Ensure device is properly stopped

- add: destructor in FDEffortHardwareInterface
- add: call on_deactivate if controller manager is shutdown via ctrl+c

fd_hardware/include/fd_hardware/fd_effort_hi.hpp

@@ -35,6 +35,8 @@ class FDEffortHardwareInterface : public hardware_interface::SystemInterface
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(FDEffortHardwareInterface);
 
+  virtual ~FDEffortHardwareInterface();
+
   FD_HARDWARE_PUBLIC
   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 

fd_hardware/src/fd_effort_hi.cpp

@@ -35,6 +35,14 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 
 namespace fd_hardware
 {
+
+FDEffortHardwareInterface::~FDEffortHardwareInterface()
+{
+  // If controller manager is shutdown via Ctrl + C, the on_deactivate methods won't be called.
+  // We need to call them here to ensure that the device is stopped and disconnected.
+  on_deactivate(rclcpp_lifecycle::State());
+}
+
 // ------------------------------------------------------------------------------------------
 CallbackReturn FDEffortHardwareInterface::on_init(
   const hardware_interface::HardwareInfo & info)