Leave the demo performers without their teardown

eplansys_demo/src/corridor_actions.cpp

@@ -31,6 +31,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+#include "leave.hpp"
+
 namespace eplansys_demo
 {
 
@@ -130,6 +132,5 @@ int main(int argc, char ** argv)
   }
 
   executor.spin();
-  rclcpp::shutdown();
-  return 0;
+  eplansys_demo::leave(0);
 }

eplansys_demo/src/leave.hpp

@@ -0,0 +1,47 @@
+// Copyright 2026 Intelligent Robotics Lab
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef LEAVE_HPP_
+#define LEAVE_HPP_
+
+#include <unistd.h>
+
+#include <cstdio>
+
+#include "rclcpp/rclcpp.hpp"
+
+namespace eplansys_demo
+{
+
+/// End the process once its work is done, without destroying the performers.
+///
+/// A performer interrupted by the launch file at the end of a mission
+/// segfaulted in about one run in five, after every action had finished. The
+/// fault is in the performer's destructor, run from main after
+/// rclcpp::shutdown(), while CascadeLifecycleNode frees its activators_state_
+/// map through a pointer that is no longer valid; no thread of this process was
+/// using the node by then. Nothing is left to do at that point, so the process
+/// leaves through _exit and skips the teardown, as plansys2_tests does for its
+/// own exit-time fault.
+[[noreturn]] inline void leave(int status)
+{
+  rclcpp::shutdown();
+  std::fflush(stdout);
+  std::fflush(stderr);
+  _exit(status);
+}
+
+}  // namespace eplansys_demo
+
+#endif  // LEAVE_HPP_

eplansys_demo/src/survey_actions.cpp

@@ -31,6 +31,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+#include "leave.hpp"
+
 namespace eplansys_demo
 {
 
@@ -133,6 +135,5 @@ int main(int argc, char ** argv)
   }
 
   executor.spin();
-  rclcpp::shutdown();
-  return 0;
+  eplansys_demo::leave(0);
 }

eplansys_demo/src/survey_sites_actions.cpp

@@ -31,6 +31,8 @@
 #include "lifecycle_msgs/msg/transition.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#include "leave.hpp"
+
 namespace eplansys_demo
 {
 
@@ -136,6 +138,5 @@ int main(int argc, char ** argv)
   }
 
   executor.spin();
-  rclcpp::shutdown();
-  return 0;
+  eplansys_demo::leave(0);
 }