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I'm trying to understand how to correctly manage errors in a LifecycleNode.
From what I understood currently the on_error callback is called in two cases:
when a transition callback returns lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR
when an uncaught exception is thrown inside a transition callback
But according to ROS2 design page the node should be able to enter in error processing transition also from ACTIVE state.
Now I have two problems:
Understand who generated the error that called on_error since the only argument of the on_error callback is const rclcpp_lifecycle::State& previous_state
Understand how to trigger an error from ACTIVE state (for example from a thread acquiring data from a device, when the device disconnects)
I think that the lifecycle demo should have an example of on_error callback together with the other.
The text was updated successfully, but these errors were encountered:
I'm trying to understand how to correctly manage errors in a
LifecycleNode
.From what I understood currently the
on_error
callback is called in two cases:lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR
But according to ROS2 design page the node should be able to enter in
error processing
transition also fromACTIVE
state.Now I have two problems:
on_error
since the only argument of theon_error
callback isconst rclcpp_lifecycle::State& previous_state
ACTIVE
state (for example from a thread acquiring data from a device, when the device disconnects)I think that the
lifecycle
demo should have an example ofon_error
callback together with the other.The text was updated successfully, but these errors were encountered: