From 898a4b7cc10623dabb5c79fd10d4af186289719a Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Mon, 20 Nov 2023 15:53:46 +0800
Subject: [PATCH 01/47] bug fixed

---
 nav2_controller/src/controller_server.cpp     |  2 ++
 .../nav2_costmap_2d/costmap_2d_ros.hpp        | 21 +++++++++++++++++++
 nav2_planner/src/planner_server.cpp           |  2 ++
 3 files changed, 25 insertions(+)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 0386c06fc7..9c289c53bc 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -284,6 +284,7 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
    */
   if (costmap_ros_->get_current_state().id() ==
     lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  //this condition could be removed
   {
     costmap_ros_->deactivate();
   }
@@ -314,6 +315,7 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   progress_checkers_.clear();
   if (costmap_ros_->get_current_state().id() ==
     lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+  //this condition could be removed
   {
     costmap_ros_->cleanup();
   }
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
index f319e52f33..0a9910af93 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -134,6 +134,27 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
+  /**
+   * @brief override on_rcl_preshutdown() as empty
+   * [reason] costmap only could be created by its parents like planner/controller_server
+   * [reason] costmap should react to ctrl+C later than its parents to avoid nullptr-accessed
+   * so the reaction must be later than its parent
+   *
+   * thus, it's a more perfect way to make on_rcl_preshutdown() as empty function
+   * only joint in planner/controller_server->on_deactivate()
+   * and planner/controller_server->on_cleanup()
+   *
+   * !!! a mention !!!
+   * if any other place use this class (Costmap2DROS)
+   * it's neccessary to let costmap->deactivate() joint in parent->deactivate()
+   * and let costmap->cleanup() joint in parent->cleanup()
+   */
+  void on_rcl_preshutdown() override
+  {
+    //do nothing
+    return;
+  }
+
   /**
    * @brief  Subscribes to sensor topics if necessary and starts costmap
    * updates, can be called to restart the costmap after calls to either
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 84edc6e4df..3aa47adf6c 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -220,6 +220,7 @@ PlannerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
    */
   if (costmap_ros_->get_current_state().id() ==
     lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  //this condition could be removed
   {
     costmap_ros_->deactivate();
   }
@@ -253,6 +254,7 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
    */
   if (costmap_ros_->get_current_state().id() ==
     lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+  //this condition could be removed
   {
     costmap_ros_->cleanup();
   }

From e83da7c7d0d95bfbdd3b15c785d3fd19860b19a9 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Mon, 20 Nov 2023 17:20:20 +0800
Subject: [PATCH 02/47] add space

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index 0a9910af93..995e7877d2 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -151,7 +151,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    */
   void on_rcl_preshutdown() override
   {
-    //do nothing
+    // do nothing
     return;
   }
 

From bd5fbde21cf31c6744478add1786da2d0314225d Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Tue, 21 Nov 2023 15:47:47 +0800
Subject: [PATCH 03/47] Update planner_server.cpp

---
 nav2_planner/src/planner_server.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 3aa47adf6c..20683e600c 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -220,7 +220,7 @@ PlannerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
    */
   if (costmap_ros_->get_current_state().id() ==
     lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
-  //this condition could be removed
+  //  this condition could be removed
   {
     costmap_ros_->deactivate();
   }
@@ -254,7 +254,7 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
    */
   if (costmap_ros_->get_current_state().id() ==
     lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
-  //this condition could be removed
+  //  this condition could be removed
   {
     costmap_ros_->cleanup();
   }

From 510c70bf48ff2db88e76dd7a73cd87acee244c8b Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Tue, 21 Nov 2023 15:51:49 +0800
Subject: [PATCH 04/47] add space for code style

---
 nav2_controller/src/controller_server.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 9c289c53bc..645b2d4fec 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -284,7 +284,7 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
    */
   if (costmap_ros_->get_current_state().id() ==
     lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
-  //this condition could be removed
+  //  this condition could be removed
   {
     costmap_ros_->deactivate();
   }
@@ -315,7 +315,7 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   progress_checkers_.clear();
   if (costmap_ros_->get_current_state().id() ==
     lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
-  //this condition could be removed
+  //  this condition could be removed
   {
     costmap_ros_->cleanup();
   }

From 14325f6cc973a47b9388198fc6dbc0f3f6a094a9 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Wed, 22 Nov 2023 15:45:44 +0800
Subject: [PATCH 05/47] add childLifecycleNode mode to costmap_2d_ros

---
 nav2_controller/src/controller_server.cpp | 26 +++++++++++++----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 645b2d4fec..d2dcfb556b 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -130,7 +130,9 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   costmap_ros_->configure();
   // Launch a thread to run the costmap node
   costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
-
+  // work as a child-LifecycleNode of its parent controller_server
+  costmap_ros_->turnChildLifecycleNode();
+  
   for (size_t i = 0; i != progress_checker_ids_.size(); i++) {
     try {
       progress_checker_types_[i] = nav2_util::get_plugin_type_param(
@@ -282,12 +284,13 @@ 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)
-  //  this condition could be removed
-  {
+//  if (costmap_ros_->get_current_state().id() ==
+//    lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+//  {
+//    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
     costmap_ros_->deactivate();
-  }
+//  }
+  // after turnChildLifecycleNode(), this double check is not neccessary anymore
 
   publishZeroVelocity();
   vel_publisher_->on_deactivate();
@@ -313,12 +316,13 @@ 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)
-  //  this condition could be removed
-  {
+//  if (costmap_ros_->get_current_state().id() ==
+//    lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+//  {
+//    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
     costmap_ros_->cleanup();
-  }
+//  }
+  // after turnChildLifecycleNode(), this double check is not neccessary anymore
 
   // Release any allocated resources
   action_server_.reset();

From ec8e2d05b17b191bcabf3e3448f721a5041989df Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Wed, 22 Nov 2023 15:46:16 +0800
Subject: [PATCH 06/47] add childLifecycleNode mode to costmap_2d_ros

---
 nav2_planner/src/planner_server.cpp | 26 +++++++++++++++-----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 20683e600c..8d6691e941 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -88,7 +88,9 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
 
   // Launch a thread to run the costmap node
   costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
-
+  // work as a child-LifecycleNode of its parent planner_server
+  costmap_ros_->turnChildLifecycleNode();
+  
   RCLCPP_DEBUG(
     get_logger(), "Costmap size: %d,%d",
     costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY());
@@ -218,12 +220,13 @@ 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)
-  //  this condition could be removed
-  {
+//  if (costmap_ros_->get_current_state().id() ==
+//    lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+//  {
+//    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
     costmap_ros_->deactivate();
-  }
+//  }
+  // after turnChildLifecycleNode(), this double check is not neccessary anymore
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {
@@ -252,12 +255,13 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
    * 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)
-  //  this condition could be removed
-  {
+//  if (costmap_ros_->get_current_state().id() ==
+//    lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+//  {
+//    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
     costmap_ros_->cleanup();
-  }
+//  }
+  // after turnChildLifecycleNode(), this double check is not neccessary anymore
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {

From c7a86da79e7e990fa7e996b3001e7effabff1f32 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Wed, 22 Nov 2023 15:46:52 +0800
Subject: [PATCH 07/47] add childLifecycleNode mode to costmap_2d_ros

---
 .../nav2_costmap_2d/costmap_2d_ros.hpp        | 45 ++++++++++++-------
 1 file changed, 30 insertions(+), 15 deletions(-)

