Remove lifecycle_service_client_py.py; it is deprecated and no longer works correctly #309
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 18.04
- Installation type:
- binaries and source
- Version or commit hash:
- bouncy and 451bf4a
- DDS implementation:
- Fast-RTPS
- Client library (if applicable):
- N/A
Steps to reproduce issue
In terminal 1:
$ ros2 run lifecycle lifecycle_talker
In terminal 2:
$ ros2 run lifecycle lifecycle_service_client_py.py change_state --change-state-args configure lc_talker
$ ros2 run lifecycle lifecycle_service_client_py.py change_state --change-state-args activate lc_talker
$ ros2 run lifecycle lifecycle_service_client_py.py change_state --change-state-args shutdown lc_talker
Expected behavior
Transition from active to shuttingdown
Actual behavior
[rcl_lifecycle]: No transition matching 5 found for current state unconfigured
[ERROR] []: Unable to start transition 5 from current state unconfigured: Transition is not registered., at /home/paco/ros2/ros2_ws/src/ros2/rcl/rcl_lifecycle/src/rcl_lifecycle.c:332
Additional information
These trensition messages are defined in rcl_interfaces/lifecycle_msgs/msg/Transition.msg:14
uint8 TRANSITION_SHUTDOWN = 5
uint8 TRANSITION_DESTROY = 6
Actually, demos/lifecycle/src/lifecycle_service_client_py.py:40 uses it
elif change_state_args == 'shutdown':
req.transition.id = Transition.TRANSITION_SHUTDOWN
but these transitions are never registered. I have debugged this by adding these lines just at the end of function rcl_lifecycle_register_transition(..) at rcl/rcl_lifecycle/src/transition_map.c:154:
const char *lstart = rcl_lifecycle_get_state(transition_map, transition.start->id)->label;
const char *lgoal = rcl_lifecycle_get_state(transition_map, transition.goal->id)->label;
const char *ltrans = rcl_lifecycle_get_transitions(transition_map, transition.id)->label;
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
"registering transition %u (%s) state %u (%s) -> %u (%s)\n",
transition.id, ltrans,
transition.start->id, lstart,
transition.goal->id, lgoal);
return RCL_RET_OK;
}
and the output, when I start the node, is:
[INFO] [rcl_lifecycle]: registering transition 1 (configure) state 1 (unconfigured) -> 10 (configuring)
[INFO] [rcl_lifecycle]: registering transition 10 (transition_success) state 10 (configuring) -> 2 (inactive)
[INFO] [rcl_lifecycle]: registering transition 11 (transition_failure) state 10 (configuring) -> 1 (unconfigured)
[INFO] [rcl_lifecycle]: registering transition 12 (transition_error) state 10 (configuring) -> 15 (errorprocessing)
[INFO] [rcl_lifecycle]: registering transition 2 (cleanup) state 2 (inactive) -> 11 (cleaningup)
[INFO] [rcl_lifecycle]: registering transition 20 (transition_success) state 11 (cleaningup) -> 1 (unconfigured)
[INFO] [rcl_lifecycle]: registering transition 21 (transition_failure) state 11 (cleaningup) -> 2 (inactive)
[INFO] [rcl_lifecycle]: registering transition 22 (transition_error) state 11 (cleaningup) -> 15 (errorprocessing)
[INFO] [rcl_lifecycle]: registering transition 3 (activate) state 2 (inactive) -> 13 (activating)
[INFO] [rcl_lifecycle]: registering transition 30 (transition_success) state 13 (activating) -> 3 (active)
[INFO] [rcl_lifecycle]: registering transition 31 (transition_failure) state 13 (activating) -> 2 (inactive)
[INFO] [rcl_lifecycle]: registering transition 32 (transition_error) state 13 (activating) -> 15 (errorprocessing)
[INFO] [rcl_lifecycle]: registering transition 4 (deactivate) state 3 (active) -> 14 (deactivating)
[INFO] [rcl_lifecycle]: registering transition 40 (transition_success) state 14 (deactivating) -> 2 (inactive)
[INFO] [rcl_lifecycle]: registering transition 41 (transition_failure) state 14 (deactivating) -> 3 (active)
[INFO] [rcl_lifecycle]: registering transition 42 (transition_error) state 14 (deactivating) -> 15 (errorprocessing)
[INFO] [rcl_lifecycle]: registering transition 50 (shutdown) state 1 (unconfigured) -> 12 (shuttingdown)
[INFO] [rcl_lifecycle]: registering transition 51 (shutdown) state 2 (inactive) -> 12 (shuttingdown)
[INFO] [rcl_lifecycle]: registering transition 52 (shutdown) state 3 (active) -> 12 (shuttingdown)
[INFO] [rcl_lifecycle]: registering transition 53 (transition_success) state 12 (shuttingdown) -> 4 (finalized)
[INFO] [rcl_lifecycle]: registering transition 54 (transition_failure) state 12 (shuttingdown) -> 4 (finalized)
[INFO] [rcl_lifecycle]: registering transition 55 (transition_error) state 12 (shuttingdown) -> 15 (errorprocessing)
[INFO] [rcl_lifecycle]: registering transition 60 (transition_success) state 15 (errorprocessing) -> 1 (unconfigured)
[INFO] [rcl_lifecycle]: registering transition 61 (transition_failure) state 15 (errorprocessing) -> 4 (finalized)
[INFO] [rcl_lifecycle]: registering transition 62 (transition_error) state 15 (errorprocessing) -> 4 (finalized)
No transition 5 is registered