Fix lifecycle manager deadlock during shutdown (#5438) (#5440)

* Fix lifecycle manager deadlock during shutdown

Add stop() method to ServiceClient that cancels internal executor operations
and call it in LifecycleServiceClient destructor to prevent deadlock when
CTRL+C is pressed during lifecycle node bringup.

This addresses issue #5437 where spin_until_future_complete can hang
indefinitely during shutdown when bringup and shutdown sequences run
concurrently.



* Update service_client.hpp



---------



(cherry picked from commit f7b6654)

Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

Author: 3 people

nav2_util/include/nav2_util/lifecycle_service_client.hpp

@@ -38,6 +38,12 @@ class LifecycleServiceClient
     const std::string & lifecycle_node_name,
     rclcpp::Node::SharedPtr parent_node);
 
+  ~LifecycleServiceClient()
+  {
+    change_state_.stop();
+    get_state_.stop();
+  }
+
   /// Trigger a state change
   /**
    * Throws std::runtime_error on failure

nav2_util/include/nav2_util/service_client.hpp

@@ -204,6 +204,16 @@ class ServiceClient
     return service_name_;
   }
 
+  /**
+  * @brief Stop any running spin operations on the internal executor
+  */
+  void stop()
+  {
+    if (client_) {
+      callback_group_executor_->cancel();
+    }
+  }
+
 protected:
   std::string service_name_;
   NodeT node_;