Release ROS adapter resources during shutdown

launch_ros/launch_ros/ros_adapters.py

@@ -46,6 +46,7 @@ def __init__(
         self.__ros_context = None
         self.__ros_node = None
         self.__ros_executor = None
+        self.__ros_executor_thread = None
         self.__is_running = False
 
         if autostart:
@@ -86,8 +87,11 @@ def shutdown(self):
             raise RuntimeError('Cannot shutdown a ROS adapter that is not running')
         self.__is_running = False
         self.__ros_executor_thread.join()
+        self.__ros_executor.shutdown()
         self.__ros_node.destroy_node()
         rclpy.shutdown(context=self.__ros_context)
+        self.__ros_executor_thread = None
+        self.__ros_node = None
 
     @property
     def argv(self):

launch_ros/test/test_ros_adapters.py

@@ -0,0 +1,39 @@
+# Copyright 2026 ktyang512
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from unittest.mock import patch
+
+from launch_ros.ros_adapters import ROSAdapter
+
+
+def test_ros_adapter_shutdown_releases_resources():
+    adapter = ROSAdapter()
+    old_context = adapter.ros_context
+    old_executor = adapter.ros_executor
+
+    with patch.object(
+        adapter.ros_executor,
+        'shutdown',
+        wraps=adapter.ros_executor.shutdown,
+    ) as executor_shutdown:
+        adapter.shutdown()
+
+    executor_shutdown.assert_called_once_with()
+    assert adapter.ros_node is None
+
+    adapter.start()
+    assert adapter.ros_context is not old_context
+    assert adapter.ros_node is not None
+    assert adapter.ros_executor is not old_executor
+    adapter.shutdown()