Expose lifecycle_node #327
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Signed-off-by: Kenji Miyake <[email protected]>
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@esteve Thank you for your work! |
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@kenji-miyake thanks. I created ros2/launch#658 to address event handlers |
ivanpauno
approved these changes
Nov 9, 2022
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LGTM!
It would be nice to add some tests before merging.
If we only expose this, and not event handlers, there's no much advantage of using lifecycle_node over node in XML launch files.
The only advantage is that the StateTransition and ChangeState events will be emited.
So if you include a python launch file from the XML launch file, you can take advantages of those using event handlers.
Though that seems fine IMO
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@esteve @kenji-miyake could you add a test case for this? |
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Original author: @kenji-miyake
Closes #236