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Use lifecycle nodes in controllers again #538

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merged 16 commits into from
Mar 14, 2022

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vatanaksoytezer
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Adds the lifecycle nodes back, that are removed in #261.

@vatanaksoytezer vatanaksoytezer marked this pull request as draft September 21, 2021 00:49
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The only thing left in this should be a test failure where we try to reconfigure and start an unconfigured loaded controller, the cli exits. I suspect that due to a cleanup error.

@vatanaksoytezer vatanaksoytezer marked this pull request as ready for review September 21, 2021 13:49
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vatanaksoytezer commented Sep 21, 2021

@bmagyar I think I addressed all your review, but still I have one failing test in spawner_unspawner and controller_manager_srvs that seems to be stemming from cleanup.

See https://github.com/ros-controls/ros2_control/runs/3663696172?check_suite_focus=true#step:3:3170 and https://github.com/ros-controls/ros2_control/runs/3663696172?check_suite_focus=true#step:3:3076 for context.

@bmagyar bmagyar added the rolling label Nov 3, 2021
@destogl destogl self-assigned this Nov 12, 2021
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vatanaksoytezer commented Feb 9, 2022

I guess this is not gonna get merged soon, and I am more likely to not commit a lot of time into this PR, so closing it. Let me know if you need this or have any intentions to merge.

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mergify bot commented Feb 24, 2022

This pull request is in conflict. Could you fix it @vatanaksoytezer?

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destogl commented Feb 24, 2022

@vatanaksoytezer I will take this over. I hope I have access to push to your fork.

Thanks for the initial work. It looks good.

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@vatanaksoytezer I will take this over. I hope I have access to push to your fork.

You should have access, let me know if you need anything.

@destogl destogl self-requested a review February 24, 2022 22:19
@destogl destogl changed the title WIP: Add lifecycle nodes Use lifecycle nodes in controllers again Mar 3, 2022
@destogl destogl force-pushed the pr-lifecycle_nodes branch 2 times, most recently from 57a63ba to 858b210 Compare March 6, 2022 13:22
@destogl destogl merged commit 9f13b60 into ros-controls:master Mar 14, 2022
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[Galactic+] Use LifecycleNode once transitions cannot be triggered by externals.
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