Force exit from main thread on signal handling in keyboard_handler

[MichaelOrlov]

• Relates ros2 bag record and play does occasionally not properly closing when pressing Ctrl+C rosbag2#1079

Trigger internal exit variable to true from signal handler in keyboard handler to avoid getting stuck on next read function after changing input mode to the canonical i.e. required to press Enter.

[MichaelOrlov]

@clalancette I am getting a strange error on CI which is relates to the build infrastructure and I don't know how to resolve it.
Aka No definition of [ament_cmake] for OS version [focal]

[command]/usr/bin/bash -c ./install_rosdeps.sh rolling
2022-09-08T02:52:55.7113542Z + '[' 1 '!=' 1 ']'
2022-09-08T02:52:55.7113792Z + DISTRO=rolling
2022-09-08T02:52:55.7118605Z ++ colcon list --paths-only --packages-up-to keyboard_handler
2022-09-08T02:52:56.4967304Z + package_paths=src/528x5nw73ng/keyboard_handler/keyboard_handler
2022-09-08T02:52:56.4968368Z + rosdep install -r --from-paths src/528x5nw73ng/keyboard_handler/keyboard_handler --ignore-src --skip-keys 'rti-connext-dds-5.3.1 ' --rosdistro rolling -y
2022-09-08T02:52:57.2743560Z ERROR: the following packages/stacks could not have their rosdep keys resolved
2022-09-08T02:52:57.2743980Z to system dependencies:
2022-09-08T02:52:57.2744367Z keyboard_handler: No definition of [ament_cmake] for OS version [focal]
2022-09-08T02:52:57.2744757Z Continuing to install resolvable dependencies...
2022-09-08T02:52:57.2750487Z #All required rosdeps installed successfully

Is it known problem?
I found reference to the old similar problem ros-navigation/navigation2#2813 but have no idea how to fix this error in my case with keyboard_handler package.

[clalancette]

Aka No definition of [ament_cmake] for OS version [focal]

It's a problem in the GitHub Action for this repository. In short, Rolling no longer targets focal, it targets jammy, so you'll need to update

keyboard_handler/.github/workflows/test.yml

Line 16 in 70c0215

image: rostooling/setup-ros-docker:ubuntu-focal-latest

to point to jammy instead.

[MichaelOrlov]

Gist: https://gist.githubusercontent.com/MichaelOrlov/61bc8c1b0e80092b6efc3098428564f5/raw/ed274df52a0fa8442503a4959f39b58643bcb654/ros2.repos
BUILD args: --packages-above-and-dependencies keyboard_handler
TEST args: --packages-above keyboard_handler
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/10778

• Linux
• Linux-aarch64
• Windows

[MichaelOrlov]

Warning on Windows build is known issue existing on baseline and will be handled in ros2/rosbag2#1084
Test failure on Linux build also a know issue and unrelated to the changes from this PR.

[MichaelOrlov]

https://github.com/Mergifyio backport humble

[mergify]

backport humble

✅ Backports have been created

• #25 Force exit from main thread on signal handling in keyboard_handler (backport #23) has been created for branch humble