🐛 [BUG] - Cannot use Destroyable because destruction was requested

[Oberacda]

Description

BT crashes when loading or stopping a BT with a Service, Action or Subscriber node with the error message "cannot use Destroyable because destruction was requested", due to some issues with the underlying rclpy implementation.

Reproduction URL

https://github.com/fzi-forschungszentrum-informatik/ros2_ros_bt_py

Reproduction steps

1. Load a BT containing a TopicSubscriber.
2. Run the BT.
3. Stop the BT.

Screenshots

No response

Logs

No response

ROS2 Version

Humble

OS

Ubuntu 22.04

[nspielbau]

ros2/rclpy#1142

ros2/rclpy#1206

[nspielbau]

Seems to be "fixed" with checking rclpy.ok() before publishing tree info. But this is not a viable solution. Also rclpy should be okay while shutting down the BT