fix bug mentioned in ros-navigation#3958 (ros-navigation#3972)

* bug fixed * add space * Update planner_server.cpp * add space for code style * add childLifecycleNode mode to costmap_2d_ros * add childLifecycleNode mode to costmap_2d_ros * add childLifecycleNode mode to costmap_2d_ros * add childLifecycleNode mode in costmap_2d_ros * add childLifecycleNode mode in costmap_2d_ros * add childLifecycleNode mode in costmap_2d_ros * add ChildLifecycleNode mode in costmap_2d_ros * NodeOption: is_lifecycle_follower_ * NodeOption: is_lifecycle_follower_ * fit to NodeOption: is_lifecycle_follower_ * NodeOption: is_lifecycle_follower_ * fit to NodeOption: is_lifecycle_follower * fit to NodeOption: is_lifecycle_follower * fit reorder Werror * fix wrong use of is_lifecycle_follower * remove blank line * NodeOption: is_lifecycle_follower_ * NodeOption: is_lifecycle_follower_ * Add files via upload * NodeOption: is_lifecycle_follower_ * NodeOption:is_lifecycle_follower_ * NodeOption:is_lifecycle_follower * NodeOption:is_lifecycle_follower * NodeOption:is_lifecycle_follower * change default * add NodeOption for costmap_2d_ros * add node options for costmap2dros as an independent node * code style reformat * fit to NodeOption of Costmap2DROS * fit to NodeOption of Costmap2DROS * fit to NodeOption of Costmap2DROS * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * changes * comment changes * change get_parameter into =false * comment modification * missing line * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp * delete last line * change lifecycle_test fit to NodeOption --------- Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
quasi-robotics · Dec 6, 2023 · b264a4b · b264a4b
1 parent 888180b
commit b264a4b
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Showing 5 changed files with 36 additions and 28 deletions.
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
@@ -290,11 +290,7 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
    * unordered_set iteration. Once this issue is resolved, we can maybe make a stronger
    * ordering assumption: https://github.com/ros2/rclcpp/issues/2096
    */
-  if (costmap_ros_->get_current_state().id() ==
-    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
-  {
-    costmap_ros_->deactivate();
-  }
+  costmap_ros_->deactivate();
 
   publishZeroVelocity();
   vel_publisher_->on_deactivate();
@@ -320,11 +316,9 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 
   goal_checkers_.clear();
   progress_checkers_.clear();
-  if (costmap_ros_->get_current_state().id() ==
-    lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
-  {
-    costmap_ros_->cleanup();
-  }
+
+  costmap_ros_->cleanup();
+
 
   // Release any allocated resources
   action_server_.reset();

diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -75,8 +75,9 @@ class Costmap2DROS : public nav2_util::LifecycleNode
 public:
   /**
    * @brief  Constructor for the wrapper
+   * @param options Additional options to control creation of the node.
    */
-  Costmap2DROS();
+  Costmap2DROS(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
   /**
    * @brief  Constructor for the wrapper, the node will
@@ -134,6 +135,28 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
+  /**
+   * @brief as a child-LifecycleNode :
+   * Costmap2DROS may be launched by another Lifecycle Node as a composed module
+   * If composed, its parents will handle the shutdown, which includes this module
+   */
+  void on_rcl_preshutdown() override
+  {
+    if (is_lifecycle_follower_) {
+      // Transitioning handled by parent node
+      return;
+    }
+
+    // Else, if this is an independent node, this node needs to handle itself.
+    RCLCPP_INFO(
+      get_logger(), "Running Nav2 LifecycleNode rcl preshutdown (%s)",
+      this->get_name());
+
+    runCleanups();
+
+    destroyBond();
+  }
+
   /**
    * @brief  Subscribes to sensor topics if necessary and starts costmap
    * updates, can be called to restart the costmap after calls to either
@@ -381,6 +404,8 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   double transform_tolerance_{0};           ///< The timeout before transform errors
   double initial_transform_timeout_{0};   ///< The timeout before activation of the node errors
 
+  bool is_lifecycle_follower_{true};     ///< whether is a child-LifecycleNode or an independent node
+
   // Derived parameters
   bool use_radius_{false};
   std::vector<geometry_msgs::msg::Point> unpadded_footprint_;

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -62,8 +62,8 @@ namespace nav2_costmap_2d
 Costmap2DROS::Costmap2DROS(const std::string & name, const bool & use_sim_time)
 : Costmap2DROS(name, "/", name, use_sim_time) {}
 
-Costmap2DROS::Costmap2DROS()
-: nav2_util::LifecycleNode("costmap", ""),
+Costmap2DROS::Costmap2DROS(const rclcpp::NodeOptions & options)
+: nav2_util::LifecycleNode("costmap", "", options),
   name_("costmap"),
   default_plugins_{"static_layer", "obstacle_layer", "inflation_layer"},
   default_types_{
@@ -72,6 +72,7 @@ Costmap2DROS::Costmap2DROS()
     "nav2_costmap_2d::InflationLayer"}
 {
   declare_parameter("map_topic", rclcpp::ParameterValue(std::string("map")));
+  is_lifecycle_follower_ = false;
   init();
 }
 

diff --git a/nav2_costmap_2d/test/unit/lifecycle_test.cpp b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
@@ -22,7 +22,7 @@
 TEST(LifecylceTest, CheckInitialTfTimeout) {
   rclcpp::init(0, nullptr);
 
-  auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_costmap");
+  auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>(rclcpp::NodeOptions());
   costmap->set_parameter({"initial_transform_timeout", 0.0});
 
   std::thread spin_thread{[costmap]() {rclcpp::spin(costmap->get_node_base_interface());}};

diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
@@ -218,11 +218,7 @@ PlannerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
    * unordered_set iteration. Once this issue is resolved, we can maybe make a stronger
    * ordering assumption: https://github.com/ros2/rclcpp/issues/2096
    */
-  if (costmap_ros_->get_current_state().id() ==
-    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
-  {
-    costmap_ros_->deactivate();
-  }
+  costmap_ros_->deactivate();
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {
@@ -247,15 +243,7 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   plan_publisher_.reset();
   tf_.reset();
 
-  /*
-   * Double check whether something else transitioned it to INACTIVE
-   * already, e.g. the rcl preshutdown callback.
-   */
-  if (costmap_ros_->get_current_state().id() ==
-    lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
-  {
-    costmap_ros_->cleanup();
-  }
+  costmap_ros_->cleanup();
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {