Test reproduction of 2664

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

rclcpp/test/rclcpp/CMakeLists.txt

@@ -500,6 +500,15 @@ if(TARGET test_executors_callback_group_behavior)
   target_link_libraries(test_executors_callback_group_behavior ${PROJECT_NAME})
 endif()
 
+ament_add_gtest(
+  test_executors_cbg_destroyed
+  executors/test_executors_cbg_destroyed.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}"
+  TIMEOUT 180)
+if(TARGET test_executors_cbg_destroyed)
+  target_link_libraries(test_executors_cbg_destroyed ${PROJECT_NAME})
+endif()
+
 ament_add_gtest(
   test_executors_intraprocess
   executors/test_executors_intraprocess.cpp

rclcpp/test/rclcpp/executors/test_executors_cbg_destroyed.cpp

@@ -0,0 +1,81 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <cstddef>
+#include <memory>
+#include <string>
+#include <type_traits>
+#include <utility>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "./executor_types.hpp"
+
+using namespace std::chrono_literals;
+
+template<typename T>
+class TestExecutorsCbgDestroyed: public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TYPED_TEST_SUITE(TestExecutorsCbgDestroyed, ExecutorTypes, ExecutorTypeNames);
+
+TYPED_TEST(TestExecutorsCbgDestroyed, doesnt_segfault)
+{
+  auto node = rclcpp::Node::make_shared("test_node");
+  auto log = node->get_logger();
+
+  using ExecutorType = TypeParam;
+  ExecutorType executor;
+
+  auto spinThread = std::thread([&] {
+    RCLCPP_INFO(log, "add_node");
+    executor.add_node(node);
+    RCLCPP_INFO(log, "spin");
+    executor.spin();
+    RCLCPP_INFO(log, "remove_node");
+    executor.remove_node(node);
+  });
+
+  while (!executor.is_spinning()) {
+    std::this_thread::sleep_for(1ms); 
+  }
+
+  {
+    RCLCPP_INFO(log, "BEGIN");
+    auto cg = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+    auto timer = node->create_timer(1s, [&log] { RCLCPP_INFO(log, "timer"); }, cg);  // SIGSEGV
+    // auto timer = node->create_timer(1s, [&log] { RCLCPP_INFO(log, "timer"); }, std::move(cg)); // OK
+    std::this_thread::sleep_for(100ms);  // wait a bit for the executor to catch up
+    RCLCPP_INFO(log, "END");             // timer and subscribers go out of scope here
+  }
+
+  executor.cancel();
+  if (spinThread.joinable()) {
+    spinThread.join();
+  }
+}