[galactic] ctrl+c with tf2_ros imported causes crash on shutdown

[Kettenhoax]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • binaries
• Version or commit hash:
  • ros-galactic-tf2-ros 0.17.3-1focal.20220430.135315
• DDS implementation:
  • cyclonedds
• Client library (if applicable):
  • rclpy

Steps to reproduce issue

Run the following in bash:

docker run --rm -i ros:galactic python3 - << EOF
import tf2_ros
import rclpy
from rclpy.node import Node
rclpy.init()
try:
  rclpy.spin(Node('test_node'))
except KeyboardInterrupt:
  pass
EOF

and then exit with ctrl+c

Expected behavior

Program exits silently with exit code 0

Actual behavior

Output printed:

^CException ignored in: <function Executor.__del__ at 0xffff8bcdce50>
Traceback (most recent call last):
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/executors.py", line 229, in __del__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/signals.py", line 41, in destroy
AttributeError: 'NoneType' object has no attribute 'rclpy_unregister_sigint_guard_condition'
Exception ignored in: <function SignalHandlerGuardCondition.__del__ at 0xffff8bcbd0d0>
Traceback (most recent call last):
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/signals.py", line 31, in __del__
TypeError: catching classes that do not inherit from BaseException is not allowed

Additional information

Removing import tf2_ros from the script, or running in the ros:rolling image, leads to the expected behaviour.

The same output was reported in ros2/rclpy#623, but I'm not sure how it is related to the effect of importing tf2_ros.