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Open option to use parent node in lifecycle Manger Client #2328

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merged 2 commits into from
May 3, 2021
Merged

Open option to use parent node in lifecycle Manger Client #2328

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ac757dd
open option to use parent node
Apr 29, 2021
9ddf72a
add constructor and clean
Apr 30, 2021
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20 changes: 17 additions & 3 deletions nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include "std_srvs/srv/empty.hpp"
#include "nav2_msgs/srv/manage_lifecycle_nodes.hpp"
#include "std_srvs/srv/trigger.hpp"
#include "nav2_util/service_client.hpp"

namespace nav2_lifecycle_manager
{
Expand All @@ -44,8 +45,21 @@ class LifecycleManagerClient
public:
/**
* @brief A constructor for LifeCycleMangerClient
* @param name Managed node name
* @param ns Service node namespace
*/
explicit LifecycleManagerClient(const std::string & name, const std::string & ns = "");
explicit LifecycleManagerClient(
const std::string & name,
const std::string & ns = "");

/**
* @brief A constructor for LifeCycleMangerClient
* @param name Managed node name
* @param parent_node Node that execute the service calls
*/
explicit LifecycleManagerClient(
const std::string & name,
std::shared_ptr<rclcpp::Node> parent_node);

// Client-side interface to the Nav2 lifecycle manager
/**
Expand Down Expand Up @@ -110,8 +124,8 @@ class LifecycleManagerClient
// The node to use for the service call
rclcpp::Node::SharedPtr node_;

rclcpp::Client<ManageLifecycleNodes>::SharedPtr manager_client_;
rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr is_active_client_;
std::shared_ptr<nav2_util::ServiceClient<ManageLifecycleNodes>> manager_client_;
std::shared_ptr<nav2_util::ServiceClient<std_srvs::srv::Trigger>> is_active_client_;
std::string manage_service_name_;
std::string active_service_name_;
};
Expand Down
48 changes: 32 additions & 16 deletions nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,27 @@ LifecycleManagerClient::LifecycleManagerClient(
node_ = std::make_shared<rclcpp::Node>(name + "_service_client", ns);

// Create the service clients
manager_client_ = node_->create_client<ManageLifecycleNodes>(manage_service_name_);
is_active_client_ = node_->create_client<std_srvs::srv::Trigger>(active_service_name_);
manager_client_ = std::make_shared<nav2_util::ServiceClient<ManageLifecycleNodes>>(
manage_service_name_, node_);
is_active_client_ = std::make_shared<nav2_util::ServiceClient<std_srvs::srv::Trigger>>(
active_service_name_, node_);
}

LifecycleManagerClient::LifecycleManagerClient(
const std::string & name,
std::shared_ptr<rclcpp::Node> parent_node)
{
manage_service_name_ = name + std::string("/manage_nodes");
active_service_name_ = name + std::string("/is_active");

// Use parent node for service call and logging
node_ = parent_node;

// Create the service clients
manager_client_ = std::make_shared<nav2_util::ServiceClient<ManageLifecycleNodes>>(
manage_service_name_, node_);
is_active_client_ = std::make_shared<nav2_util::ServiceClient<std_srvs::srv::Trigger>>(
active_service_name_, node_);
}

bool
Expand Down Expand Up @@ -75,27 +94,27 @@ SystemStatus
LifecycleManagerClient::is_active(const std::chrono::nanoseconds timeout)
{
auto request = std::make_shared<std_srvs::srv::Trigger::Request>();
auto response = std::make_shared<std_srvs::srv::Trigger::Response>();

RCLCPP_DEBUG(
node_->get_logger(), "Waiting for the %s service...",
active_service_name_.c_str());

if (!is_active_client_->wait_for_service(timeout)) {
if (!is_active_client_->wait_for_service(std::chrono::seconds(1))) {
return SystemStatus::TIMEOUT;
}

RCLCPP_DEBUG(
node_->get_logger(), "Sending %s request",
active_service_name_.c_str());
auto future_result = is_active_client_->async_send_request(request);

if (rclcpp::spin_until_future_complete(node_, future_result, timeout) !=
rclcpp::FutureReturnCode::SUCCESS)
{
try {
response = is_active_client_->invoke(request, timeout);
} catch (std::runtime_error &) {
return SystemStatus::TIMEOUT;
}

if (future_result.get()->success) {
if (response->success) {
return SystemStatus::ACTIVE;
} else {
return SystemStatus::INACTIVE;
Expand All @@ -112,7 +131,7 @@ LifecycleManagerClient::callService(uint8_t command, const std::chrono::nanoseco
node_->get_logger(), "Waiting for the %s service...",
manage_service_name_.c_str());

while (!manager_client_->wait_for_service(std::chrono::seconds(1))) {
while (!manager_client_->wait_for_service(timeout)) {
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if (!rclcpp::ok()) {
RCLCPP_ERROR(node_->get_logger(), "Client interrupted while waiting for service to appear");
return false;
Expand All @@ -123,15 +142,12 @@ LifecycleManagerClient::callService(uint8_t command, const std::chrono::nanoseco
RCLCPP_DEBUG(
node_->get_logger(), "Sending %s request",
manage_service_name_.c_str());
auto future_result = manager_client_->async_send_request(request);

if (rclcpp::spin_until_future_complete(node_, future_result, timeout) !=
rclcpp::FutureReturnCode::SUCCESS)
{
try {
auto future_result = manager_client_->invoke(request, timeout);
return future_result->success;
} catch (std::runtime_error &) {
return false;
}

return future_result.get()->success;
}

} // namespace nav2_lifecycle_manager