From d8d83a0ee67b7b6427defc802005c382b218459d Mon Sep 17 00:00:00 2001
From: Tomoya Fujita <Tomoya.Fujita@sony.com>
Date: Thu, 30 May 2024 14:57:17 -0700
Subject: [PATCH] LifecycleNode shutdown on dtor only with valid context.
 (#2545)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---
 rclcpp_lifecycle/src/lifecycle_node.cpp | 26 +++++++++++++++++--------
 1 file changed, 18 insertions(+), 8 deletions(-)

diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
index ccbc388fd8..d484e9670b 100644
--- a/rclcpp_lifecycle/src/lifecycle_node.cpp
+++ b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -155,15 +155,23 @@ LifecycleNode::~LifecycleNode()
   auto current_state = LifecycleNode::get_current_state().id();
   // shutdown if necessary to avoid leaving the device in any other primary state
   if (current_state < lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED) {
-    auto ret = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
-    auto finalized = LifecycleNode::shutdown(ret);
-    if (finalized.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED ||
-      ret != rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS)
-    {
-      RCLCPP_WARN(
+    if (node_base_->get_context()->is_valid()) {
+      auto ret = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
+      auto finalized = LifecycleNode::shutdown(ret);
+      if (finalized.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED ||
+        ret != rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS)
+      {
+        RCLCPP_WARN(
+          rclcpp::get_logger("rclcpp_lifecycle"),
+          "Shutdown error in destruction of LifecycleNode: final state(%s)",
+          finalized.label().c_str());
+      }
+    } else {
+      // TODO(fujitatomoya): consider when context is gracefully shutdown before.
+      RCLCPP_DEBUG(
         rclcpp::get_logger("rclcpp_lifecycle"),
-        "Shutdown error in destruction of LifecycleNode: final state(%s)",
-        finalized.label().c_str());
+        "Context invalid error in destruction of LifecycleNode: Node still in transition state(%u)",
+        current_state);
     }
   } else if (current_state > lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED) {
     RCLCPP_WARN(
@@ -174,6 +182,7 @@ LifecycleNode::~LifecycleNode()
 
   // release sub-interfaces in an order that allows them to consult with node_base during tear-down
   node_waitables_.reset();
+  node_type_descriptions_.reset();
   node_time_source_.reset();
   node_parameters_.reset();
   node_clock_.reset();
@@ -182,6 +191,7 @@ LifecycleNode::~LifecycleNode()
   node_timers_.reset();
   node_logging_.reset();
   node_graph_.reset();
+  node_base_.reset();
 }
 
 const char *