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Primary state error transitions #436

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This PR shows an example of the new self-transitioning functionality implemented in required PRs ros2/rcl_interfaces#97, ros2/rcl#618, and ros2/rclcpp#1064. Ideally, I think the lifecycle_service_client should react to the lifecycle_talker having an error rather than just knowing it will happen as that would be more true to a real world example, but for a demo and proof of concept, maybe it's better to keep it simpler.

// raise_error() can be called from an inactive or active state.
if(count == 32){
RCLCPP_ERROR(get_logger(),"An error has arisen in the node and it needs reconfiguration.");
raise_error();
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@fujitatomoya fujitatomoya Apr 16, 2020

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check if the current state in ACTIVE before raise_error() ?

* TRANSITION_CALLBACK_ERROR or any uncaught exceptions to "finalized"
*/
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_error(const rclcpp_lifecycle::State & state)
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indent is not correct?

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Thanks for that. Fixed

@hidmic hidmic added the enhancement New feature or request label Apr 16, 2020
@thebyohazard thebyohazard force-pushed the lifecycle_primary_state_error_transitions branch from 8c40675 to c2b2cb9 Compare April 16, 2020 14:58
Signed-off-by: thebyohazard <[email protected]>
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norro commented Nov 23, 2020

What is the state of this PR?

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not sure, @thebyohazard any update you would do?

@audrow audrow changed the base branch from master to rolling June 28, 2022 14:18
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5 participants