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
index 995e7877d2..13a6cb32bf 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -135,24 +135,39 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
   /**
-   * @brief override on_rcl_preshutdown() as empty
-   * [reason] costmap only could be created by its parents like planner/controller_server
-   * [reason] costmap should react to ctrl+C later than its parents to avoid nullptr-accessed
-   * so the reaction must be later than its parent
-   *
-   * thus, it's a more perfect way to make on_rcl_preshutdown() as empty function
-   * only joint in planner/controller_server->on_deactivate()
-   * and planner/controller_server->on_cleanup()
-   *
-   * !!! a mention !!!
-   * if any other place use this class (Costmap2DROS)
-   * it's neccessary to let costmap->deactivate() joint in parent->deactivate()
-   * and let costmap->cleanup() joint in parent->cleanup()
+   * @brief child-LifecycleNode mode
+   * sometimes costmap may be launched by another LifecycleNode and work as a child-thread    
+   * child-LifecycleNode should react to ctrl+C later than its parents to avoid unclean shutdown
+   * Thus, it's neccessary to turnChildLifecycleNode() to change its launch mode
+   * 
+   * in ChildLifecycleNode mode, it would react to rcl_preshutdown anymore
+   * all its lifecycle state would be controlled by its parent-LifecycleNode
    */
+  void turnChildLifecycleNode()
+  {
+    // as a child-LifecycleNode launched by its parent-LifecycleNode
+    // and work as a child-thread
+    is_thread_ = true;
+  }
+  bool isThread()
+  {
+    return is_thread_; 
+  }
   void on_rcl_preshutdown() override
   {
-    // do nothing
-    return;
+    if( isThread() ){
+      // all of its reaction is up to its parent
+      return;
+    }
+
+    // else, same as ``on_rcl_preshutdown` in lifecycle_node.cpp` 
+    RCLCPP_INFO(
+    get_logger(), "Running Nav2 LifecycleNode rcl preshutdown (%s)",
+    this->get_name());
+
+    runCleanups();
+
+    destroyBond();
   }
 
   /**

From 4a09cffeba61f2cc5debee5a3337b2553b025778 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Wed, 22 Nov 2023 15:54:20 +0800
Subject: [PATCH 08/47] add childLifecycleNode mode in costmap_2d_ros

---
 .../include/nav2_costmap_2d/costmap_2d_ros.hpp     | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

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
index 13a6cb32bf..ecd5c65558 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -136,10 +136,10 @@ class Costmap2DROS : public nav2_util::LifecycleNode
 
   /**
    * @brief child-LifecycleNode mode
-   * sometimes costmap may be launched by another LifecycleNode and work as a child-thread    
+   * sometimes costmap may be launched by another LifecycleNode and work as a child-thread
    * child-LifecycleNode should react to ctrl+C later than its parents to avoid unclean shutdown
    * Thus, it's neccessary to turnChildLifecycleNode() to change its launch mode
-   * 
+   *
    * in ChildLifecycleNode mode, it would react to rcl_preshutdown anymore
    * all its lifecycle state would be controlled by its parent-LifecycleNode
    */
@@ -151,19 +151,19 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   }
   bool isThread()
   {
-    return is_thread_; 
+    return is_thread_;
   }
   void on_rcl_preshutdown() override
   {
-    if( isThread() ){
+    if (isThread() ) {
       // all of its reaction is up to its parent
       return;
     }
 
-    // else, same as ``on_rcl_preshutdown` in lifecycle_node.cpp` 
+    // else, same as ``on_rcl_preshutdown` in lifecycle_node.cpp`
     RCLCPP_INFO(
-    get_logger(), "Running Nav2 LifecycleNode rcl preshutdown (%s)",
-    this->get_name());
+      get_logger(), "Running Nav2 LifecycleNode rcl preshutdown (%s)",
+      this->get_name());
 
     runCleanups();
 

From 2637de11e1cb3c4d796476840faabf1e02fbd677 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Wed, 22 Nov 2023 15:54:51 +0800
Subject: [PATCH 09/47] add childLifecycleNode mode in costmap_2d_ros

---
 nav2_controller/src/controller_server.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index d2dcfb556b..fe1759cba3 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -132,7 +132,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
   // work as a child-LifecycleNode of its parent controller_server
   costmap_ros_->turnChildLifecycleNode();
-  
+
   for (size_t i = 0; i != progress_checker_ids_.size(); i++) {
     try {
       progress_checker_types_[i] = nav2_util::get_plugin_type_param(
@@ -288,9 +288,9 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
 //    lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
 //  {
 //    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
-    costmap_ros_->deactivate();
+  costmap_ros_->deactivate();
 //  }
-  // after turnChildLifecycleNode(), this double check is not neccessary anymore
+// after turnChildLifecycleNode(), this double check is not neccessary anymore
 
   publishZeroVelocity();
   vel_publisher_->on_deactivate();
@@ -320,9 +320,9 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 //    lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
 //  {
 //    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
-    costmap_ros_->cleanup();
+  costmap_ros_->cleanup();
 //  }
-  // after turnChildLifecycleNode(), this double check is not neccessary anymore
+// after turnChildLifecycleNode(), this double check is not neccessary anymore
 
   // Release any allocated resources
   action_server_.reset();

From ff6ee9f2ca9eff3a4a51990c981831987d369a08 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Wed, 22 Nov 2023 15:55:31 +0800
Subject: [PATCH 10/47] add childLifecycleNode mode in costmap_2d_ros

---
 nav2_planner/src/planner_server.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 8d6691e941..7558a0d4ce 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -90,7 +90,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
   // work as a child-LifecycleNode of its parent planner_server
   costmap_ros_->turnChildLifecycleNode();
-  
+
   RCLCPP_DEBUG(
     get_logger(), "Costmap size: %d,%d",
     costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY());
@@ -224,9 +224,9 @@ PlannerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
 //    lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
 //  {
 //    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
-    costmap_ros_->deactivate();
+  costmap_ros_->deactivate();
 //  }
-  // after turnChildLifecycleNode(), this double check is not neccessary anymore
+// after turnChildLifecycleNode(), this double check is not neccessary anymore
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {
@@ -259,9 +259,9 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 //    lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
 //  {
 //    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
-    costmap_ros_->cleanup();
+  costmap_ros_->cleanup();
 //  }
-  // after turnChildLifecycleNode(), this double check is not neccessary anymore
+// after turnChildLifecycleNode(), this double check is not neccessary anymore
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {

From bfb97f99d36452e9bcbd8df6efed919302484995 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Wed, 22 Nov 2023 15:59:41 +0800
Subject: [PATCH 11/47] add ChildLifecycleNode mode in costmap_2d_ros

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 3 +++
 1 file changed, 3 insertions(+)

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
index ecd5c65558..e5fb36c7ac 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -353,6 +353,9 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   double getRobotRadius() {return robot_radius_;}
 
 protected:
+  // launch mode: as a child-thread or an independent-process
+  bool is_thread_{false};
+
   // Publishers and subscribers
   rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PolygonStamped>::SharedPtr
     footprint_pub_;

From 9a0e9d0e0fc15a91a86a6691fd9dd4afa5b9df52 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Thu, 23 Nov 2023 21:52:53 +0800
Subject: [PATCH 12/47] NodeOption: is_lifecycle_follower_

---
 .../nav2_costmap_2d/costmap_2d_ros.hpp        | 39 +++++++++++--------
 1 file changed, 22 insertions(+), 17 deletions(-)

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
index e5fb36c7ac..d28a106b26 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -99,6 +99,21 @@ class Costmap2DROS : public nav2_util::LifecycleNode
     const std::string & local_namespace,
     const bool & use_sim_time);
 
