call rclcpp::shutdown, but this hits this comment:

    // TODO(wjwwood): what happens if someone overrides our signal handler then calls uninstall?
    //   I think we need to assert that we're the current signal handler, and mitigate if not.

So the way to deal with this would be:

1. Register signal handler in rclcpp::init
2. Register your own signal handler which overrides the one in rclcpp::init
3. Let the custom signal handler handle the signal
4. Call rclcpp::shutdown, which will override the custom signal handler but it's OK at this point.

@shuhaowu that could work, but straightforward way is to backport this to humble?

@Mergifyio backport humble

backport humble

✅ Backports have been created