rosbridge sometimes doesn't shut down cleanly

[bmartin427]

Description
Sometimes when shutting down, rosbridge can get in an infinite loop spamming console output like this over and over again:

[rosbridge_websocket-127] ERROR:tornado.application:Exception in callback <function main.<locals>.<lambda> at 0x708508230040>
[rosbridge_websocket-127] Traceback (most recent call last):
[rosbridge_websocket-127]   File "/usr/lib/python3/dist-packages/tornado/ioloop.py", line 905, in _run
[rosbridge_websocket-127]     return self.callback()
[rosbridge_websocket-127]   File "/home/bmartin/colcon_ws/install/rosbridge_server/lib/rosbridge_server/rosbridge_websocket", line 336, in <lambda>
[rosbridge_websocket-127]     spin_callback = PeriodicCallback(lambda: executor.spin_once(timeout_sec=0.01), 1)
[rosbridge_websocket-127]   File "/opt/ros/iron/lib/python3.10/site-packages/rclpy/executors.py", line 787, in spin_once
[rosbridge_websocket-127]     self._spin_once_impl(timeout_sec)
[rosbridge_websocket-127]   File "/opt/ros/iron/lib/python3.10/site-packages/rclpy/executors.py", line 776, in _spin_once_impl
[rosbridge_websocket-127]     handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
[rosbridge_websocket-127]   File "/opt/ros/iron/lib/python3.10/site-packages/rclpy/executors.py", line 762, in wait_for_ready_callbacks
[rosbridge_websocket-127]     return next(self._cb_iter)
[rosbridge_websocket-127]   File "/opt/ros/iron/lib/python3.10/site-packages/rclpy/executors.py", line 539, in _wait_for_ready_callbacks
[rosbridge_websocket-127]     timeout_timer = Timer(None, None, timeout_nsec, self._clock, context=self._context)
[rosbridge_websocket-127]   File "/opt/ros/iron/lib/python3.10/site-packages/rclpy/timer.py", line 28, in __init__
[rosbridge_websocket-127]     self.__timer = _rclpy.Timer(
[rosbridge_websocket-127] rclpy._rclpy_pybind11.RCLError: failed to create timer: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67

I think the Tornado I/O loop should be shutdown if the rclpy context is ever 'not ok' to avoid continued attempts to use a bad context.

• Library Version: 1.3.2-1jammy.20240712.000253
• ROS Version: iron
• Platform / OS: Ubuntu 22.04

Steps To Reproduce
I don't have clear steps to consistent reproduction. I just know that interrupting a rosbridge_websocket node that's actively in communication with a client can sometimes result in the above described loop.

Expected Behavior
rosbridge_websocket node shuts down cleanly

Actual Behavior
Occasional infinite loop and console complaints as described above