rclcpp shutdown abnormally when rclcpp initiated with rclcpp::SignalHandlerOptions::None

[uupks]

Bug report

Required Info:

• Operating System:
  • Android NDK r23c
• Installation type:
  • source
• Version or commit hash:
  • humble
• DDS implementation:
  • cyclonedds
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

int main(int argc, char *argv[])
{
    rclcpp::init(argc, argv, rclcpp::InitOptions(), rclcpp::SignalHandlerOptions::None);
    rclcpp::shutdown();
    return 0;
}

Expected behavior

exit normally

Actual behavior

[DEBUG] [1661888770.858106131] [rcl]: Shutting down ROS client library, for context at address: 0xb4000071f661c7f0
[DEBUG] [1661888770.858455141] [rclcpp]: SignalHandler::uninstall(): notifying deferred signal handler
terminating with uncaught exception of type std::__ndk1::system_error: thread::join failed: Invalid argument
Aborted

Additional information

rclcpp

If rclcpp is initiated with rclcpp::SignalHandlerOptions::None, signal_handler_thread will not be created.

---

Feature request

Feature description

#2019

if(signal_handler_thread_.joinable()) {
  signal_handler_thread_.join();
}

Implementation considerations

[dawierha]

How did you solve the problem?

[mjcarroll]

This was fixed via: #2019