+  /**
+   * @brief  Constructor for the wrapper
+   * @param name Name of the costmap ROS node
+   * @param parent_namespace Absolute namespace of the node hosting the costmap node
+   * @param local_namespace Namespace to append to the parent namespace
+   * @param use_sim_time Whether to use simulation or real time
+   * @param is_lifecycle_follower Whether launch as a child-LifecycleNode following others
+   */
+  explicit Costmap2DROS(
+    const std::string & name,
+    const std::string & parent_namespace,
+    const std::string & local_namespace,
+    const bool & use_sim_time,
+    const bool & is_lifecycle_follower);
+
   /**
    * @brief Common initialization for constructors
    */
@@ -135,28 +150,18 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
   /**
-   * @brief child-LifecycleNode mode
+   * @brief as a child-LifecycleNode :
    * sometimes costmap may be launched by another LifecycleNode and work as a child-thread
    * child-LifecycleNode should react to ctrl+C later than its parents to avoid unclean shutdown
-   * Thus, it's neccessary to turnChildLifecycleNode() to change its launch mode
+   * Thus, it's neccessary to set NodeOption is_lifecycle_follower_ as false
    *
-   * in ChildLifecycleNode mode, it would react to rcl_preshutdown anymore
+   * in this NodeOption, it would not react to rcl_preshutdown anymore
    * all its lifecycle state would be controlled by its parent-LifecycleNode
    */
-  void turnChildLifecycleNode()
-  {
-    // as a child-LifecycleNode launched by its parent-LifecycleNode
-    // and work as a child-thread
-    is_thread_ = true;
-  }
-  bool isThread()
-  {
-    return is_thread_;
-  }
   void on_rcl_preshutdown() override
   {
-    if (isThread() ) {
-      // all of its reaction is up to its parent
+    if (!is_lifecycle_follower_) {
+      // all of its reaction is up to its parent-LifecycleNode
       return;
     }
 
@@ -353,8 +358,8 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   double getRobotRadius() {return robot_radius_;}
 
 protected:
-  // launch mode: as a child-thread or an independent-process
-  bool is_thread_{false};
+  // whether is a child-LifecycleNode following another parent-LifecycleNode
+  bool is_lifecycle_follower_{false};
 
   // Publishers and subscribers
   rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PolygonStamped>::SharedPtr

From c6946fdbeef4bf592b3f3e416c5795e45f34b9f9 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Thu, 23 Nov 2023 21:54:10 +0800
Subject: [PATCH 13/47] NodeOption: is_lifecycle_follower_

---
 nav2_costmap_2d/src/costmap_2d_ros.cpp | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index c35933c908..abdcf93269 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -68,7 +68,8 @@ Costmap2DROS::Costmap2DROS()
   default_types_{
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
-    "nav2_costmap_2d::InflationLayer"}
+    "nav2_costmap_2d::InflationLayer"},
+  is_lifecycle_follower_(false) //  default: work as an independent node
 {
   declare_parameter("map_topic", rclcpp::ParameterValue(std::string("map")));
   init();
@@ -79,6 +80,14 @@ Costmap2DROS::Costmap2DROS(
   const std::string & parent_namespace,
   const std::string & local_namespace,
   const bool & use_sim_time)
+: Costmap2DROS(name, parent_namespace, local_namespace, use_sim_time, false) {}
+
+Costmap2DROS::Costmap2DROS(
+  const std::string & name,
+  const std::string & parent_namespace,
+  const std::string & local_namespace,
+  const bool & use_sim_time,
+  const bool & is_lifecycle_follower)
 : nav2_util::LifecycleNode(name, "",
     // NodeOption arguments take precedence over the ones provided on the command line
     // use this to make sure the node is placed on the provided namespace
@@ -96,7 +105,8 @@ Costmap2DROS::Costmap2DROS(
   default_types_{
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
-    "nav2_costmap_2d::InflationLayer"}
+    "nav2_costmap_2d::InflationLayer"},
+  is_lifecycle_follower_(is_lifecycle_follower)
 {
   declare_parameter(
     "map_topic", rclcpp::ParameterValue(

From db96ddec709bd4ca24deff12a4117010236b415a Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Thu, 23 Nov 2023 21:54:43 +0800
Subject: [PATCH 14/47] fit to NodeOption: is_lifecycle_follower_

---
 nav2_planner/src/planner_server.cpp | 27 ++++++++-------------------
 1 file changed, 8 insertions(+), 19 deletions(-)

diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 7558a0d4ce..fa36587f06 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -65,7 +65,9 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
   // Setup the global costmap
   costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
     "global_costmap", std::string{get_namespace()}, "global_costmap",
-    get_parameter("use_sim_time").as_bool());
+    get_parameter("use_sim_time").as_bool(),
+    true);  // work as a child-LifecycleNode of planner_server
+
 }
 
 PlannerServer::~PlannerServer()
@@ -88,8 +90,6 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
 
   // Launch a thread to run the costmap node
   costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
-  // work as a child-LifecycleNode of its parent planner_server
-  costmap_ros_->turnChildLifecycleNode();
 
   RCLCPP_DEBUG(
     get_logger(), "Costmap size: %d,%d",
@@ -220,13 +220,12 @@ 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_INACTIVE)
-//  {
-//    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
+  /*
+   * The costmap is changed into is_lifecycle_follower_{true}
+   * https://github.com/ros-planning/navigation2/pull/3972
+   * within this NodeOption, no neccessary to set double check.
+   */
   costmap_ros_->deactivate();
-//  }
-// after turnChildLifecycleNode(), this double check is not neccessary anymore
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {
@@ -251,17 +250,7 @@ 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)
-//  {
-//    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
   costmap_ros_->cleanup();
-//  }
-// after turnChildLifecycleNode(), this double check is not neccessary anymore
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {

From cb8128e7b903c98d4d8d705d7cd573c980418393 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Thu, 23 Nov 2023 21:55:14 +0800
Subject: [PATCH 15/47] NodeOption: is_lifecycle_follower_

---
 nav2_controller/src/controller_server.cpp | 48 +++++++++--------------
 1 file changed, 18 insertions(+), 30 deletions(-)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 27c474f39f..fb629dcc4d 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -62,12 +62,12 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)
   declare_parameter("speed_limit_topic", rclcpp::ParameterValue("speed_limit"));
 
   declare_parameter("failure_tolerance", rclcpp::ParameterValue(0.0));
-  declare_parameter("use_realtime_priority", rclcpp::ParameterValue(false));
 
   // The costmap node is used in the implementation of the controller
   costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
     "local_costmap", std::string{get_namespace()}, "local_costmap",
-    get_parameter("use_sim_time").as_bool());
+    get_parameter("use_sim_time").as_bool(),
+    true); // work as a child-LifecycleNode following controller_server
 }
 
 ControllerServer::~ControllerServer()
@@ -127,13 +127,10 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   std::string speed_limit_topic;
   get_parameter("speed_limit_topic", speed_limit_topic);
   get_parameter("failure_tolerance", failure_tolerance_);
-  get_parameter("use_realtime_priority", use_realtime_priority_);
 
   costmap_ros_->configure();
   // Launch a thread to run the costmap node
   costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
-  // work as a child-LifecycleNode of its parent controller_server
-  costmap_ros_->turnChildLifecycleNode();
 
   for (size_t i = 0; i != progress_checker_ids_.size(); i++) {
     try {
@@ -225,19 +222,13 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
 
