feat: omit rclcpp::ok and improve termination#35
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…omposable node Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
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Since
rclcpp::okmight refer to the global context and returnfalseunexpectedly if it is used inside a composable node, this PR omits calling it to monitor the node's liveness.Besides, this PR improves the way of node termination by explicitly closing the file descriptor during termination.