Resolve workarounds in rosbag2_tests for Windows

[zmichaels11]

test_rosbag2_record_end_to_end defines a workaround for Windows in multiple places due to Windows not supporting a mechanism to programmatically send a SIGINT.

These tests should either be rewritten to not require the workaround or a helper function should be written so less platform-specific code is required.

[piraka9011]

I have created a Pytest that can successfully execute a ros2bag CLI command and send a CTRL_C_EVENT to gracefully terminate it. The issue is that when I run it with colcon test the CTRL_C_EVENT aborts the colcon test command as well.

I opened an issue (colcon/colcon-core#303) to discuss why this is the case and propose a path forward.

An potential approach in the future would be to use stdin pipes to communicate with the ros2bag command via keyboard events if that feature is developed.

[zmichaels11]

As per our discussion yesterday, it might make sense to rewrite the e2e tests in Python and use launch_testing. (Also brought up in ros-tooling meeting)
Similar problem happened in Gazebo project.

[Karsten1987]

I think one helpful addition would be to introduce a close function to the final Reader and Writer class. The closing function is generally provoked via the destructor, which works well as long as you don't try to ctrl-c on Windows. Having a public function for this would allow us to manually trigger this within the tests before ctrl-c.

[MichaelOrlov]

• Closing as a stale issue.
• The helper functions are already inplace, and tests will be rewritten to be able to send analog of the CTL+C on Windows in the scope of the Gracefully handle CTRL+C and CTR+Break events on Windows #1342