   // Create the action server that we implement with our followPath method
-  // This may throw due to real-time prioritzation if user doesn't have real-time permissions
-  try {
-    action_server_ = std::make_unique<ActionServer>(
-      shared_from_this(),
-      "follow_path",
-      std::bind(&ControllerServer::computeControl, this),
-      nullptr,
-      std::chrono::milliseconds(500),
-      true /*spin thread*/, server_options, use_realtime_priority_ /*soft realtime*/);
-  } catch (const std::runtime_error & e) {
-    RCLCPP_ERROR(get_logger(), "Error creating action server! %s", e.what());
-    return nav2_util::CallbackReturn::FAILURE;
-  }
+  action_server_ = std::make_unique<ActionServer>(
+    shared_from_this(),
+    "follow_path",
+    std::bind(&ControllerServer::computeControl, this),
+    nullptr,
+    std::chrono::milliseconds(500),
+    true, server_options);
 
   // Set subscribtion to the speed limiting topic
   speed_limit_sub_ = create_subscription<nav2_msgs::msg::SpeedLimit>(
@@ -292,13 +283,13 @@ 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_INACTIVE)
-//  {
-//    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
+  /*
+   * The costmap is changed into is_lifecycle_follower_{true}
+   * https://github.com/ros-planning/navigation2/pull/3972
+   * within this NodeOption, no neccessary to set double check.
+   */
   costmap_ros_->deactivate();
-//  }
-// after turnChildLifecycleNode(), this double check is not neccessary anymore
+
 
   publishZeroVelocity();
   vel_publisher_->on_deactivate();
@@ -324,13 +315,10 @@ 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)
-//  {
-//    RCLCPP_INFO(get_logger(), "costmap_ros_->cleanup()");
+
+
   costmap_ros_->cleanup();
-//  }
-// after turnChildLifecycleNode(), this double check is not neccessary anymore
+
 
   // Release any allocated resources
   action_server_.reset();

From fde11557b4ca35cf6ab87ae436dc94d088fa0889 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Thu, 23 Nov 2023 22:00:31 +0800
Subject: [PATCH 16/47] fit to NodeOption: is_lifecycle_follower

---
 nav2_controller/src/controller_server.cpp | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index fb629dcc4d..bbc27f0b5c 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -127,6 +127,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   std::string speed_limit_topic;
   get_parameter("speed_limit_topic", speed_limit_topic);
   get_parameter("failure_tolerance", failure_tolerance_);
+  get_parameter("use_realtime_priority", use_realtime_priority_);
 
   costmap_ros_->configure();
   // Launch a thread to run the costmap node
@@ -222,13 +223,26 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
 
   // Create the action server that we implement with our followPath method
+  // This may throw due to real-time prioritzation if user doesn't have real-time permissions
   action_server_ = std::make_unique<ActionServer>(
+  try {
     shared_from_this(),
+    action_server_ = std::make_unique<ActionServer>(
     "follow_path",
+      shared_from_this(),
     std::bind(&ControllerServer::computeControl, this),
+      "follow_path",
     nullptr,
+      std::bind(&ControllerServer::computeControl, this),
     std::chrono::milliseconds(500),
+      nullptr,
     true, server_options);
+      std::chrono::milliseconds(500),
+      true /*spin thread*/, server_options, use_realtime_priority_ /*soft realtime*/);
+  } catch (const std::runtime_error & e) {
+    RCLCPP_ERROR(get_logger(), "Error creating action server! %s", e.what());
+    return nav2_util::CallbackReturn::FAILURE;
+  }
 
   // Set subscribtion to the speed limiting topic
   speed_limit_sub_ = create_subscription<nav2_msgs::msg::SpeedLimit>(

From 852f5477cf0c86159b706d2b652915bf7f04d6fe Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Thu, 23 Nov 2023 22:08:51 +0800
Subject: [PATCH 17/47] fit to NodeOption: is_lifecycle_follower

---
 nav2_controller/src/controller_server.cpp | 12 ++----------
 1 file changed, 2 insertions(+), 10 deletions(-)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index bbc27f0b5c..3f66c15604 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -62,12 +62,13 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)
   declare_parameter("speed_limit_topic", rclcpp::ParameterValue("speed_limit"));
 
   declare_parameter("failure_tolerance", rclcpp::ParameterValue(0.0));
+  declare_parameter("use_realtime_priority", rclcpp::ParameterValue(false));
 
   // The costmap node is used in the implementation of the controller
   costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
     "local_costmap", std::string{get_namespace()}, "local_costmap",
     get_parameter("use_sim_time").as_bool(),
-    true); // work as a child-LifecycleNode following controller_server
+    true);  // work as a child-LifecycleNode of planner_server
 }
 
 ControllerServer::~ControllerServer()
@@ -224,19 +225,12 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
 
   // Create the action server that we implement with our followPath method
   // This may throw due to real-time prioritzation if user doesn't have real-time permissions
-  action_server_ = std::make_unique<ActionServer>(
   try {
-    shared_from_this(),
     action_server_ = std::make_unique<ActionServer>(
-    "follow_path",
       shared_from_this(),
-    std::bind(&ControllerServer::computeControl, this),
       "follow_path",
-    nullptr,
       std::bind(&ControllerServer::computeControl, this),
-    std::chrono::milliseconds(500),
       nullptr,
-    true, server_options);
       std::chrono::milliseconds(500),
       true /*spin thread*/, server_options, use_realtime_priority_ /*soft realtime*/);
   } catch (const std::runtime_error & e) {
@@ -304,7 +298,6 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
    */
   costmap_ros_->deactivate();
 
-
   publishZeroVelocity();
   vel_publisher_->on_deactivate();
   dyn_params_handler_.reset();
@@ -330,7 +323,6 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   goal_checkers_.clear();
   progress_checkers_.clear();
 
-
   costmap_ros_->cleanup();
 
 

From 6a6715c7cc7466be29b8f5a7631cf115f61517de Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Thu, 23 Nov 2023 22:40:22 +0800
Subject: [PATCH 18/47] fit reorder Werror

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

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
index d28a106b26..6318a575f6 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -358,9 +358,6 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   double getRobotRadius() {return robot_radius_;}
 
 protected:
-  // whether is a child-LifecycleNode following another parent-LifecycleNode
-  bool is_lifecycle_follower_{false};
-
   // Publishers and subscribers
   rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PolygonStamped>::SharedPtr
     footprint_pub_;
@@ -424,6 +421,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   bool track_unknown_space_{false};
   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_{false};     ///< whether is a child-LifecycleNode following another parent-LifecycleNode
 
   // Derived parameters
   bool use_radius_{false};

From 4fda15d8b83b644baec48e91340a43860f8164bf Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Fri, 24 Nov 2023 00:16:25 +0800
Subject: [PATCH 19/47] fix wrong use of is_lifecycle_follower

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index 6318a575f6..70c90e2d8c 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -160,7 +160,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    */
   void on_rcl_preshutdown() override
   {
-    if (!is_lifecycle_follower_) {
+    if (is_lifecycle_follower_) {
       // all of its reaction is up to its parent-LifecycleNode
       return;
     }

From 0d4e98916088864d0c96c9736e06cfc2b0b88dd4 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Fri, 24 Nov 2023 01:41:54 +0800
Subject: [PATCH 20/47] remove blank line

---
 nav2_planner/src/planner_server.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index fa36587f06..e1d3c39a79 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -67,7 +67,6 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
     "global_costmap", std::string{get_namespace()}, "global_costmap",
     get_parameter("use_sim_time").as_bool(),
     true);  // work as a child-LifecycleNode of planner_server
-
 }
 
 PlannerServer::~PlannerServer()

