Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04 Bionic
• Installation type:
  • Source
• Version or commit hash:
  • master
• DDS implementation:
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

Run rclcpp_lifecycle test_register_custom_callbacks. After the test has passed, the program fails to terminate. In CI, this causes the test to timeout and be rerun 10 times.

Expected behavior

The test doesn't hang.

Actual behavior

The test hangs.

Additional information

This seems to only happen on bionic, regardless if this patch is applied or not: ros2/rmw_fastrtps#199

CI Failure: https://ci.ros2.org/job/ci_linux/4324/testReport/junit/(root)/projectroot/test_register_custom_callbacks/