Ensure planner_server shuts down cleanly on SIGINT.

Needed to ensure code coverage flushes. See Issue ros-navigation#3271.

Signed-off-by: mbryan <matthew.bryan@dell.com>

nav2_planner/src/planner_server.cpp

@@ -69,6 +69,10 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
 
 PlannerServer::~PlannerServer()
 {
+  /*
+   * Backstop ensuring this state is destroyed, even if deactivate/cleanup are
+   * never called.
+   */
   planners_.clear();
   costmap_thread_.reset();
 }
@@ -224,7 +228,9 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   for (it = planners_.begin(); it != planners_.end(); ++it) {
     it->second->cleanup();
   }
+
   planners_.clear();
+  costmap_thread_.reset();
   costmap_ = nullptr;
   return nav2_util::CallbackReturn::SUCCESS;
 }