Minor fixups to lifecycle example

ros2 · Jun 15, 2018 · b29224d · b29224d
1 parent 15ac0c3
commit b29224d
Showing 1 changed file with 6 additions and 5 deletions.
diff --git a/launch_ros/examples/lifecycle_pub_sub_launch.py b/launch_ros/examples/lifecycle_pub_sub_launch.py
@@ -44,7 +44,7 @@ def _on_transition_event(context):
         package='lifecycle', node_executable='lifecycle_talker', output='screen')
 
     # When the talker reaches the 'inactive' state, make it take the 'activate' transition.
-    event_handler_for_talker_reaching_inactive_state = launch.actions.RegisterEventHandler(
+    register_event_handler_for_talker_reaching_inactive_state = launch.actions.RegisterEventHandler(
         launch_ros.event_handlers.OnStateTransition(
             target_lifecycle_node=talker_node, goal_state='inactive',
             entities=[
@@ -59,7 +59,7 @@ def _on_transition_event(context):
     )
 
     # When the talker node reaches the 'active' state, log a message and start the listener node.
-    event_handler_for_talker_reaching_active_state = launch.actions.RegisterEventHandler(
+    register_event_handler_for_talker_reaching_active_state = launch.actions.RegisterEventHandler(
         launch_ros.event_handlers.OnStateTransition(
             target_lifecycle_node=talker_node, goal_state='active',
             entities=[
@@ -80,9 +80,10 @@ def _on_transition_event(context):
         )
     )
 
-    # Add the actions to the launch description all at once, because the order matters:
-    ld.add_action(event_handler_for_talker_reaching_inactive_state)
-    ld.add_action(event_handler_for_talker_reaching_active_state)
+    # Add the actions to the launch description.
+    # The order they are added reflects the order in which they will be executed.
+    ld.add_action(register_event_handler_for_talker_reaching_inactive_state)
+    ld.add_action(register_event_handler_for_talker_reaching_active_state)
     ld.add_action(talker_node)
     ld.add_action(emit_event_to_request_that_talker_does_configure_transition)