Join with the controller manager's executor thread on exit #79
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This allows for a clean exit when gazebo is interrupted (SIGINT)
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This prevents a SIGABRT in gzserver when stopping gazebo due to the executor thread being aborted, which triggers a core dump. This patch instead ensures a clean exit, since rclcpp::ok() returns true while gazebo is shutting down.
Note: I'm not sure why the controller manager's node must be removed from the executor, but otherwise the join() will remain blocked and prevent gzserver from stopping even with a SIGTERM.