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Fixing lifecycle node autostart issue #445#449

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christophebedard merged 2 commits into
ros2:rollingfrom
open-navigation:lifecycle_2
Mar 17, 2025
Merged

Fixing lifecycle node autostart issue #445#449
christophebedard merged 2 commits into
ros2:rollingfrom
open-navigation:lifecycle_2

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@SteveMacenski

@SteveMacenski SteveMacenski commented Mar 14, 2025

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Fixing lifecycle node autostart issue #445

The issue boils down to the emitting of signals for the first transition in the transition_ids. It appears that sometimes the Launch system doesn't emit these in order or for whatever reason the second signal is received by the server before the first. By putting them both in a single transition, only the configure signal is emitted and activate is dependent fully on the state transition.

Honestly, this is probably how it should have always been implemented, but I didn't think it mattered at the time since I thought ordering was guaranteed.

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
@tonynajjar

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Tested, looks good! Thanks

@ahcorde

ahcorde commented Mar 17, 2025

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Pulls: #449
Gist: https://gist.githubusercontent.com/ahcorde/3f7cb3b5b6df5ba19d6aa21f40b4d8e3/raw/aa479fb8dbc6f90543c778d5dcd674b2732db638/ros2.repos
BUILD args: --packages-above-and-dependencies launch_ros
TEST args: --packages-above launch_ros
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15403

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@fujitatomoya fujitatomoya left a comment

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RHEL Job got disconnected, i just restarted that. windows failures look unrelated.

@SteveMacenski

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Great, can we merge?

@christophebedard

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The RHEL job passed, let's go!

@christophebedard christophebedard merged commit 98952b5 into ros2:rolling Mar 17, 2025
@ahcorde

ahcorde commented Mar 18, 2025

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@SteveMacenski should we backport this to jazzy and/or humble ?

@christophebedard

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I think Jazzy only, since I believe #430 was only backported to Jazzy, but I just need to actually review #438 (Jazzy backport of #430).

@christophebedard

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@Mergifyio backport jazzy

@mergify

mergify Bot commented Mar 25, 2025

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backport jazzy

✅ Backports have been created

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mergify Bot pushed a commit that referenced this pull request Mar 25, 2025
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
(cherry picked from commit 98952b5)

# Conflicts:
#	launch_ros/launch_ros/actions/lifecycle_node.py
#	launch_ros/launch_ros/actions/load_composable_nodes.py
christophebedard pushed a commit that referenced this pull request Mar 25, 2025
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
(cherry picked from commit 98952b5)
christophebedard pushed a commit that referenced this pull request Mar 25, 2025
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
(cherry picked from commit 98952b5)
christophebedard pushed a commit that referenced this pull request Mar 25, 2025
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
(cherry picked from commit 98952b5)

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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5 participants