Implement managed nodes #865

ivanpauno · 2021-12-15T22:18:35Z

Fixes #604.

I took into account the feedback provided here ros2/rclcpp#1846, so you don't need to manually call on_activate/on_deactivate for managed entities like LifecyclePublisher.
I'm open to revert that bit, though I think it's a good idea.

I have only manually tested that the lifecycle node services work correctly.
I have not tested the lifecycle publisher at all.
This PR has tests now.
~~I could write some automated tests for the lifecycle builtin services though.~~
Done as well.

~~This is not ready to be merged, though early feedback is appreciated anyway.~~
This is ready now.

~~I'm working to add a demo equivalent to demos/lifecycle, but that shouldn't block this from being reviewed.~~
PR with demo ready: ros2/demos#547.

bpwilcox · 2021-12-17T20:32:46Z

rclpy/rclpy/lifecycle.py

+        return TransitionCallbackReturn.SUCCESS
+
+
+class SimpleManagedEntity(ManagedEntity):


Is there motivation to have the SimpleManagedEntity inherit from a ManagedEntity other than that they share two intended transitions (activate/deactivate). Presumably the other transitions do not do anything.

I thought in some cases it could be useful to override some of the others, so I left all of them.

e.g. you can inherit from LifecyclePublisher and override on_error().
I'm not sure if that's really useful or not.

If the only use-case we see is something like SimpleManagedEntity, i.e. setting/clearing a flag in on_active/on_deactive, maybe it would be simpler to just keep a reference of the lifecycle node state machine in all managed entities and query if the current state is active or not.
That might be a bit slower, as there a few extra indirections and comparisons.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

…ally manage child entities Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

…improvements Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

…ce=False Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

audrow

This looks pretty good to me. It will be very nice to have lifecycle nodes in rclpy! I've commented on a few TODOs and made a few minor suggestions.

It would also be good to have a tutorial written for this at the same time that we merge in this PR.

Also, do you still intend to add more tests, or does that about cover it?

rclpy/rclpy/lifecycle/node.py

rclpy/test/test_lifecycle.py

audrow · 2021-12-17T22:24:43Z

rclpy/test/test_lifecycle.py

+    node = LifecycleNode(
+        'test_lifecycle_state_transitions_1', enable_communication_interface=False)
+    # normal transitions
+    assert node.trigger_configure() == TransitionCallbackReturn.SUCCESS


Maybe have a for loop put the node through many transitions, just to confirm that they work back-to-back.

IIUC after 4ca2a36 I'm testing all the possible transitions back to back.
I find it clear to do them manually instead of in a for loop, but if you have a code snippet that you find better feel free to share it.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Audrow Nash <audrow.nash@gmail.com>

…r reuse in LifecycleNode and other derived classes Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

…ged entitities. Share implementation of default transtion callbacks Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

…hen shutdown transition is not possible Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

audrow

Looks good to me with green CI.

rclpy/rclpy/lifecycle/node.py

rclpy/test/test_lifecycle.py

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno · 2021-12-23T14:08:16Z

CI:

Linux
Linux-aarch64
macOS (unrelated failure)
Windows

ivanpauno · 2021-12-23T14:19:21Z

Looks good to me with green CI.

I will request more feedback about the API, particularly considering it doesn't match exactly the rclcpp one (following the suggestion in ros2/rclcpp#1846).
I won't block this PR on that though, we still have time to make API changes until the Humble release.

ivanpauno · 2021-12-23T16:39:48Z

Going in, thanks for the review @audrow !!

