expose explict node handle shutdown

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

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,

ianvs/src/bindings/node_init.cpp

@@ -17,17 +17,27 @@ namespace ianvs::bindings::node_init {
 
 struct NodeInitHolder {
   explicit NodeInitHolder(const std::string& name);
+  ~NodeInitHolder();
+  void exit();
 
   NodeGuard guard;
   const std::string name;
 };
 
 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

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));