Primary state error transitions #1064
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…on to errorProcessing Signed-off-by: thebyohazard <patrick@jlpengineering.com>
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fujitatomoya
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Nov 4, 2020
| const State & | ||
| LifecycleNode::raise_error() | ||
| { | ||
| if(get_current_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) |
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I do not think this needs to be checked here. it will check the current state and get the reference to rcl_lifecycle_transition_t in rcl state_machine.
| { | ||
| if(get_current_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) | ||
| return impl_->trigger_transition( | ||
| lifecycle_msgs::msg::Transition::TRANSITION_ACTIVE_ERROR); |
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Suggested change
| lifecycle_msgs::msg::Transition::TRANSITION_ACTIVE_ERROR); | |
| rcl_lifecycle_error_label); |
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What is the state of this PR? |
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Will this PR be ever merged? |
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I think we still need to work on design at 1st, but i don't think i can be working on this in soon. |
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Given that this PR is so old, and that we need a design fix first, I'm going to close it out. If you are planning on working on it, please push forward on the design update first, then we can open a new PR with changes that implement that design. Thanks for the contribution. |
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This PR (built on top of required PRs ros2/rcl_interfaces#97 and ros2/rcl#618) provides convenience functions for lifecycle nodes to self-trigger the error transitions created in the previous PRs.
This also addresses issue #547