SteveMacenski · 2022-11-03T16:41:06Z

@ivanpauno any plans for adding docs that this exists? This came up here: ros-navigation/navigation2#3259 and while trying to show them documentation for the API, I came up with lint in my pockets 😄

ivanpauno · 2022-11-08T14:13:45Z

@ivanpauno any plans for adding docs that this exists? This came up here: ros-planning/navigation2#3259 and while trying to show them documentation for the API, I came up with lint in my pockets smile

Yes sorry, there's not much more than the demo added in this PR up to now.
I will try to get some time to add better documentation.

ros-discourse · 2022-12-20T11:32:52Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/lifecycle-nodes-in-python/14547/4

ivanpauno added the enhancement New feature or request label Dec 15, 2021

ivanpauno requested review from audrow and adityapande-1995 December 15, 2021 22:18

ivanpauno self-assigned this Dec 15, 2021

ivanpauno mentioned this pull request Dec 15, 2021

Allow LifecycleNode to automatically transition Lifecycle-enabled ROS2 entities ros2/rclcpp#1846

Closed

scpeters mentioned this pull request Dec 15, 2021

Feature Request: Managed Nodes #604

Closed

bpwilcox reviewed Dec 17, 2021

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ivanpauno mentioned this pull request Dec 17, 2021

[rcl_lifecycle] Do not share transition event message between nodes ros2/rcl#956

Merged

ivanpauno added 21 commits December 17, 2021 17:58

wip

72c3ff6

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

wip 2

d72dc29

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Fix possible ownership issue

fb17060

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

make basic example work

b0bf636

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Make all the services work, checked by doing manual testing

19d5234

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

More consistent style

c01fe6f

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Add some docs, add ManagedEntity concept

0c3b02b

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Make all linters happy

8efe11c

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Quick lifecycle publisher implementation

581d030

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Minor style change

d8451be

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Fix issues introduced when implementing LifecyclePublisher, automatic…

f5967cf

…ally manage child entities Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Fixes to make it work again

ed57e05

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Modularize the implementation

30cb7a0

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Improve SimpleManagedEntity.when_enabled

b53bb36

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Add some docs to lifecycle publisher

d1ff708

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Register all necessary callbacks, add State abstraction, other minor …

2ac7da1

…improvements Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Minor style changes, add local API to trigger transitions

33157f1

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Test LifecycleNode constructor, fix when enable_communication_interfa…

ebd1d9a

…ce=False Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

test transitions + fixes

c6c4d73

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Add tests for lifecycle publisher

7517641

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Please flake8

ce0d256

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno force-pushed the ivanpauno/lifecycle branch from 54b6dab to ce0d256 Compare December 17, 2021 21:03

ivanpauno marked this pull request as ready for review December 17, 2021 21:03

audrow reviewed Dec 17, 2021

View reviewed changes

Minor style change after writting the demos

bd253ac

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno mentioned this pull request Dec 20, 2021

Add rclpy lifecycle demo ros2/demos#547

Merged

ivanpauno and others added 11 commits December 20, 2021 17:30

Fix misspelled word

324d4ef

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Audrow Nash <audrow.nash@gmail.com>

Make some attributes in Node "protected" instead of private for easie…

2616315

…r reuse in LifecycleNode and other derived classes Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Remove TODO, add better docs

b57a779

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Remove TODO in __register_callback

041ea6d

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Remove TODO

a72645b

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Check transition callbacks return code type. Check type of added mana…

bc98247

…ged entitities. Share implementation of default transtion callbacks Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Check that state is 'unconfigured' also before transition

6c20f80

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Test lifecycle services

928ee79

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Delete early debugging code

59fcc4c

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Please linters

c31b4f6

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Test the two remaining shutdown transitions. Correct error handling w…

4ca2a36

…hen shutdown transition is not possible Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno requested a review from audrow December 22, 2021 20:20

audrow approved these changes Dec 22, 2021

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Address peer review comments

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Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno merged commit 48c7850 into master Dec 23, 2021

delete-merged-branch bot deleted the ivanpauno/lifecycle branch December 23, 2021 16:47

ivanpauno mentioned this pull request Jan 13, 2022

Automatically transition lifecycle entities when node transitions ros2/rclcpp#1863

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clalancette mentioned this pull request Apr 29, 2022

ROS 2 Humble needed release notes ros2/ros2_documentation#2446

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Implement managed nodes #865

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ros-discourse commented Dec 20, 2022

		return TransitionCallbackReturn.SUCCESS


		class SimpleManagedEntity(ManagedEntity):

Implement managed nodes #865

Implement managed nodes #865

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