From e4ca9a6e7cab528417576a115bde07c7a5675179 Mon Sep 17 00:00:00 2001
From: Nathan Hughes <nathan.h.hughes@gmail.com>
Date: Mon, 26 Oct 2026 02:04:47 +0000
Subject: [PATCH] expose explict node handle shutdown

---
 ianvs/ianvs/__init__.py          |  1 +
 ianvs/include/ianvs/node_init.h  |  1 +
 ianvs/src/bindings/node_init.cpp | 12 +++++++++++-
 ianvs/src/node_init.cpp          |  2 ++
 4 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/ianvs/ianvs/__init__.py b/ianvs/ianvs/__init__.py
index 35259d3..0c9451d 100644
--- a/ianvs/ianvs/__init__.py
+++ b/ianvs/ianvs/__init__.py
@@ -25,4 +25,5 @@ def get_image(msg: Image | CompressedImage) -> np.ndarray | None:
 def init_node_handle(node_name: str):
     guard = _bindings._NodeInitHolder(node_name)
     yield guard.name
+    guard._exit()
     del guard
diff --git a/ianvs/include/ianvs/node_init.h b/ianvs/include/ianvs/node_init.h
index a418106..5c62fa0 100644
--- a/ianvs/include/ianvs/node_init.h
+++ b/ianvs/include/ianvs/node_init.h
@@ -27,6 +27,7 @@ class CurrentNode {
 struct NodeGuard {
   NodeGuard() = default;
   ~NodeGuard();
+  void reset();
 };
 
 [[nodiscard]] IANVS_PUBLIC NodeGuard init_node(int& argc,
diff --git a/ianvs/src/bindings/node_init.cpp b/ianvs/src/bindings/node_init.cpp
index 82a2653..8327e53 100644
--- a/ianvs/src/bindings/node_init.cpp
+++ b/ianvs/src/bindings/node_init.cpp
@@ -17,6 +17,8 @@ namespace ianvs::bindings::node_init {
 
 struct NodeInitHolder {
   explicit NodeInitHolder(const std::string& name);
+  ~NodeInitHolder();
+  void exit();
 
   NodeGuard guard;
   const std::string name;
@@ -24,10 +26,18 @@ struct NodeInitHolder {
 
 NodeInitHolder::NodeInitHolder(const std::string& _name) : guard(start_node(_name)), name(_name) {}
 
+NodeInitHolder::~NodeInitHolder() { exit(); }
+
+void NodeInitHolder::exit() {
+  guard.reset();
+  rclcpp::shutdown();
+}
+
 void add(py::module_& m) {
   py::class_<NodeInitHolder>(m, "_NodeInitHolder")
       .def(py::init<std::string>())
-      .def_readonly("name", &NodeInitHolder::name);
+      .def_readonly("name", &NodeInitHolder::name)
+      .def("_exit", &NodeInitHolder::exit);
 }
 
 }  // namespace ianvs::bindings::node_init
diff --git a/ianvs/src/node_init.cpp b/ianvs/src/node_init.cpp
index 5e215f0..ef24a6f 100644
--- a/ianvs/src/node_init.cpp
+++ b/ianvs/src/node_init.cpp
@@ -29,6 +29,8 @@ CurrentNode::CurrentNode() {}
 
 NodeGuard::~NodeGuard() { CurrentNode::clear(); }
 
+void NodeGuard::reset() { CurrentNode::clear(); }
+
 NodeGuard init_node(int& argc, char** argv, const std::string& node_name) {
   rclcpp::init(argc, argv);
   CurrentNode::init(std::make_shared<rclcpp::Node>(node_name));