rcl_lifecycle

rcl_lifecycle provides functionality for ROS 2 lifecycle nodes in C.

Features are described in detail at http://docs.ros2.org

For more information about lifecycle nodes, see: https://design.ros2.org/articles/node_lifecycle.html

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package rcl_lifecycle

10.1.0 (2025-04-04)

• add rcl_print_transition_map. (#1217)
• Enable test isolation in rcl_lifecycle (#1216)
• Contributors: Scott K Logan, Tomoya Fujita

10.0.2 (2025-01-31)

• Clean up error handling in many rcl{_action,_lifecycle} codepaths (#1202)

  * Shorten the delay in test_action_server setup. Instead of waiting 250ms between setting up 10 goals (for at least 2.5 seconds), just wait 100ms which reduces this to 1 second.

  • Small style cleanups in test_action_server.cpp

  * Reset the error in rcl_node_type_cache_register_type(). That is, if rcutils_hash_map_set() fails, it sets its own error, so overriding it with our own will cause a warning to print. Make sure to clear it before setting our own.

  * Only unregister a clock jump callback if we have installed it. This avoids a warning on cleanup in rcl_timer_init2.

  * Record the return value from rcl_node_type_cache_register_type. Otherwise, in a failure situation we set the error but we actually return RCL_RET_OK to the upper layers, which is odd.

  * Get rid of completely unnecessary return value translation. This generated code was translating an RCL error to an RCL error, which doesn't make much sense. Just remove the duplicate code.

  * Use the rcl_timer_init2 functionality to start the timer disabled. Rather than starting it enabled, and then immediately canceling it.

  * Don't overwrite the error from rcl_action_goal_handle_get_info() It already sets the error, so rcl_action_server_goal_exists() should not set it again.

  * Reset errors before setting new ones when checking action validity That way we avoid an ugly warning in the error paths.

  * Move the copying of the options earlier in rcl_subscription_init. That way when we go to cleanup in the "fail" case, the options actually exist and are valid. This avoids an ugly warning during cleanup.

  * Make sure to set the error on failure of rcl_action_get_##_service_name This makes it match the generated code for the action_client.

  * Reset the errors during RCUTILS_FAULT_INJECTION testing. That way subsequent failures won't print out ugly error strings.

  * Make sure to return errors in _rcl_parse_resource_match . That is, if rcl_lexer_lookahead2_expect() returns an error, we should pass that along to higher layers rather than just ignoring it.

  * Don't overwrite error by rcl_validate_enclave_name. It leads to ugly warnings.

  • Add acomment that rmw_validate_namespace_with_size sets the error

  * Make sure to reset error in rcl_node_type_cache_init. Otherwise we get a warning about overwriting the error from rcutils_hash_map_init.

  * Conditionally set error message in rcl_publisher_is_valid. Only when rcl_context_is_valid doesn't set the error.

  * Don't overwrite error from rcl_node_get_logger_name. It already sets the error in the failure case.

  * Make sure to reset errors when testing network flow endpoints. That's because some of the RMW implementations may not support this feature, and thus set errors.

  * Make sure to reset errors in rcl_expand_topic_name. That way we can set more useful errors for the upper layers.

  * Cleanup wait.c error handling. In particular, make sure to not overwrite errors as we get into error-handling paths, which should clean up warnings we get.

  * Make sure to reset errors in rcl_lifecycle tests. That way we won't get ugly "overwritten" warnings on subsequent tests. ---------

• Contributors: Chris Lalancette

10.0.1 (2024-11-20)

10.0.0 (2024-10-03)

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