Rollback to the non-static executor and don't call executor->cancel()

- In case when signal will arrive we will trigger our internal exit_
variable and wait while current exec_->spin_all(10msec) will exit.

Signed-off-by: Michael Orlov <[email protected]>

rosbag2_py/src/rosbag2_py/_transport.cpp

@@ -191,27 +191,17 @@ class Recorder
 {
 private:
   using ExecutorT = rclcpp::executors::SingleThreadedExecutor;
-  static std::unique_ptr<ExecutorT, void (*)(ExecutorT *)> & get_executor_instance()
-  {
-    static std::unique_ptr<ExecutorT, void (*)(ExecutorT *)> executor(
-      new ExecutorT(),
-      [](ExecutorT * exec_ptr) {
-        delete exec_ptr;
-        rclcpp::shutdown();
-      }
-    );
-    return executor;
-  }
+  std::unique_ptr<ExecutorT> exec_;
   std::shared_ptr<rosbag2_transport::Recorder> recorder_;
 
 public:
   Recorder()
   {
     auto init_options = rclcpp::InitOptions();
     init_options.shutdown_on_signal = false;
-    if (!rclcpp::ok()) {
-      rclcpp::init(0, nullptr, init_options, rclcpp::SignalHandlerOptions::None);
-    }
+    rclcpp::init(0, nullptr, init_options, rclcpp::SignalHandlerOptions::None);
+
+    exec_ = std::make_unique<ExecutorT>();
     std::signal(
       SIGTERM, [](int /* signal */) {
         rosbag2_py::Recorder::cancel();
@@ -222,7 +212,10 @@ class Recorder
       });
   }
 
-  virtual ~Recorder() = default;
+  virtual ~Recorder()
+  {
+    rclcpp::shutdown();
+  }
 
   void record(
     const rosbag2_storage::StorageOptions & storage_options,
@@ -238,30 +231,27 @@ class Recorder
       std::move(writer), storage_options, record_options, node_name);
     recorder_->record();
 
-    get_executor_instance()->add_node(recorder_);
+    exec_->add_node(recorder_);
     try {
       // Release the GIL for long-running record, so that calling Python code can use other threads
       py::gil_scoped_release release;
       while (!exit_) {
-        get_executor_instance()->spin_all(std::chrono::milliseconds(30));
+        exec_->spin_all(std::chrono::milliseconds(10));
       }
       if (recorder_) {
         recorder_->stop();
-        // Need to spin once to be able to send notifications about bag split and close
-        get_executor_instance()->spin_some(std::chrono::milliseconds(30));
+        // Need to spin node to be able to send notifications about bag split and close
+        exec_->spin_all(std::chrono::milliseconds(10));
       }
     } catch (...) {
-      get_executor_instance()->remove_node(recorder_);
+      exec_->remove_node(recorder_);
     }
-    get_executor_instance()->remove_node(recorder_);
+    exec_->remove_node(recorder_);
   }
 
   static void cancel()
   {
     exit_ = true;
-    if (get_executor_instance()) {
-      get_executor_instance()->cancel();
-    }
   }
 
   static std::atomic_bool exit_;