BasicNavigator doesn't clean up ActionClients

[m2-farzan]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • Galactic
• Version or commit hash:
  • 1.0.8-1focal.20220203.051427
• DDS implementation:
  • Fast-RTPS

Steps to reproduce issue

#!/bin/python3

import rclpy
from nav2_simple_commander.robot_navigator import BasicNavigator

rclpy.init()
nav = BasicNavigator()
nav.destroy_node()

Expected behavior

Clean exit

Actual behavior

Exits with 0 code but prints the following warning:

Exception ignored in: <function ActionClient.__del__ at 0x7f310cc98f70>
Traceback (most recent call last):
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 597, in __del__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 590, in destroy
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 122, in __enter__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 104, in _get_capsule
rclpy._rclpy_pybind11.InvalidHandle: Tried to use a handle that has been destroyed.
Exception ignored in: <function ActionClient.__del__ at 0x7f310cc98f70>
Traceback (most recent call last):
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 597, in __del__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 590, in destroy
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 122, in __enter__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 104, in _get_capsule
rclpy._rclpy_pybind11.InvalidHandle: Tried to use a handle that has been destroyed.
Exception ignored in: <function ActionClient.__del__ at 0x7f310cc98f70>
Traceback (most recent call last):
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 597, in __del__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 590, in destroy
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 122, in __enter__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 104, in _get_capsule
rclpy._rclpy_pybind11.InvalidHandle: Tried to use a handle that has been destroyed.
Exception ignored in: <function ActionClient.__del__ at 0x7f310cc98f70>
Traceback (most recent call last):
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 597, in __del__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 590, in destroy
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 122, in __enter__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 104, in _get_capsule
rclpy._rclpy_pybind11.InvalidHandle: Tried to use a handle that has been destroyed.
Exception ignored in: <function ActionClient.__del__ at 0x7f310cc98f70>
Traceback (most recent call last):
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 597, in __del__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 590, in destroy
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 122, in __enter__
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 104, in _get_capsule
rclpy._rclpy_pybind11.InvalidHandle: Tried to use a handle that has been destroyed.

Additional information

Looks like Node.destroy_node only destroys publishers, subscribers, etc. but doesn't handle ActionClients. I'll post a PR for this.