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Remove service nodes in lifecycle_manager #2267

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Merged
SteveMacenski merged 8 commits into from
Mar 29, 2021
Merged

Remove service nodes in lifecycle_manager #2267

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3f6ded4
remove service_node from nav2_lifecycle_manager
Mar 10, 2021
921ec0c
wait_for_service() returns the value of service_is_ready()
Mar 10, 2021
cbed614
Merge remote-tracking branch 'origin/main' into remove_service_nodes
Mar 24, 2021
a37a6ac
explain wait_for_service return
Mar 24, 2021
597df82
use timer to trigger init()
Mar 25, 2021
366c2cb
init() as lambda function
Mar 26, 2021
1f9706e
wait_for_service as void
Mar 26, 2021
ddf48e1
fix gtest
Mar 26, 2021
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4 changes: 2 additions & 2 deletions nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,7 @@ class LifecycleManager : public rclcpp::Node
~LifecycleManager();

protected:
// The ROS node to use when calling lifecycle services
rclcpp::Node::SharedPtr service_client_node_;
// The ROS node to create bond
rclcpp::Node::SharedPtr bond_client_node_;
std::unique_ptr<nav2_util::NodeThread> bond_node_thread_;

Expand Down Expand Up @@ -169,6 +168,7 @@ class LifecycleManager : public rclcpp::Node
void message(const std::string & msg);

// Timer thread to look at bond connections
rclcpp::TimerBase::SharedPtr init_timer_;
rclcpp::TimerBase::SharedPtr bond_timer_;
std::chrono::milliseconds bond_timeout_;

Expand Down
19 changes: 10 additions & 9 deletions nav2_lifecycle_manager/src/lifecycle_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,11 +57,8 @@ LifecycleManager::LifecycleManager()
get_name() + std::string("/is_active"),
std::bind(&LifecycleManager::isActiveCallback, this, _1, _2, _3));

auto service_options = rclcpp::NodeOptions().arguments(
{"--ros-args", "-r", std::string("__node:=") + get_name() + "_service_client", "--"});
auto bond_options = rclcpp::NodeOptions().arguments(
{"--ros-args", "-r", std::string("__node:=") + get_name() + "_bond_client", "--"});
service_client_node_ = std::make_shared<rclcpp::Node>("_", service_options);
bond_client_node_ = std::make_shared<rclcpp::Node>("_", bond_options);
bond_node_thread_ = std::make_unique<nav2_util::NodeThread>(bond_client_node_);

Expand All @@ -79,11 +76,15 @@ LifecycleManager::LifecycleManager()
transition_label_map_[Transition::TRANSITION_UNCONFIGURED_SHUTDOWN] =
std::string("Shutting down ");

createLifecycleServiceClients();

if (autostart_) {
startup();
}
init_timer_ = this->create_wall_timer(
std::chrono::nanoseconds(10),
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@SteveMacenski SteveMacenski Mar 26, 2021

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Is 10 nanoseconds enough to make sure you got out of the constructor reliably? (It might be, I really don't know)

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@BriceRenaudeau BriceRenaudeau Mar 29, 2021

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The node is mono-threaded (no callback group for the timer), so the timer callback will not be executed before the end of the constructor.

[this]() -> void {
init_timer_->cancel();
createLifecycleServiceClients();
if (autostart_) {
startup();
}
});
}

LifecycleManager::~LifecycleManager()
Expand Down Expand Up @@ -131,7 +132,7 @@ LifecycleManager::createLifecycleServiceClients()
message("Creating and initializing lifecycle service clients");
for (auto & node_name : node_names_) {
node_map_[node_name] =
std::make_shared<LifecycleServiceClient>(node_name, service_client_node_);
std::make_shared<LifecycleServiceClient>(node_name, shared_from_this());
}
}

Expand Down