diff --git a/examples/ros2/publisher/complex_data.cc b/examples/ros2/publisher/complex_data.cc
index fb40cde..0db4cf6 100644
--- a/examples/ros2/publisher/complex_data.cc
+++ b/examples/ros2/publisher/complex_data.cc
@@ -93,15 +93,13 @@ class RTROS2PublisherThread : public cactus_rt::CyclicThread, public cactus_rt::
   }
 };
 
-int main(int argc, char* argv[]) {
-  rclcpp::init(argc, argv);
-
+int main(int argc, const char* argv[]) {
   const cactus_rt::AppConfig app_config;
 
   cactus_rt::ros2::Ros2Adapter::Config ros2_adapter_config;
   ros2_adapter_config.timer_interval = std::chrono::milliseconds(50);
 
-  cactus_rt::ros2::App app("ComplexDataROS2Publisher", app_config, ros2_adapter_config);
+  cactus_rt::ros2::App app(argc, argv, "ComplexDataROS2Publisher", app_config, ros2_adapter_config);
   app.StartTraceSession("build/publisher.perfetto");
 
   constexpr std::chrono::seconds time(30);
@@ -112,9 +110,12 @@ int main(int argc, char* argv[]) {
 
   app.Start();
 
-  std::this_thread::sleep_for(time);
+  std::thread t([&app, &time]() {
+    std::this_thread::sleep_for(time);
+    app.RequestStop();
+  });
+  t.detach();
 
-  app.RequestStop();
   app.Join();
 
   std::cout << "Done\n";
diff --git a/examples/ros2/publisher/simple_data.cc b/examples/ros2/publisher/simple_data.cc
index 77853e8..575d4ba 100644
--- a/examples/ros2/publisher/simple_data.cc
+++ b/examples/ros2/publisher/simple_data.cc
@@ -53,15 +53,13 @@ class RTROS2PublisherThread : public cactus_rt::CyclicThread, public cactus_rt::
   }
 };
 
-int main(int argc, char* argv[]) {
-  rclcpp::init(argc, argv);
-
+int main(int argc, const char* argv[]) {
   const cactus_rt::AppConfig app_config;
 
   cactus_rt::ros2::Ros2Adapter::Config ros2_adapter_config;
   ros2_adapter_config.timer_interval = std::chrono::milliseconds(50);
 
-  cactus_rt::ros2::App app("SimpleDataROS2Publisher", app_config, ros2_adapter_config);
+  cactus_rt::ros2::App app(argc, argv, "SimpleDataROS2Publisher", app_config, ros2_adapter_config);
   app.StartTraceSession("build/publisher.perfetto");
 
   constexpr std::chrono::seconds time(30);
@@ -72,9 +70,11 @@ int main(int argc, char* argv[]) {
 
   app.Start();
 
-  std::this_thread::sleep_for(time);
+  std::thread t([&app, &time]() {
+    std::this_thread::sleep_for(time);
+    app.RequestStop();
+  });
 
-  app.RequestStop();
   app.Join();
 
   std::cout << "Done\n";
diff --git a/examples/ros2/subscriber/complex_data.cc b/examples/ros2/subscriber/complex_data.cc
index a0b16cf..75a8a19 100644
--- a/examples/ros2/subscriber/complex_data.cc
+++ b/examples/ros2/subscriber/complex_data.cc
@@ -78,10 +78,8 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
   }
 };
 
-int main(int argc, char* argv[]) {
-  rclcpp::init(argc, argv);
-
-  cactus_rt::ros2::App app("SimpleDataROS2Subscriber");
+int main(int argc, const char* argv[]) {
+  cactus_rt::ros2::App app(argc, argv, "SimpleDataROS2Subscriber");
   app.StartTraceSession("build/subscriber.perfetto");
 
   constexpr std::chrono::seconds time(30);
@@ -92,9 +90,11 @@ int main(int argc, char* argv[]) {
 
   app.Start();
 
-  std::this_thread::sleep_for(time);
+  std::thread t([&app, &time]() {
+    std::this_thread::sleep_for(time);
+    app.RequestStop();
+  });
 
-  app.RequestStop();
   app.Join();
 
   std::cout << "Done\n";
diff --git a/examples/ros2/subscriber/simple_data.cc b/examples/ros2/subscriber/simple_data.cc
index a805ac0..b40d3d1 100644
--- a/examples/ros2/subscriber/simple_data.cc
+++ b/examples/ros2/subscriber/simple_data.cc
@@ -53,10 +53,8 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
   }
 };
 
-int main(int argc, char* argv[]) {
-  rclcpp::init(argc, argv);
-
-  cactus_rt::ros2::App app("SimpleDataROS2Subscriber");
+int main(int argc, const char* argv[]) {
+  cactus_rt::ros2::App app(argc, argv, "SimpleDataROS2Subscriber");
   app.StartTraceSession("build/subscriber.perfetto");
 
   constexpr std::chrono::seconds time(30);
@@ -67,9 +65,11 @@ int main(int argc, char* argv[]) {
 
   app.Start();
 
