Primary state error transitions #436
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fujitatomoya
requested changes
Apr 16, 2020
| // 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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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?
…tion Signed-off-by: thebyohazard <patrick@jlpengineering.com>
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Signed-off-by: thebyohazard <patrick@jlpengineering.com>
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What is the state of this PR? |
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not sure, @thebyohazard any update you would do? |
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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.