ctrl+c not killing ros2 cli tools when the rmw_zenohd router is not running

[jmount1992]

As a user I would expect that pressing ctrl+c when running a ros2 cli tool such as ros2 topic list or ros2 node list would kill the process. However, if a Zenoh router isn't running this signal isn't handled and it continues to print the default behaviour message of [ERROR] [1719974909.135681607] [rmw_zenoh_cpp]: Unable to connect to a Zenoh router. Have you started a router with ros2 run rmw_zenoh_cpp rmw_zenohd? I understand the default behaviour can be changed. However, I would expect users would still expect ctrl+c to kill this process.

[Yadunund]

This is a known issue with signal handlers in rclpy + issues in rmw_shutdown. See #135 (review)

We don't have a solution yet but hoping this will be addressed when we resolve #170.

[jmount1992]

Perfect. I hadn't seen any issue mentioning it so I wanted to bring it to your attention given the rmw_zenoh is in its infancy.

[Yadunund]

Yep it's good to have this ticket! We are working on addressing it.

[Yadunund]

Still an issue after ros2/rclpy#1331