From 8cd43244f2774c878ea4f8ddd3fe83d67917dd2b Mon Sep 17 00:00:00 2001
From: Erik Boasson <eb@ilities.com>
Date: Wed, 13 Jan 2021 18:41:22 +0100
Subject: [PATCH] Call rclcpp::shutdown in test_node for clean shutdown on
 Windows

The graph_listener thread is started in the background in some of the tests and
this thread is killed by Windows prior to executing global destructors if it is
still running when leaving main().  This then corrupts state because the RMW
layer is blocking in a waitset and causes Cyclone to hang trying to destroy the
waitset.

Signed-off-by: Erik Boasson <eb@ilities.com>
---
 rclcpp/test/rclcpp/test_node.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/rclcpp/test/rclcpp/test_node.cpp b/rclcpp/test/rclcpp/test_node.cpp
index 8e9764d9f2..8e7b19c30d 100644
--- a/rclcpp/test/rclcpp/test_node.cpp
+++ b/rclcpp/test/rclcpp/test_node.cpp
@@ -43,6 +43,11 @@ class TestNode : public ::testing::Test
     rclcpp::init(0, nullptr);
   }
 
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
   void SetUp() override
   {
     test_resources_path /= "test_node";