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remove on_errors in specific servers in favor of a general lifecycle warning #1904

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Merged
SteveMacenski merged 2 commits into from
Aug 4, 2020
Merged

remove on_errors in specific servers in favor of a general lifecycle warning #1904

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a8c422e
remove on_errors in favor of a general lifecycle warning
SteveMacenski Aug 4, 2020
8bca387
adding removed thing
SteveMacenski Aug 4, 2020
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1 change: 0 additions & 1 deletion nav2_amcl/include/nav2_amcl/amcl_node.hpp
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Expand Up @@ -66,7 +66,6 @@ class AmclNode : public nav2_util::LifecycleNode
nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;

// Since the sensor data from gazebo or the robot is not lifecycle enabled, we won't
// respond until we're in the active state
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7 changes: 0 additions & 7 deletions nav2_amcl/src/amcl_node.cpp
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Expand Up @@ -389,13 +389,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
AmclNode::on_error(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
AmclNode::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
{
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5 changes: 0 additions & 5 deletions nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
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Expand Up @@ -82,11 +82,6 @@ class BtNavigator : public nav2_util::LifecycleNode
* @return SUCCESS or FAILURE
*/
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
/**
* @brief Called when in error state
* @param state Reference to LifeCycle node state
*/
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;

using Action = nav2_msgs::action::NavigateToPose;

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7 changes: 0 additions & 7 deletions nav2_bt_navigator/src/bt_navigator.cpp
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Expand Up @@ -222,13 +222,6 @@ BtNavigator::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
BtNavigator::on_error(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
BtNavigator::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
{
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6 changes: 0 additions & 6 deletions nav2_controller/include/nav2_controller/nav2_controller.hpp
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Expand Up @@ -102,12 +102,6 @@ class ControllerServer : public nav2_util::LifecycleNode
* @return Success or Failure
*/
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
/**
* @brief Called when in Error state
* @param state LifeCycle Node's state
* @return Success or Failure
*/
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;

using Action = nav2_msgs::action::FollowPath;
using ActionServer = nav2_util::SimpleActionServer<Action>;
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7 changes: 0 additions & 7 deletions nav2_controller/src/nav2_controller.cpp
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Expand Up @@ -228,13 +228,6 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
ControllerServer::on_error(const rclcpp_lifecycle::State &)
{
RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
ControllerServer::on_shutdown(const rclcpp_lifecycle::State &)
{
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1 change: 0 additions & 1 deletion nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
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Expand Up @@ -97,7 +97,6 @@ class Costmap2DROS : public nav2_util::LifecycleNode
nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;

/**
* @brief Subscribes to sensor topics if necessary and starts costmap
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7 changes: 0 additions & 7 deletions nav2_costmap_2d/src/costmap_2d_ros.cpp
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Expand Up @@ -274,13 +274,6 @@ Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
Costmap2DROS::on_error(const rclcpp_lifecycle::State &)
{
RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
Costmap2DROS::on_shutdown(const rclcpp_lifecycle::State &)
{
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6 changes: 0 additions & 6 deletions nav2_map_server/include/nav2_map_server/map_saver.hpp
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Expand Up @@ -86,12 +86,6 @@ class MapSaver : public nav2_util::LifecycleNode
* @return Success or Failure
*/
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
/**
* @brief Called when Error is raised
* @param state Lifecycle Node's state
* @return Success or Failure
*/
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;

/**
* @brief Map saving service callback
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6 changes: 0 additions & 6 deletions nav2_map_server/include/nav2_map_server/map_server.hpp
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Expand Up @@ -77,12 +77,6 @@ class MapServer : public nav2_util::LifecycleNode
* @return Success or Failure
*/
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
/**
* @brief Called when Error is raised
* @param state Lifecycle Node's state
* @return Success or Failure
*/
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;

/**
* @brief Load the map YAML, image from map file name and
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7 changes: 0 additions & 7 deletions nav2_map_server/src/map_saver/map_saver.cpp
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Expand Up @@ -95,13 +95,6 @@ MapSaver::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
MapSaver::on_error(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
MapSaver::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
{
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7 changes: 0 additions & 7 deletions nav2_map_server/src/map_server/map_server.cpp
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Expand Up @@ -160,13 +160,6 @@ MapServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
MapServer::on_error(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
MapServer::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
{
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6 changes: 0 additions & 6 deletions nav2_planner/include/nav2_planner/planner_server.hpp
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Expand Up @@ -89,12 +89,6 @@ class PlannerServer : public nav2_util::LifecycleNode
* @return SUCCESS or FAILURE
*/
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
/**
* @brief Called when in error state
* @param state Reference to LifeCycle node state
* @return SUCCESS or FAILURE
*/
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;

using ActionServer = nav2_util::SimpleActionServer<nav2_msgs::action::ComputePathToPose>;

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7 changes: 0 additions & 7 deletions nav2_planner/src/planner_server.cpp
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Expand Up @@ -197,13 +197,6 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & state)
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
PlannerServer::on_error(const rclcpp_lifecycle::State &)
{
RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
PlannerServer::on_shutdown(const rclcpp_lifecycle::State &)
{
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1 change: 0 additions & 1 deletion nav2_recoveries/include/nav2_recoveries/recovery_server.hpp
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Expand Up @@ -46,7 +46,6 @@ class RecoveryServer : public nav2_util::LifecycleNode
nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;

std::shared_ptr<tf2_ros::Buffer> tf_;
std::shared_ptr<tf2_ros::TransformListener> transform_listener_;
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7 changes: 0 additions & 7 deletions nav2_recoveries/src/recovery_server.cpp
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Expand Up @@ -169,13 +169,6 @@ RecoveryServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
RecoveryServer::on_error(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
RecoveryServer::on_shutdown(const rclcpp_lifecycle::State &)
{
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8 changes: 8 additions & 0 deletions nav2_util/include/nav2_util/lifecycle_node.hpp
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Expand Up @@ -123,6 +123,14 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
rclcpp_lifecycle::LifecycleNode::shared_from_this());
}

nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_FATAL(
get_logger(),
"Lifecycle node %s does not have error state implemented", get_name());
return nav2_util::CallbackReturn::SUCCESS;
}

// bond connection to lifecycle manager
void createBond();
void destroyBond();
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5 changes: 0 additions & 5 deletions nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp
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Expand Up @@ -92,11 +92,6 @@ class WaypointFollower : public nav2_util::LifecycleNode
* @return SUCCESS or FAILURE
*/
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
/**
* @brief Called when in error state
* @param state Reference to LifeCycle node state
*/
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;

/**
* @brief Action server callbacks
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7 changes: 0 additions & 7 deletions nav2_waypoint_follower/src/waypoint_follower.cpp
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Expand Up @@ -101,13 +101,6 @@ WaypointFollower::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
WaypointFollower::on_error(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
return nav2_util::CallbackReturn::SUCCESS;
}

nav2_util::CallbackReturn
WaypointFollower::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
{
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