From f81615ba90e9bdd00dbb0b2a25d9e74033cbb583 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Fri, 24 Nov 2023 14:15:54 +0800
Subject: [PATCH 21/47] NodeOption: is_lifecycle_follower_

---
 nav2_costmap_2d/src/costmap_2d_ros.cpp | 13 ++-----------
 1 file changed, 2 insertions(+), 11 deletions(-)

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index abdcf93269..4093ecc80b 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -69,7 +69,7 @@ Costmap2DROS::Costmap2DROS()
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
     "nav2_costmap_2d::InflationLayer"},
-  is_lifecycle_follower_(false) //  default: work as an independent node
+  is_lifecycle_follower_(false) //default: is an independent node
 {
   declare_parameter("map_topic", rclcpp::ParameterValue(std::string("map")));
   init();
@@ -80,14 +80,6 @@ Costmap2DROS::Costmap2DROS(
   const std::string & parent_namespace,
   const std::string & local_namespace,
   const bool & use_sim_time)
-: Costmap2DROS(name, parent_namespace, local_namespace, use_sim_time, false) {}
-
-Costmap2DROS::Costmap2DROS(
-  const std::string & name,
-  const std::string & parent_namespace,
-  const std::string & local_namespace,
-  const bool & use_sim_time,
-  const bool & is_lifecycle_follower)
 : nav2_util::LifecycleNode(name, "",
     // NodeOption arguments take precedence over the ones provided on the command line
     // use this to make sure the node is placed on the provided namespace
@@ -105,8 +97,7 @@ Costmap2DROS::Costmap2DROS(
   default_types_{
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
-    "nav2_costmap_2d::InflationLayer"},
-  is_lifecycle_follower_(is_lifecycle_follower)
+    "nav2_costmap_2d::InflationLayer"}
 {
   declare_parameter(
     "map_topic", rclcpp::ParameterValue(

From 897b26328478047085deaf5702598a50b4abb24c Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Fri, 24 Nov 2023 14:16:32 +0800
Subject: [PATCH 22/47] NodeOption: is_lifecycle_follower_

---
 .../nav2_costmap_2d/costmap_2d_ros.hpp        | 21 +++----------------
 1 file changed, 3 insertions(+), 18 deletions(-)

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
index 6318a575f6..ecffd94565 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -99,21 +99,6 @@ class Costmap2DROS : public nav2_util::LifecycleNode
     const std::string & local_namespace,
     const bool & use_sim_time);
 
-  /**
-   * @brief  Constructor for the wrapper
-   * @param name Name of the costmap ROS node
-   * @param parent_namespace Absolute namespace of the node hosting the costmap node
-   * @param local_namespace Namespace to append to the parent namespace
-   * @param use_sim_time Whether to use simulation or real time
-   * @param is_lifecycle_follower Whether launch as a child-LifecycleNode following others
-   */
-  explicit Costmap2DROS(
-    const std::string & name,
-    const std::string & parent_namespace,
-    const std::string & local_namespace,
-    const bool & use_sim_time,
-    const bool & is_lifecycle_follower);
-
   /**
    * @brief Common initialization for constructors
    */
@@ -153,14 +138,14 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    * @brief as a child-LifecycleNode :
    * sometimes costmap may be launched by another LifecycleNode and work as a child-thread
    * child-LifecycleNode should react to ctrl+C later than its parents to avoid unclean shutdown
-   * Thus, it's neccessary to set NodeOption is_lifecycle_follower_ as false
+   * Thus, it's neccessary to set NodeOption is_lifecycle_follower_ as true
    *
    * in this NodeOption, it would not react to rcl_preshutdown anymore
    * all its lifecycle state would be controlled by its parent-LifecycleNode
    */
   void on_rcl_preshutdown() override
   {
-    if (!is_lifecycle_follower_) {
+    if (is_lifecycle_follower_) {
       // all of its reaction is up to its parent-LifecycleNode
       return;
     }
@@ -421,7 +406,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   bool track_unknown_space_{false};
   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_{false};     ///< whether is a child-LifecycleNode following another parent-LifecycleNode
+  bool is_lifecycle_follower_{true};     ///< whether is a child-LifecycleNode or an independent node
 
   // Derived parameters
   bool use_radius_{false};

From 0fa7cc00a6e8955b5306a374034726b5232699ce Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Fri, 24 Nov 2023 14:17:20 +0800
Subject: [PATCH 23/47] Add files via upload

---
 nav2_controller/src/controller_server.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 3f66c15604..05dc9a3898 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -67,8 +67,7 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)
   // The costmap node is used in the implementation of the controller
   costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
     "local_costmap", std::string{get_namespace()}, "local_costmap",
-    get_parameter("use_sim_time").as_bool(),
-    true);  // work as a child-LifecycleNode of planner_server
+    get_parameter("use_sim_time").as_bool());  // work as a child-LifecycleNode of planner_server
 }
 
 ControllerServer::~ControllerServer()

From 1007d2b24438c7caa2391623e5467ce49eb1e78a Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Fri, 24 Nov 2023 14:17:55 +0800
Subject: [PATCH 24/47] NodeOption: is_lifecycle_follower_

---
 nav2_planner/src/planner_server.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index fa36587f06..d649a47651 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -65,9 +65,7 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
   // Setup the global costmap
   costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
     "global_costmap", std::string{get_namespace()}, "global_costmap",
-    get_parameter("use_sim_time").as_bool(),
-    true);  // work as a child-LifecycleNode of planner_server
-
+    get_parameter("use_sim_time").as_bool());
 }
 
 PlannerServer::~PlannerServer()

From 2348f1fd402afcd65f6e66c4bbe58b9ba2a302db Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Fri, 24 Nov 2023 14:24:51 +0800
Subject: [PATCH 25/47] NodeOption:is_lifecycle_follower_

---
 nav2_controller/src/controller_server.cpp | 2 +-
 nav2_costmap_2d/src/costmap_2d_ros.cpp    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 05dc9a3898..1a0d753dff 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -67,7 +67,7 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)
   // The costmap node is used in the implementation of the controller
   costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
     "local_costmap", std::string{get_namespace()}, "local_costmap",
-    get_parameter("use_sim_time").as_bool());  // work as a child-LifecycleNode of planner_server
+    get_parameter("use_sim_time").as_bool());
 }
 
 ControllerServer::~ControllerServer()
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 4093ecc80b..0cd937c4d9 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -69,7 +69,7 @@ Costmap2DROS::Costmap2DROS()
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
     "nav2_costmap_2d::InflationLayer"},
-  is_lifecycle_follower_(false) //default: is an independent node
+  is_lifecycle_follower_(false) //  default: is an independent node
 {
   declare_parameter("map_topic", rclcpp::ParameterValue(std::string("map")));
   init();

From 0e31e190a4a282fb4d6afe27b768c52a516dc77c Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Fri, 24 Nov 2023 17:00:13 +0800
Subject: [PATCH 26/47] NodeOption:is_lifecycle_follower

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 +-
 nav2_costmap_2d/src/costmap_2d_ros.cpp                     | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

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
index ecffd94565..1d3e54cf10 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -406,7 +406,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   bool track_unknown_space_{false};
   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
+  bool is_lifecycle_follower_{false};     ///< whether is a child-LifecycleNode or an independent node
 
   // Derived parameters
   bool use_radius_{false};
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 0cd937c4d9..376b9a3426 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -97,7 +97,8 @@ Costmap2DROS::Costmap2DROS(
   default_types_{
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
-    "nav2_costmap_2d::InflationLayer"}
+    "nav2_costmap_2d::InflationLayer"},
+  is_lifecycle_follower_(true) //  default: is an independent node
 {
   declare_parameter(
     "map_topic", rclcpp::ParameterValue(

