Clean up action clients in nav2_simple_commander

nav2_simple_commander/README.md

@@ -39,6 +39,7 @@ The methods provided by the basic navigator are shown below, with inputs and exp
 | waitUntilNav2Active(navigator='bt_navigator, localizer='amcl') | Blocks until Nav2 is completely online and lifecycle nodes are in the active state. To be used in conjunction with autostart or external lifecycle bringup. Custom navigator and localizer nodes can be specified  |
 | lifecycleStartup()                | Sends a request to all lifecycle management servers to bring them into the active state, to be used if autostart is `false` and you want this program to control Nav2's lifecycle. |
 | lifecycleShutdown()               | Sends a request to all lifecycle management servers to shut them down.     |
+| destroyNode()                     | Releases the resources used by the object.                                 |
 
 A general template for building applications is as follows:
 

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

@@ -90,6 +90,21 @@ def __init__(self):
         self.get_costmap_global_srv = self.create_client(GetCostmap, '/global_costmap/get_costmap')
         self.get_costmap_local_srv = self.create_client(GetCostmap, '/local_costmap/get_costmap')
 
+    def destroyNode(self):
+        self.destroy_node()
+
+    def destroy_node(self):
+        self.nav_through_poses_client.destroy()
+        self.nav_to_pose_client.destroy()
+        self.follow_waypoints_client.destroy()
+        self.follow_path_client.destroy()
+        self.compute_path_to_pose_client.destroy()
+        self.compute_path_through_poses_client.destroy()
+        self.smoother_client.destroy()
+        self.spin_client.destroy()
+        self.backup_client.destroy()
+        super().destroy_node()
+
     def setInitialPose(self, initial_pose):
         """Set the initial pose to the localization system."""
         self.initial_pose_received = False