Nodes ignore Ctrl-C when using Opensplice on Windows

Bug report

Required Info:

• Operating System:
  • Windows (Server) 10
• Installation type:
  • Binary fat archive
• Version or commit hash:
  • Dashing pre-release
• DDS implementation:
  • ADLink Opensplice
• Client library (if applicable):
  • rclpy

Steps to reproduce issue

Run any Python node

ros2 run demo_nodes_py talker

Then, attempt to Ctrl-C it.

Expected behavior

Process acknowledges that it received a signal and terminates gracefully

Actual behavior

Process ignores the signal entirely and can’t be killed.

Additional Information

I’ve reproduced this phenomenon with Python talkers, listeners and both action clients and servers, so I’d be inclined to think it’s something about rclpy signal handling. Also, we’ve recently made some changes to it to better support Opensplice precisely (see https://github.com/ros2/rclpy/pull/338).

[hidmic]

@nuclearsandwich there’s nothing else to be done here, I’ll take this issue out of the Dashing Patch Release 4 project.

[wjwwood]

To complicated it further though, I think the Python signal handler is protected in this fashion already, though we do have something in the C extension for rclpy which might be at issue.