Segmentation fault when adding a short-lived node to an executor

  Ref: ros2/rmw_fastrtps#777

Signed-off-by: Tomoya Fujita <[email protected]>

prover_rclcpp/CMakeLists.txt

@@ -167,6 +167,7 @@ custom_executable(rmw_fastrtps_554)
 custom_executable(rmw_fastrtps_555)
 custom_executable(rmw_fastrtps_646)
 custom_executable(rmw_fastrtps_728)
+custom_executable(rmw_fastrtps_777)
 
 #custom_executable(ros2_644)
 #custom_executable(ros2_946_pub)

prover_rclcpp/src/rmw_fastrtps_777.cpp

@@ -0,0 +1,39 @@
+#include <atomic>
+#include <memory>
+#include <thread>
+
+#include <rclcpp/executors/multi_threaded_executor.hpp>
+#include <rclcpp/node.hpp>
+
+auto function() -> void
+{
+    rclcpp::init(0, nullptr);
+
+    rclcpp::executors::MultiThreadedExecutor executor;
+
+    std::atomic_bool stop_spinning{false};
+    auto spinner_thread{std::thread([&] {
+        while (rclcpp::ok() && !stop_spinning.load()) {
+            executor.spin_some();
+        }
+    })};
+
+    {
+        auto node{std::make_shared<rclcpp::Node>("node")};
+        executor.add_node(node);
+    }
+
+    stop_spinning.store(true);
+    spinner_thread.join();
+
+    rclcpp::shutdown();
+}
+
+auto main() -> int
+{
+    while (true) {
+        function();
+    }
+
+    return 0;
+}