Fix for costmap nodes lifecycle status (#3009)

Lifecycle status for global and local cost nodes not correct.
ros2 lifecycle/service commands  shows unconfigured for these two.
This is due to directly calling on_configure/on_activate/on_cleanup
calls in parent node.  This PR to replace on_xxxxxx() to
configure()/activate()/cleanup() calls of lifecycle base.

Signed-off-by: Arshad <arshad.mehmood@intel.com>

nav2_controller/src/controller_server.cpp

@@ -77,7 +77,7 @@ ControllerServer::~ControllerServer()
 }
 
 nav2_util::CallbackReturn
-ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
+ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
 {
   auto node = shared_from_this();
 
@@ -122,7 +122,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
   get_parameter("speed_limit_topic", speed_limit_topic);
   get_parameter("failure_tolerance", failure_tolerance_);
 
-  costmap_ros_->on_configure(state);
+  costmap_ros_->configure();
 
   try {
     progress_checker_type_ = nav2_util::get_plugin_type_param(node, progress_checker_id_);
@@ -213,11 +213,11 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-ControllerServer::on_activate(const rclcpp_lifecycle::State & state)
+ControllerServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Activating");
 
-  costmap_ros_->on_activate(state);
+  costmap_ros_->activate();
   ControllerMap::iterator it;
   for (it = controllers_.begin(); it != controllers_.end(); ++it) {
     it->second->activate();
@@ -237,7 +237,7 @@ ControllerServer::on_activate(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-ControllerServer::on_deactivate(const rclcpp_lifecycle::State & state)
+ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Deactivating");
 
@@ -246,7 +246,7 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & state)
   for (it = controllers_.begin(); it != controllers_.end(); ++it) {
     it->second->deactivate();
   }
-  costmap_ros_->on_deactivate(state);
+  costmap_ros_->deactivate();
 
   publishZeroVelocity();
   vel_publisher_->on_deactivate();
@@ -259,7 +259,7 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
+ControllerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Cleaning up");
 
@@ -271,7 +271,7 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
   controllers_.clear();
 
   goal_checkers_.clear();
-  costmap_ros_->on_cleanup(state);
+  costmap_ros_->cleanup();
 
   // Release any allocated resources
   action_server_.reset();

nav2_planner/src/planner_server.cpp

@@ -74,11 +74,11 @@ PlannerServer::~PlannerServer()
 }
 
 nav2_util::CallbackReturn
-PlannerServer::on_configure(const rclcpp_lifecycle::State & state)
+PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Configuring");
 
-  costmap_ros_->on_configure(state);
+  costmap_ros_->configure();
   costmap_ = costmap_ros_->getCostmap();
 
   RCLCPP_DEBUG(
@@ -154,14 +154,14 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-PlannerServer::on_activate(const rclcpp_lifecycle::State & state)
+PlannerServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Activating");
 
   plan_publisher_->on_activate();
   action_server_pose_->activate();
   action_server_poses_->activate();
-  costmap_ros_->on_activate(state);
+  costmap_ros_->activate();
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {
@@ -187,14 +187,14 @@ PlannerServer::on_activate(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-PlannerServer::on_deactivate(const rclcpp_lifecycle::State & state)
+PlannerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Deactivating");
 
   action_server_pose_->deactivate();
   action_server_poses_->deactivate();
   plan_publisher_->on_deactivate();
-  costmap_ros_->on_deactivate(state);
+  costmap_ros_->deactivate();
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {
@@ -210,15 +210,15 @@ PlannerServer::on_deactivate(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-PlannerServer::on_cleanup(const rclcpp_lifecycle::State & state)
+PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Cleaning up");
 
   action_server_pose_.reset();
   action_server_poses_.reset();
   plan_publisher_.reset();
   tf_.reset();
-  costmap_ros_->on_cleanup(state);
+  costmap_ros_->cleanup();
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {