ROS Nodes registered in ROS Master using the yarp::os::Node are not unregistered when the object is deleted/on process exit

[traversaro]

If you create a ROS Nodes using YARP, it will not be properly unregistered from the ROS Master once the process is closed.

How to reproduce

Compile and run the example in https://gist.github.com/traversaro/e34c849fff2dd481625ae7a40edb173c#file-main-cpp-L15 , on a computer in which ROS is correctly configured and roscore is running.

After the program has exited, launch the rosnode list command and you will see that the node opened by the example program is still registered:

user@iiticubws003:~/yarp_rosnode_test/build$ rosnode list
/nodeThatWillNotBeUnregisteredFromRosMaster
/rosout

[traversaro]

@aerydna This tutorial http://www.yarp.it/yarp_with_ros_parameters.html can be useful to write a regression test for this bug . It cover communicating with the ROS Parameter server API http://wiki.ros.org/ROS/Parameter%20Server%20API , but if I understand correctly (I am not 100% sure about the carriers used) it could be ported to use the ROS Master API http://wiki.ros.org/ROS/Master_API .