From 07ebd9a0213cc653ba1c7b88abf2646eab7fca72 Mon Sep 17 00:00:00 2001
From: Matej Vargovcik <vargovcik@robotechvision.com>
Date: Thu, 18 Nov 2021 09:43:28 +0100
Subject: [PATCH 1/2] removed init_timer from lifecycle callback group

---
 nav2_lifecycle_manager/src/lifecycle_manager.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
index 7022681e6fa..2e5be4be344 100644
--- a/nav2_lifecycle_manager/src/lifecycle_manager.cpp
+++ b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -77,15 +77,14 @@ LifecycleManager::LifecycleManager(const rclcpp::NodeOptions & options)
     std::string("Shutting down ");
 
   init_timer_ = this->create_wall_timer(
-    std::chrono::nanoseconds(10),
+    0s,
     [this]() -> void {
       init_timer_->cancel();
       createLifecycleServiceClients();
       if (autostart_) {
         startup();
       }
-    },
-    callback_group_);
+    });
   auto executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
   executor->add_callback_group(callback_group_, get_node_base_interface());
   service_thread_ = std::make_unique<nav2_util::NodeThread>(executor);

From 89499ab04972fa3251fa17f9a233081705070091 Mon Sep 17 00:00:00 2001
From: Matej Vargovcik <vargovcik@robotechvision.com>
Date: Fri, 19 Nov 2021 14:55:11 +0100
Subject: [PATCH 2/2] lifecycle manager: startup() on autostart_ calling from
 callback_group_ (Bond::waitUntilFormed needs node spinning in the background)

---
 nav2_lifecycle_manager/src/lifecycle_manager.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
index 2e5be4be344..8474969f8a4 100644
--- a/nav2_lifecycle_manager/src/lifecycle_manager.cpp
+++ b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -82,7 +82,13 @@ LifecycleManager::LifecycleManager(const rclcpp::NodeOptions & options)
       init_timer_->cancel();
       createLifecycleServiceClients();
       if (autostart_) {
-        startup();
+        init_timer_ = this->create_wall_timer(
+          0s,
+          [this]() -> void {
+            init_timer_->cancel();
+            startup();
+          },
+          callback_group_);
       }
     });
   auto executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();