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Use default on_activate()/on_deactivate implemenetation of Node #552

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Jan 24, 2022
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Use default on_activate()/on_deactivate implemenetation of Node #552

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22 changes: 12 additions & 10 deletions lifecycle/src/lifecycle_talker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,12 +144,13 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
* TRANSITION_CALLBACK_ERROR or any uncaught exceptions to "errorprocessing"
*/
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_activate(const rclcpp_lifecycle::State &)
on_activate(const rclcpp_lifecycle::State & state)
{
// We explicitly activate the lifecycle publisher.
// Starting from this point, all messages are no longer
// ignored but sent into the network.
pub_->on_activate();
// The parent class method automatically transition on managed entities
// (currently, LifecyclePublisher).
// pub_->on_activate() could also be called manually here.
// Overriding this method is optional, a lot of times the default is enough.
LifecycleNode::on_activate(state);
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RCUTILS_LOG_INFO_NAMED(get_name(), "on_activate() is called.");

Expand Down Expand Up @@ -179,12 +180,13 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
* TRANSITION_CALLBACK_ERROR or any uncaught exceptions to "errorprocessing"
*/
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_deactivate(const rclcpp_lifecycle::State &)
on_deactivate(const rclcpp_lifecycle::State & state)
{
// We explicitly deactivate the lifecycle publisher.
// Starting from this point, all messages are no longer
// sent into the network.
pub_->on_deactivate();
// The parent class method automatically transition on managed entities
// (currently, LifecyclePublisher).
// pub_->on_deactivate() could also be called manually here.
// Overriding this method is optional, a lot of times the default is enough.
LifecycleNode::on_deactivate(state);

RCUTILS_LOG_INFO_NAMED(get_name(), "on_deactivate() is called.");

Expand Down