-  std::this_thread::sleep_for(time);
+  std::thread t([&app, &time]() {
+    std::this_thread::sleep_for(time);
+    app.RequestStop();
+  });
 
-  app.RequestStop();
   app.Join();
 
   std::cout << "Done\n";
diff --git a/include/cactus_rt/ros2/app.h b/include/cactus_rt/ros2/app.h
index 9e93815..848b9fc 100644
--- a/include/cactus_rt/ros2/app.h
+++ b/include/cactus_rt/ros2/app.h
@@ -41,16 +41,23 @@ class Ros2ExecutorThread : public cactus_rt::Thread, public cactus_rt::ros2::Ros
 };
 
 class App : public cactus_rt::App {
-  std::shared_ptr<Ros2Adapter>        ros2_adapter_;
+  std::shared_ptr<Ros2Adapter> ros2_adapter_;
+
   std::shared_ptr<Ros2ExecutorThread> ros2_executor_thread_;
 
+  std::thread signal_handling_thread_;
+
  public:
-  explicit App(
+  App(
+    int                  argc,
+    const char*          argv[],  // NOLINT
     std::string          name = "RTROS2App",
     cactus_rt::AppConfig config = cactus_rt::AppConfig(),
     Ros2Adapter::Config  ros2_adapter_config = Ros2Adapter::Config()
   );
 
+  ~App() override;
+
   template <typename ThreadT, typename... Args>
   std::shared_ptr<ThreadT> CreateROS2EnabledThread(Args&&... args) {
     static_assert(std::is_base_of_v<Ros2ThreadMixin, ThreadT>, "Must derive ROS2 thread from Ros2ThreadMixin");
diff --git a/include/cactus_rt/signal_handler.h b/include/cactus_rt/signal_handler.h
index 7f01cbe..22b5ad5 100644
--- a/include/cactus_rt/signal_handler.h
+++ b/include/cactus_rt/signal_handler.h
@@ -6,8 +6,6 @@
 #include <csignal>
 #include <vector>
 
-#include "app.h"
-
 /// Namespace comment is needed for doxygen to generate cross references correctly.
 namespace cactus_rt {
 /**
diff --git a/src/cactus_rt/ros2/app.cc b/src/cactus_rt/ros2/app.cc
index db39dd3..a9e97fc 100644
--- a/src/cactus_rt/ros2/app.cc
+++ b/src/cactus_rt/ros2/app.cc
@@ -3,11 +3,8 @@
 #include <rclcpp/executors/single_threaded_executor.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include "cactus_rt//utils.h"
-#include "cactus_rt/app.h"
-#include "cactus_rt/config.h"
-#include "cactus_rt/ros2/ros2_adapter.h"
-#include "cactus_rt/thread.h"
+#include "cactus_rt/signal_handler.h"
+#include "cactus_rt/utils.h"
 
 namespace cactus_rt::ros2 {
 
@@ -34,13 +31,37 @@ void Ros2ExecutorThread::Run() {
   executor_->remove_node(node_ptr);
 }
 
-App::App(std::string name, cactus_rt::AppConfig config, Ros2Adapter::Config ros2_adapter_config)
-    : cactus_rt::App(name, config),
-      ros2_adapter_(std::make_shared<Ros2Adapter>(name, ros2_adapter_config)) {
+App::App(
+  int                  argc,
+  const char*          argv[],  // NOLINT
+  std::string          name,
+  cactus_rt::AppConfig config,
+  Ros2Adapter::Config  ros2_adapter_config
+) : cactus_rt::App(name, config) {
+  rclcpp::init(argc, argv, rclcpp::InitOptions(), rclcpp::SignalHandlerOptions::None);
+
+  cactus_rt::SetUpTerminationSignalHandler();
+
+  signal_handling_thread_ = std::thread([this]() {
+    cactus_rt::WaitForAndHandleTerminationSignal();
+
+    RequestStop();
+    Join();
+    rclcpp::shutdown();
+  });
+
+  signal_handling_thread_.detach();
+
+  // Must initialize rclcpp before making the Ros2Adapter;
+  ros2_adapter_ = std::make_shared<Ros2Adapter>(name, ros2_adapter_config);
   ros2_executor_thread_ = CreateROS2EnabledThread<Ros2ExecutorThread>();
   SetupTraceAggregator(*ros2_executor_thread_);
 }
 
+App::~App() {
+  rclcpp::shutdown();
+}
+
 void App::Start(int64_t start_monotonic_time_ns) {
   // Start the Ros2ExecutorThread first. Don't think it is 100% necessary but why not get a head start.
   if (start_monotonic_time_ns == -1) {
diff --git a/src/cactus_rt/signal_handler.cc b/src/cactus_rt/signal_handler.cc
index 3225eae..e135f8b 100644
--- a/src/cactus_rt/signal_handler.cc
+++ b/src/cactus_rt/signal_handler.cc
@@ -4,6 +4,8 @@
 
 #include <atomic>
 #include <cstring>
+#include <stdexcept>
+#include <string>
 
 namespace cactus_rt {
 /// @private