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Expose the RegisterEventHandler action #658

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esteve opened this issue Oct 4, 2022 · 1 comment · May be fixed by #659
Open

Expose the RegisterEventHandler action #658

esteve opened this issue Oct 4, 2022 · 1 comment · May be fixed by #659
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esteve commented Oct 4, 2022

Feature request

Feature description

Based on the discussion in ros2/launch_ros#236 (comment), it'd be good to expose the RegisterEventHandler action so as to be able to support LifecycleNodes in launch_ros
@esteve esteve self-assigned this Oct 4, 2022
This was referenced Oct 4, 2022
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esteve commented Oct 4, 2022

@jacobperron @kenji-miyake for an example Python code like this:

        RegisterEventHandler(
            OnProcessStart(
                target_action=turtlesim_node,
                on_start=[
                    LogInfo(msg='Turtlesim started, spawning turtle'),
                    spawn_turtle
                ]
            )
        ),

I thought the XML could look like as follows:

<register_event_handler>
  <event_handler name="on_process_start">
    <target_action>turtle_sim_node<target_action/>
    <arg name="on_start">
        <action>log_info</action>
        <action>spawn_turtle</action>
    </arg>
  </event_handler>
</register_event_handler>

But I'd appreciate any feedback. Thanks.

@esteve esteve mentioned this issue Oct 4, 2022
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Added support for exposing EventHandlers and RegisterEventHandler actions esteve/launch
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