CI test hangs at ~RealtimePublisher()

[Juliaj]

Describe the bug
I was able to reproduce the timeout reported in ros-controls/ros2_controllers#1574 locally. The issue is very intermittent and generally not reproducible on demand.

To Reproduce
Steps to reproduce the behavior:

1. run the unit tests for force_torque_sensor_broadcaster.
2. Test hangs during ForceTorqueSensorBroadcasterTest.InterfaceNames_Configure_Success.

Expected behavior
Test doesn't hang.

Environment (please complete the following information):

• OS: Ubuntu
• Jazzy

Additional context
gdb shows following stack when the test hung.

(gdb) bt
#0  0x000076fd5c4ecadf in __GI___clock_nanosleep (clock_id=clock_id@entry=0, flags=flags@entry=0, 
    req=0x7ffdbcceb530, rem=0x7ffdbcceb530) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78
#1  0x000076fd5c4f9a27 in __GI___nanosleep (req=<optimized out>, rem=<optimized out>)
    at ../sysdeps/unix/sysv/linux/nanosleep.c:25
#2  0x00005ea440439ff7 in void std::this_thread::sleep_for<long, std::ratio<1l, 1000000l> >(std::chrono::duration<long, std::ratio<1l, 1000000l> > const&) ()
#3  0x00005ea440447a93 in realtime_tools::RealtimePublisher<geometry_msgs::msg::WrenchStamped_<std::allocator<void> > >::~RealtimePublisher() ()
#4  0x00005ea4404434b8 in std::default_delete<realtime_tools::RealtimePublisher<geometry_msgs::msg::WrenchStamped_<std::allocator<void> > > >::operator()(realtime_tools::RealtimePublisher<geometry_msgs::msg::WrenchStamped_<std::allocator<void> > >*) const ()
#5  0x00005ea44043f400 in std::unique_ptr<realtime_tools::RealtimePublisher<geometry_msgs::msg::WrenchStamped_<std::allocator<void> > >, std::default_delete<realtime_tools::RealtimePublisher<geometry_msgs::msg::WrenchStamped_<std::allocator<void> > > > >::~unique_ptr() ()
#6  0x00005ea4404393b4 in force_torque_sensor_broadcaster::ForceTorqueSensorBroadcaster::~ForceTorqueSensorBroadcaster() ()
#7  0x00005ea44043f4de in FriendForceTorqueSensorBroadcaster::~FriendForceTorqueSensorBroadcaster() ()
#8  0x00005ea44043f4fe in FriendForceTorqueSensorBroadcaster::~FriendForceTorqueSensorBroadcaster() ()
#9  0x00005ea44043f53e in std::default_delete<FriendForceTorqueSensorBroadcaster>::operator()(FriendForceTorqueSensorBroadcaster*) const ()
#10 0x00005ea44043f5a2 in std::__uniq_ptr_impl<FriendForceTorqueSensorBroadcaster, std::default_delete<FriendForceTorqueSensorBroadcaster> >::reset(FriendForceTorqueSensorBroadcaster*) ()
#11 0x00005ea440439691 in std::unique_ptr<FriendForceTorqueSensorBroadcaster, std::default_delete<FriendForceTorqueSensorBroadcaster> >::reset(FriendForceTorqueSensorBroadcaster*) ()

[saikishor]

realtime_tools/realtime_tools/include/realtime_tools/realtime_publisher.hpp

Lines 103 to 105 in 169a2dd

	while (is_running()) {
	std::this_thread::sleep_for(std::chrono::microseconds(100));
	}

This could be the culprit

[saikishor]

I've some ideas to fix it. I will try tomorrow and open a PR