Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04
• Installation type:
  • from source
• Version or commit hash:
  • current master
• DDS implementation:
  • Fast-RTPS (should be DDS implementation agnostic)
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

• Add a log here

  rclcpp/rclcpp/src/rclcpp/context.cpp

  Line 41 in 8e69b7d

  std::lock_guard<std::recursive_mutex> lock(init_mutex_);

• Execute any demo, e.g. ros2 run demo_nodes_cpp talker
• ctrl-c it

Expected behavior

The log should be printed after ctrl-c.

Actual behavior

It's never printed.

For some reason, the destructor of the static variable is not being call.

Additional information

I realized of this while working in ros2/rmw_fastrtps#312.
I'm removing the participant from the domain when the context is destructed.
If that doesn't happen, other Participants will not immediately detect that it's not more available (Participant disposal is much slower than removal).

May be related with https://stackoverflow.com/questions/38510621/destructor-of-a-global-static-variable-in-a-shared-library-is-not-called-on-dlcl, as the example is written as a component https://github.com/ros2/demos/blob/master/demo_nodes_cpp/src/topics/talker.cpp.