Clean shutdown fix (deployable = qiayuanl devel + fix) - #1
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The SIGINT handler deleted the mjModel/mjData and tore down the plugins + rclcpp from inside the signal handler while PhysicsThread was mid-mj_step -- a use-after-free that SIGSEGV'd on exit (and all of it is non-async-signal-safe). - handler now only sets sim.exitrequest (async-signal-safe); RenderLoop + PhysicsLoop already poll it - disable rclcpp's own signal handling (InitOptions::shutdown_on_signal= false) so ours is the sole SIGINT handler - free the mjModel/mjData in main() after both worker threads join (the plugins/controller_manager still reference them), not in PhysicsThread - after the functional teardown (rclcpp::shutdown + drop plugins -> controllers deactivated, hardware shut down), _exit(0) to skip the fragile cross-library static / plugin-library unload destruction that otherwise corrupts the heap on exit Result: mujoco_sim exits cleanly (code 0) on Ctrl-C / ros2 launch SIGINT. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_012QKJQ9hze1hMWXJpdPcjp3
This fork deploys qiayuanl's devel branch of mujoco_sim_ros2 (used by our deployment stack) plus our clean-shutdown-on-Ctrl-C fix -- NOT rxdu upstream, which has diverged. This -s ours merge keeps our deployed tree exactly and records rxdu/main as an ancestor so 'main' can fast-forward to it without pulling in rxdu's divergent changes. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_012QKJQ9hze1hMWXJpdPcjp3
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Makes this fork's
mainthe version we actually deploy: qiayuanl'sdevelbranch of mujoco_sim_ros2 + our clean-shutdown-on-Ctrl-C fix.Context: this repo is a fork of
rxdu/mujoco_sim_ros2(the grand source), somainstarted as rxdu's upstream, which has diverged from the qiayuanldevelbranch our stack runs. Rather than a nonsensical 3-way merge of two incompatible lineages, the head branch-s ours-merges rxdu/main as a superseded ancestor, so this PR fast-forwardsmainto our deployed tree (the fix commit7f4c2eais preserved and reachable). rxdu's changes are recorded in history but not applied.Mirrors Berkeley-Humanoids/mujoco_ros2_control#1.
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https://claude.ai/code/session_012QKJQ9hze1hMWXJpdPcjp3