Getting error with MoveItPy on shutdown -- cannot publish data -- Fail in delete datareader

[dsandber]

Description

A simple program like this:

    rclpy.init()
    panda = MoveItPy(node_name="moveit_py")
    panda.shutdown()
    rclpy.shutdown()

Gives this error on shut-down:

[motion_planning_python_api_tutorial.py-1] cannot publish data, at ./src/rmw_publish.cpp:62 during '__function__'
[motion_planning_python_api_tutorial.py-1] Fail in delete datareader, at ./src/rmw_service.cpp:100 during '__function__'
[ERROR] [motion_planning_python_api_tutorial.py-1]: process has died [pid 987728, exit code -11, cmd '/home/dan/yorc/arm-ros/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_python_api_tutorial.py --ros-args -r __node:=moveit_py --params-file /tmp/launch_params_w2kpnvnn']

MoveItPy created node not shutting down properly? I've tried adding sleeps in between the statements to check for a race condition but it didn't help.

Your environment

• ROS Distro: Iron
• OS Version: Ubuntu 22.04
• Source, main branch
• Which RMW (Fast DDS or Cyclone DDS)? Humble or Rolling should be using Cyclone.

eProsima Fast DDS (the default for the Ubuntu packages for Iron)