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nav2_lifecycle_manager: remove rcl preshutdown callback on destruction (backport #6721) - #6741
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#6721) Store the PreShutdownCallbackHandle and remove the callback in ~LifecycleManager(), as nav2_util::LifecycleNode does. Fixes a segfault on shutdown when the lifecycle manager is composed in a component container (#6690). Signed-off-by: Anirban Bhattacharyya <62070825+anirban2190@users.noreply.github.com> (cherry picked from commit c882888)
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SteveMacenski
approved these changes
Nov 3, 2026
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when Ros2 is sutting down , it inform the Lifecycle manager for stop and manage diff. mavation nodes .
the change has been made following :
Stage Original code Modified code
Lifecycle Manager starts Registers callback Registers callback and saves handle
Nav2 runs Callback is available Callback is available
Lifecycle Manager is destroyed Callback remains registered Callback is unregistered
ROS 2 context shuts down later Stale callback can cause a crash Stale callback has been removed
This is an automatic backport of pull request #6721 done by Mergify.