From add3ecad253c6ed458b13f3271cf617f62b974ce Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Fri, 24 Nov 2023 17:04:50 +0800
Subject: [PATCH 27/47] NodeOption:is_lifecycle_follower

---
 nav2_costmap_2d/src/costmap_2d_ros.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 376b9a3426..a4a704e6cc 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -98,7 +98,7 @@ Costmap2DROS::Costmap2DROS(
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
     "nav2_costmap_2d::InflationLayer"},
-  is_lifecycle_follower_(true) //  default: is an independent node
+  is_lifecycle_follower_(true) //  default: is not an independent node
 {
   declare_parameter(
     "map_topic", rclcpp::ParameterValue(

From f91c1211bfae7dc28da3d0a14a2823aba6c514a8 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Fri, 24 Nov 2023 18:52:50 +0800
Subject: [PATCH 28/47] NodeOption:is_lifecycle_follower

---
 nav2_costmap_2d/src/costmap_2d_ros.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index a4a704e6cc..c35933c908 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -68,8 +68,7 @@ Costmap2DROS::Costmap2DROS()
   default_types_{
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
-    "nav2_costmap_2d::InflationLayer"},
-  is_lifecycle_follower_(false) //  default: is an independent node
+    "nav2_costmap_2d::InflationLayer"}
 {
   declare_parameter("map_topic", rclcpp::ParameterValue(std::string("map")));
   init();
@@ -97,8 +96,7 @@ Costmap2DROS::Costmap2DROS(
   default_types_{
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
-    "nav2_costmap_2d::InflationLayer"},
-  is_lifecycle_follower_(true) //  default: is not an independent node
+    "nav2_costmap_2d::InflationLayer"}
 {
   declare_parameter(
     "map_topic", rclcpp::ParameterValue(

From aff34e2c845818247507af3fa385db0182fc60d2 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Fri, 24 Nov 2023 18:56:20 +0800
Subject: [PATCH 29/47] change default

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index 1d3e54cf10..ecffd94565 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -406,7 +406,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   bool track_unknown_space_{false};
   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_{false};     ///< whether is a child-LifecycleNode or an independent node
+  bool is_lifecycle_follower_{true};     ///< whether is a child-LifecycleNode or an independent node
 
   // Derived parameters
   bool use_radius_{false};

From 4c40d1f4d111e78c5467c6871f5ecec7b0cd432a Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Tue, 28 Nov 2023 18:07:27 +0800
Subject: [PATCH 30/47] add NodeOption for costmap_2d_ros

---
 nav2_controller/src/controller_server.cpp     |  5 -----
 .../nav2_costmap_2d/costmap_2d_ros.hpp        |  3 ++-
 nav2_costmap_2d/src/costmap_2d_ros.cpp        | 20 ++++++++++++++-----
 nav2_planner/src/planner_server.cpp           |  5 -----
 4 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 1a0d753dff..76754c5815 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -290,11 +290,6 @@ 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
    */
-  /*
-   * The costmap is changed into is_lifecycle_follower_{true}
-   * https://github.com/ros-planning/navigation2/pull/3972
-   * within this NodeOption, no neccessary to set double check.
-   */
   costmap_ros_->deactivate();
 
   publishZeroVelocity();
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
index ecffd94565..2c2c559187 100644
--- 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);
 
   /**
    * @brief  Constructor for the wrapper, the node will
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 0cd937c4d9..5afc76473b 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -61,17 +61,27 @@ 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_{
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
-    "nav2_costmap_2d::InflationLayer"},
-  is_lifecycle_follower_(false) //  default: is an independent node
+    "nav2_costmap_2d::InflationLayer"}
 {
   declare_parameter("map_topic", rclcpp::ParameterValue(std::string("map")));
+  /**
+   * @brief as an independent node
+   * if launched as an independent node, 
+   * set `is_lifecycle_follower_  = true`.
+   * thus, it would react to rcl_preshutdown
+   * 
+   * else if launched in a thread created by another LifecycleNode (its parent), 
+   * set  `is_lifecycle_follower_  = false`.
+   * it would not react to rcl_preshutdown anymore and its lifecycle state is controlled by its parent
+   */
+  is_lifecycle_follower_ = false;
   init();
 }
 
@@ -79,7 +89,7 @@ Costmap2DROS::Costmap2DROS(
   const std::string & name,
   const std::string & parent_namespace,
   const std::string & local_namespace,
-  const bool & use_sim_time)
+  const bool & use_sim_time)  
 : nav2_util::LifecycleNode(name, "",
     // NodeOption arguments take precedence over the ones provided on the command line
     // use this to make sure the node is placed on the provided namespace
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index d649a47651..fea40ea405 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -218,11 +218,6 @@ 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
    */
-  /*
-   * The costmap is changed into is_lifecycle_follower_{true}
-   * https://github.com/ros-planning/navigation2/pull/3972
-   * within this NodeOption, no neccessary to set double check.
-   */
   costmap_ros_->deactivate();
 
   PlannerMap::iterator it;

From 70104cea523b2895b33cc5bb217171a92f8feca6 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Tue, 28 Nov 2023 22:48:09 +0800
Subject: [PATCH 31/47] add node options for costmap2dros as an independent
 node

---
 .../include/nav2_costmap_2d/costmap_2d_ros.hpp |  3 ++-
 nav2_costmap_2d/src/costmap_2d_ros.cpp         | 18 ++++++++----------
 nav2_costmap_2d/test/unit/lifecycle_test.cpp   |  4 +++-
 3 files changed, 13 insertions(+), 12 deletions(-)

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
index 2c2c559187..f524399f39 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -77,7 +77,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    * @brief  Constructor for the wrapper
    * @param options Additional options to control creation of the node.
    */
-  Costmap2DROS(const rclcpp::NodeOptions & options);
+  Costmap2DROS(const rclcpp::NodeOptions & options=rclcpp::NodeOptions());
 
   /**
    * @brief  Constructor for the wrapper, the node will
@@ -407,6 +407,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   bool track_unknown_space_{false};
   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
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 5afc76473b..012bc0d973 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -68,20 +68,18 @@ Costmap2DROS::Costmap2DROS(const rclcpp::NodeOptions & options)
   default_types_{
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
-    "nav2_costmap_2d::InflationLayer"}
+    "nav2_costmap_2d::InflationLayer"},
 {
   declare_parameter("map_topic", rclcpp::ParameterValue(std::string("map")));
   /**
-   * @brief as an independent node
-   * if launched as an independent node, 
-   * set `is_lifecycle_follower_  = true`.
-   * thus, it would react to rcl_preshutdown
-   * 
-   * else if launched in a thread created by another LifecycleNode (its parent), 
-   * set  `is_lifecycle_follower_  = false`.
-   * it would not react to rcl_preshutdown anymore and its lifecycle state is controlled by its parent
+   * @brief
+   * If launched as an independent node, set `is_lifecycle_follower_  = true`.
+   * Thus, it would react to rcl_preshutdown.
+   * Else if launched in a thread created by another LifecycleNode(its parent), set
+   * `is_lifecycle_follower_  = false`. It would not react to rcl_preshutdown anymore
+   * and its lifecycle state is controlled by its parent.
    */
-  is_lifecycle_follower_ = false;
+  get_parameter("is_lifecycle_follower", is_lifecycle_follower_);
   init();
 }
 
diff --git a/nav2_costmap_2d/test/unit/lifecycle_test.cpp b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
index 8a657d81ad..6822ba05c7 100644
--- a/nav2_costmap_2d/test/unit/lifecycle_test.cpp
+++ b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
@@ -22,7 +22,9 @@
 TEST(LifecylceTest, CheckInitialTfTimeout) {
   rclcpp::init(0, nullptr);
 
