ci: take ROS packages from one sync, and shut rclcpp down after the param_drift suite

.github/workflows/ci.yml

@@ -58,6 +58,8 @@ jobs:
       - name: Install dependencies
         run: |
           apt-get update
+          # Upgrade the image to the apt sync rosdep installs from: packages from two syncs can be ABI-incompatible.
+          apt-get upgrade -y
           apt-get install -y ros-${{ matrix.ros_distro }}-test-msgs
           if [ "${{ matrix.ros_distro }}" = "humble" ]; then
             apt-get install -y ros-humble-rmw-cyclonedds-cpp
@@ -211,6 +213,8 @@ jobs:
       - name: Install dependencies
         run: |
           apt-get update
+          # Upgrade the image to the apt sync rosdep installs from: packages from two syncs can be ABI-incompatible.
+          apt-get upgrade -y
           apt-get install -y ros-${{ matrix.ros_distro }}-test-msgs
           if [ "${{ matrix.ros_distro }}" = "humble" ] || [ "${{ matrix.ros_distro }}" = "jazzy" ]; then
             apt-get install -y ros-${{ matrix.ros_distro }}-rmw-cyclonedds-cpp

.github/workflows/opcua-plugin.yml

@@ -72,6 +72,8 @@ jobs:
       - name: Install dependencies
         run: |
           apt-get update
+          # Upgrade the image to the apt sync rosdep installs from: packages from two syncs can be ABI-incompatible.
+          apt-get upgrade -y
           apt-get install -y ros-${{ matrix.ros_distro }}-test-msgs libyaml-cpp-dev libssl-dev
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
           for attempt in 1 2 3; do rosdep update && break; [ "$attempt" = 3 ] && exit 1; echo "rosdep update attempt $attempt failed, retrying" >&2; sleep 5; done

src/ros2_medkit_plugins/ros2_medkit_graph_watchdog/test/test_param_drift_integration.cpp

@@ -568,6 +568,14 @@ class ParamDriftIntegrationTest : public ::testing::Test {
     }
   }
 
+  // Shut the default context down before exit(). Its destructor would otherwise call
+  // Context::shutdown() after exit() has destroyed rclcpp's thread_local state for this thread.
+  static void TearDownTestSuite() {
+    if (rclcpp::ok()) {
+      rclcpp::shutdown();
+    }
+  }
+
   void SetUp() override {
     gateway_ = std::make_shared<rclcpp::Node>("pd_it_gateway");
     target_ = std::make_shared<rclcpp::Node>("pd_it_target");