How implement Gracefull Shutdown?

[tfa2si]

Hi,
can you pls hint how to implement a gracefull shutdown to avoid this on Ctrl+C
[my_rust_pubsub-1] Publishing: 'Hello World 2' [my_rust_pubsub-1] Received: Hello World 2 ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [ERROR] [my_rust_pubsub-1]: process has died [pid 1395484, exit code -2, cmd '/home/bluebox/repos/ros2_haptic_force_controller/install/my_rust_pubsub/lib/my_rust_pubsub/my_rust_pubsub --ros-args --log-level info --ros-args -r __node:=simple_pubsub_node --params-file /tmp/launch_params_88a796nn --params-file /tmp/launch_params_9530d11c --params-file /tmp/launch_params_fo7p4rdc --params-file /tmp/launch_params_raxlgqoq'].