-  auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_costmap");
+  //  launch costmap as an independent node
+  auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
+    rclcpp::NodeOptions.append_paramerter_override("is_lifecycle_follower", false));
   costmap->set_parameter({"initial_transform_timeout", 0.0});
 
   std::thread spin_thread{[costmap]() {rclcpp::spin(costmap->get_node_base_interface());}};

From 838393faa44be6e005ad40593cb9e3971d9a4086 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Tue, 28 Nov 2023 22:49:42 +0800
Subject: [PATCH 32/47] code style reformat

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 4 ++--
 nav2_costmap_2d/src/costmap_2d_ros.cpp                     | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

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
index f524399f39..0c2c0bdabe 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -77,7 +77,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    * @brief  Constructor for the wrapper
    * @param options Additional options to control creation of the node.
    */
-  Costmap2DROS(const rclcpp::NodeOptions & options=rclcpp::NodeOptions());
+  Costmap2DROS(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
   /**
    * @brief  Constructor for the wrapper, the node will
@@ -407,7 +407,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   bool track_unknown_space_{false};
   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
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 012bc0d973..8fbe88c327 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -62,7 +62,7 @@ Costmap2DROS::Costmap2DROS(const std::string & name, const bool & use_sim_time)
 : Costmap2DROS(name, "/", name, use_sim_time) {}
 
 Costmap2DROS::Costmap2DROS(const rclcpp::NodeOptions & options)
-: nav2_util::LifecycleNode("costmap", "",options),
+: nav2_util::LifecycleNode("costmap", "", options),
   name_("costmap"),
   default_plugins_{"static_layer", "obstacle_layer", "inflation_layer"},
   default_types_{
@@ -87,7 +87,7 @@ Costmap2DROS::Costmap2DROS(
   const std::string & name,
   const std::string & parent_namespace,
   const std::string & local_namespace,
-  const bool & use_sim_time)  
+  const bool & use_sim_time)
 : nav2_util::LifecycleNode(name, "",
     // NodeOption arguments take precedence over the ones provided on the command line
     // use this to make sure the node is placed on the provided namespace

From bb96f1201808abd06b23d7c605bcb3b6eaedaa44 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Tue, 28 Nov 2023 23:26:18 +0800
Subject: [PATCH 33/47] fit to NodeOption of Costmap2DROS

---
 nav2_costmap_2d/test/unit/lifecycle_test.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/nav2_costmap_2d/test/unit/lifecycle_test.cpp b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
index 6822ba05c7..3fde293104 100644
--- a/nav2_costmap_2d/test/unit/lifecycle_test.cpp
+++ b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
@@ -22,9 +22,10 @@
 TEST(LifecylceTest, CheckInitialTfTimeout) {
   rclcpp::init(0, nullptr);
 
-  //  launch costmap as an independent node
   auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
-    rclcpp::NodeOptions.append_paramerter_override("is_lifecycle_follower", false));
+    rclcpp::NodeOptions().append_parameter_override("is_lifecycle_follower",false) 
+    //  launched as an independent node
+  );
   costmap->set_parameter({"initial_transform_timeout", 0.0});
 
   std::thread spin_thread{[costmap]() {rclcpp::spin(costmap->get_node_base_interface());}};
@@ -53,4 +54,4 @@ TEST(LifecylceTest, CheckInitialTfTimeout) {
   if (spin_thread.joinable()) {
     spin_thread.join();
   }
-}
+}
\ No newline at end of file

From 6c291aed34dd9814c5c0495429c3b5ed640d99e2 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Tue, 28 Nov 2023 23:31:10 +0800
Subject: [PATCH 34/47] fit to NodeOption of Costmap2DROS

---
 nav2_costmap_2d/test/unit/lifecycle_test.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/nav2_costmap_2d/test/unit/lifecycle_test.cpp b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
index 3fde293104..5e892360de 100644
--- a/nav2_costmap_2d/test/unit/lifecycle_test.cpp
+++ b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
@@ -22,9 +22,9 @@
 TEST(LifecylceTest, CheckInitialTfTimeout) {
   rclcpp::init(0, nullptr);
 
+  //  launch costmap as an independent node
   auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
-    rclcpp::NodeOptions().append_parameter_override("is_lifecycle_follower",false) 
-    //  launched as an independent node
+    rclcpp::NodeOptions().append_parameter_override("is_lifecycle_follower", false)
   );
   costmap->set_parameter({"initial_transform_timeout", 0.0});
 
@@ -54,4 +54,4 @@ TEST(LifecylceTest, CheckInitialTfTimeout) {
   if (spin_thread.joinable()) {
     spin_thread.join();
   }
-}
\ No newline at end of file
+}

From 2e49282ee187a076d934d21be54245706a021ec9 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Tue, 28 Nov 2023 23:32:31 +0800
Subject: [PATCH 35/47] fit to NodeOption of Costmap2DROS

---
 nav2_costmap_2d/src/costmap_2d_ros.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 8fbe88c327..050b41570e 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -68,7 +68,7 @@ Costmap2DROS::Costmap2DROS(const rclcpp::NodeOptions & options)
   default_types_{
     "nav2_costmap_2d::StaticLayer",
     "nav2_costmap_2d::ObstacleLayer",
-    "nav2_costmap_2d::InflationLayer"},
+    "nav2_costmap_2d::InflationLayer"}
 {
   declare_parameter("map_topic", rclcpp::ParameterValue(std::string("map")));
   /**

From 69277616b4edd0c179ad8a13113b53acbbcb175a Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Wed, 29 Nov 2023 01:38:37 +0800
Subject: [PATCH 36/47] Update
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index 0c2c0bdabe..d86fa8acf9 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -147,7 +147,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   void on_rcl_preshutdown() override
   {
     if (is_lifecycle_follower_) {
-      // all of its reaction is up to its parent-LifecycleNode
+      // Transitioning handled by parent node
       return;
     }
 

From ad4bcea22bd831197fe1c56d0c8fdf982979bbe3 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Wed, 29 Nov 2023 01:39:30 +0800
Subject: [PATCH 37/47] Update
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index d86fa8acf9..46a315945e 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -151,7 +151,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
       return;
     }
 
-    // else, same as ``on_rcl_preshutdown` in lifecycle_node.cpp`
+    // Else, we need to cleanup ourselves
     RCLCPP_INFO(
       get_logger(), "Running Nav2 LifecycleNode rcl preshutdown (%s)",
       this->get_name());

From 1719e567712c045a5cb16cc77a3dd60dd72b6e93 Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Wed, 29 Nov 2023 01:40:02 +0800
Subject: [PATCH 38/47] Update
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index 46a315945e..7470e726d5 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -138,7 +138,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   /**
    * @brief as a child-LifecycleNode :
    * sometimes costmap may be launched by another LifecycleNode and work as a child-thread
-   * child-LifecycleNode should react to ctrl+C later than its parents to avoid unclean shutdown
+   * child-LifecycleNodes should wait for their parents to handle the shutdown, which includes this module
    * Thus, it's neccessary to set NodeOption is_lifecycle_follower_ as true
    *
    * in this NodeOption, it would not react to rcl_preshutdown anymore

From a52ef13d1510f330fea3c128867f629129287ff7 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Wed, 29 Nov 2023 01:43:57 +0800
Subject: [PATCH 39/47] changes

