Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04
• Installation type:
  • master
• DDS implementation:
  • FAST-RTPS
• Client library:
  • rclcpp

Steps to reproduce issue

• run nav2_bringup_launch.py with autostart enabled

Expected behavior

• Nav2 panel states respond to system already running (Startup button changes to Shutdown)

Actual behavior

• Nav2 panel state and button stays on Startup
• attempts to send startup service call if pressed even though nodes already active
• cannot shutdown nodes via panel

Implementation considerations

We will need to monitor the states of the lifecycle nodes or request the status from the lifecycle manager