LoadComposableNodes action hangs

[jacobperron]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • from source
• Version or commit hash:
  • 8c05ebb

Steps to reproduce issue

1. Start a component container

ros2 run rclcpp_components component_container

2. Launch the following description:

import launch

from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    return launch.LaunchDescription([
        LoadComposableNodes(
            target_container='/ComponentManager', # /mock_component_container',
            composable_node_descriptions=[
                ComposableNode(
                    package='demo_nodes_cpp',
                    plugin='demo_nodes_cpp::Talker',
                )
            ]
        )
    ])

Expected behavior

Node is loaded into the container and the launch process exits.

Alternatively, if the launch process doesn't exit, sending a SIGINT or SIGQUIT should cause the launch process to exit.

Actual behavior

The node is successfully loaded, but the launch process hangs. Event SIGINT and SIGQUIT have no affect.