---
 .../include/nav2_costmap_2d/costmap_2d_ros.hpp           | 9 ---------
 nav2_costmap_2d/test/unit/lifecycle_test.cpp             | 7 ++-----
 2 files changed, 2 insertions(+), 14 deletions(-)

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
index 7470e726d5..c81f14e2aa 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -135,15 +135,6 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
-  /**
-   * @brief as a child-LifecycleNode :
-   * sometimes costmap may be launched by another LifecycleNode and work as a child-thread
-   * child-LifecycleNodes should wait for their parents to handle the shutdown, which includes this module
-   * Thus, it's neccessary to set NodeOption is_lifecycle_follower_ as true
-   *
-   * in this NodeOption, it would not react to rcl_preshutdown anymore
-   * all its lifecycle state would be controlled by its parent-LifecycleNode
-   */
   void on_rcl_preshutdown() override
   {
     if (is_lifecycle_follower_) {
diff --git a/nav2_costmap_2d/test/unit/lifecycle_test.cpp b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
index 5e892360de..9516dcbebf 100644
--- a/nav2_costmap_2d/test/unit/lifecycle_test.cpp
+++ b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
@@ -22,10 +22,7 @@
 TEST(LifecylceTest, CheckInitialTfTimeout) {
   rclcpp::init(0, nullptr);
 
-  //  launch costmap as an independent node
-  auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
-    rclcpp::NodeOptions().append_parameter_override("is_lifecycle_follower", false)
-  );
+  auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_costmap");
   costmap->set_parameter({"initial_transform_timeout", 0.0});
 
   std::thread spin_thread{[costmap]() {rclcpp::spin(costmap->get_node_base_interface());}};
@@ -54,4 +51,4 @@ TEST(LifecylceTest, CheckInitialTfTimeout) {
   if (spin_thread.joinable()) {
     spin_thread.join();
   }
-}
+}
\ No newline at end of file

From fe9f0be38564c175e390082446293147a961698a Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Wed, 29 Nov 2023 01:47:06 +0800
Subject: [PATCH 40/47] comment changes

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index c81f14e2aa..674f04cd30 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -142,7 +142,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
       return;
     }
 
-    // Else, we need to cleanup ourselves
+    // 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());

From 297c1d60bed4908d4e116b0ae5756a899a3a99cf Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Wed, 29 Nov 2023 01:50:01 +0800
Subject: [PATCH 41/47] change get_parameter into =false

---
 nav2_costmap_2d/src/costmap_2d_ros.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 050b41570e..5baf92219d 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -79,7 +79,7 @@ Costmap2DROS::Costmap2DROS(const rclcpp::NodeOptions & options)
    * `is_lifecycle_follower_  = false`. It would not react to rcl_preshutdown anymore
    * and its lifecycle state is controlled by its parent.
    */
-  get_parameter("is_lifecycle_follower", is_lifecycle_follower_);
+  is_lifecycle_follower_ = false;
   init();
 }
 

From 3f6748a1847e2e074e8fa22a75915a5215f47704 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Wed, 29 Nov 2023 01:56:39 +0800
Subject: [PATCH 42/47] comment modification

---
 .../include/nav2_costmap_2d/costmap_2d_ros.hpp            | 7 +++++++
 nav2_costmap_2d/src/costmap_2d_ros.cpp                    | 8 --------
 2 files changed, 7 insertions(+), 8 deletions(-)

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
index 674f04cd30..ed150dc0cb 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -135,6 +135,13 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
+  /**
+   * @brief as a child-LifecycleNode :
+   * sometimes costmap may be launched by another LifecycleNode and work as a child-thread
+   * child-LifecycleNodes should wait for their parents to handle the shutdown, which includes this module
+   * Thus, it's neccessary to set NodeOption is_lifecycle_follower_ as true
+   *
+   */
   void on_rcl_preshutdown() override
   {
     if (is_lifecycle_follower_) {
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 5baf92219d..bc887eeeb3 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -71,14 +71,6 @@ Costmap2DROS::Costmap2DROS(const rclcpp::NodeOptions & options)
     "nav2_costmap_2d::InflationLayer"}
 {
   declare_parameter("map_topic", rclcpp::ParameterValue(std::string("map")));
-  /**
-   * @brief
-   * If launched as an independent node, set `is_lifecycle_follower_  = true`.
-   * Thus, it would react to rcl_preshutdown.
-   * Else if launched in a thread created by another LifecycleNode(its parent), set
-   * `is_lifecycle_follower_  = false`. It would not react to rcl_preshutdown anymore
-   * and its lifecycle state is controlled by its parent.
-   */
   is_lifecycle_follower_ = false;
   init();
 }

From caf44473060f2a0519366db1a89d4599ce0166c5 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Wed, 29 Nov 2023 02:05:39 +0800
Subject: [PATCH 43/47] missing line

---
 nav2_costmap_2d/test/unit/lifecycle_test.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_costmap_2d/test/unit/lifecycle_test.cpp b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
index 9516dcbebf..8a657d81ad 100644
--- a/nav2_costmap_2d/test/unit/lifecycle_test.cpp
+++ b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
@@ -51,4 +51,4 @@ TEST(LifecylceTest, CheckInitialTfTimeout) {
   if (spin_thread.joinable()) {
     spin_thread.join();
   }
-}
\ No newline at end of file
+}

From 125dd8eeb858cf46f4e5882fade831b0fb15545c Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Tue, 28 Nov 2023 12:00:38 -0800
Subject: [PATCH 44/47] Update
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index ed150dc0cb..140f6148d7 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -137,7 +137,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
 
   /**
    * @brief as a child-LifecycleNode :
-   * sometimes costmap may be launched by another LifecycleNode and work as a child-thread
+   * Costmap2DROS may be launched by another Lifecycle Node as a composed module
    * child-LifecycleNodes should wait for their parents to handle the shutdown, which includes this module
    * Thus, it's neccessary to set NodeOption is_lifecycle_follower_ as true
    *

From 57b2726763ec894ea336b863931462436ad0898a Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Tue, 28 Nov 2023 12:00:44 -0800
Subject: [PATCH 45/47] Update
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index 140f6148d7..a894aded07 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -138,7 +138,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   /**
    * @brief as a child-LifecycleNode :
    * Costmap2DROS may be launched by another Lifecycle Node as a composed module
-   * child-LifecycleNodes should wait for their parents to handle the shutdown, which includes this module
+   * If composed, its parents will handle the shutdown, which includes this module
    * Thus, it's neccessary to set NodeOption is_lifecycle_follower_ as true
    *
    */

From 08fc25b97784ff1a0b57a870ada9ea4a00d17c27 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Wed, 29 Nov 2023 19:07:42 +0800
Subject: [PATCH 46/47] delete last line

---
 nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp | 2 --
 1 file changed, 2 deletions(-)

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
index a894aded07..b1ddedceeb 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -139,8 +139,6 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    * @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
-   * Thus, it's neccessary to set NodeOption is_lifecycle_follower_ as true
-   *
    */
   void on_rcl_preshutdown() override
   {

From 6dde48a983532bfeb27f01efa4f1cce21b2a4732 Mon Sep 17 00:00:00 2001
From: GoesM <GoesM@buaa.edu.cn>
Date: Fri, 1 Dec 2023 11:57:39 +0800
Subject: [PATCH 47/47] change lifecycle_test fit to NodeOption

---
 nav2_costmap_2d/test/unit/lifecycle_test.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_costmap_2d/test/unit/lifecycle_test.cpp b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
index 8a657d81ad..a8ab817df3 100644
--- 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());}};