check bool in rclcpp node thread to stop spinning

add back blank line

nav2_util/include/nav2_util/lifecycle_node.hpp

@@ -51,6 +51,7 @@ protected:
 
   // When creating a local node, this class will launch a separate thread created to spin the node
   std::unique_ptr<std::thread> rclcpp_thread_;
+  std::atomic<bool> stop_rclcpp_thread_{false};
 };
 
 }  // namespace nav2_util

nav2_util/src/lifecycle_node.cpp

@@ -47,9 +47,11 @@ LifecycleNode::LifecycleNode(
   use_rclcpp_node_(use_rclcpp_node)
 {
   if (use_rclcpp_node_) {
+    stop_rclcpp_thread_ = false;
     rclcpp_node_ = std::make_shared<rclcpp::Node>(node_name + "_rclcpp_node", namespace_);
     rclcpp_thread_ = std::make_unique<std::thread>(
-      [](rclcpp::Node::SharedPtr node) {rclcpp::spin(node);}, rclcpp_node_
+      [&](rclcpp::Node::SharedPtr node) {
+        while (!stop_rclcpp_thread_ && rclcpp::ok()) {rclcpp::spin_some(node);}}, rclcpp_node_
     );
   }
 }
@@ -63,6 +65,7 @@ LifecycleNode::~LifecycleNode()
   }
 
   if (use_rclcpp_node_) {
+    stop_rclcpp_thread_ = true;
     rclcpp_thread_->join();
   }
 }