Fix lifecycle manager deadlock during shutdown (ros-navigation#5448)

Signed-off-by: Jacob Visser <jacob.visser@cboost.nl>

Author: cboostjvisser

nav2_util/include/nav2_util/lifecycle_service_client.hpp

@@ -36,6 +36,12 @@ class LifecycleServiceClient
     const std::string & lifecycle_node_name,
     rclcpp::Node::SharedPtr parent_node);
 
+  ~LifecycleServiceClient()
+  {
+    change_state_.stop();
+    get_state_.stop();
+  }
+
   /// Trigger a state change
   /**
    * Throws std::runtime_error on failure

nav2_util/include/nav2_util/service_client.hpp

@@ -145,6 +145,16 @@ class ServiceClient
     return service_name_;
   }
 
+  /**
+  * @brief Stop any running spin operations on the internal executor
+  */
+  void stop()
+  {
+    if (client_) {
+      callback_group_executor_.cancel();
+    }
+  }
+
 protected:
   std::string service_name_;
   NodeT node_;