Implement Lifecycle Node Support for EKF and UKF nodes #959
Conversation
- Add ROS 2 managed lifecycle support (LifecycleNode pattern) - Introduce lifecycle_managed_node parameter (default: false for backward compatibility) - Implement lifecycle callbacks: on_configure, on_activate, on_deactivate, on_cleanup, on_shutdown - Update CMakeLists.txt and package.xml with rclcpp_lifecycle dependency - Update launch files (ekf.launch.py, ukf.launch.py) to expose lifecycle_managed_node parameter - Add comprehensive documentation in doc/lifecycle_support.rst - Update CHANGELOG.rst with feature summary Closes cra-ros-pkg#958
SteveMacenski
left a comment
SteveMacenski
left a comment
There was a problem hiding this comment.
Good first stab - in general lets not change unrelated things like declaring parameters lambdas
| //! @brief Whether the node requires external lifecycle management | ||
| //! | ||
| //! When false (default), the node auto-transitions through configure and activate | ||
| //! on startup, maintaining backward compatibility. When true, external lifecycle | ||
| //! management via ros2 lifecycle commands is required. | ||
| bool lifecycle_managed_node_; |
There was a problem hiding this comment.
I think it should always be a managed node and have no auto-transition like this. There are ways to do this via the launch file instead.
launch/ekf.launch.py
Outdated
|
|
||
| return LaunchDescription([ | ||
| lifecycle_managed_param, | ||
| launch_ros.actions.Node( |
There was a problem hiding this comment.
If you use the LifecycleNode then there's an autostart param in rolling + newer that'll auto transition if desired
| default_value='false', | ||
| description='Enable lifecycle management for the UKF node') | ||
|
|
||
| return LaunchDescription([ |
There was a problem hiding this comment.
Ditto, and then remove this launch configuration for the lifecycle_managed_node
src/ekf_node.cpp
Outdated
| void sigintHandler(int signum) | ||
| { | ||
| static_cast<void>(signum); | ||
| g_sigint_requested.store(true); | ||
| } |
There was a problem hiding this comment.
This should also be removed from all nodes
There was a problem hiding this comment.
In general many of the changes here are not necessary if not lifecycle_managed_node
src/ros_filter.cpp
Outdated
| template<typename T> | ||
| void RosFilter<T>::loadParams() | ||
| { | ||
| auto declare_parameter_if_not_declared = |
src/ros_filter.cpp
Outdated
| @@ -2077,6 +2299,11 @@ void RosFilter<T>::poseCallback( | |||
| template<typename T> | |||
| void RosFilter<T>::initialize() | |||
There was a problem hiding this comment.
If we're doing lifecyckle, this method should be removed and its implementation should be happening on configure / activate as appropriate
2 participants
Changes
Adds ROS 2 managed lifecycle support for EKF/UKF state estimation nodes.
rclcpp_lifecycle::LifecycleNodelifecycle_managed_nodeparameter (default: false)false: nodes auto-configure/activate (backward compatible)true: nodes require external lifecycle management viaros2 lifecyclecommandsrclcpp_lifecycledependency to CMakeLists.txt and package.xmlTesting
Closes #958