Reject wrong lifecycle transitions without crash (#1209) #1317
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Signed-off-by: Christian Bitter <cbi@circuli-ion.com>
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Please fix flake8 errors https://build.ros2.org/job/Rpr__rclpy__ubuntu_noble_amd64/181/ |
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| available_transition_ids = [t[0] for t in self._state_machine.available_transitions] | ||
| if transition_id not in available_transition_ids: | ||
| resp.success = False | ||
| return resp | ||
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according to the stack trace from #1209 (comment), the root cause of this exception is from __change_state. i think what we should do here is to catch the exception from the failure from rcl transition change, and print the error for user application.
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Yes. This PR only addresses the issue of external state changes through the "change_state" service.
Modifying __change_state is more appropriate.
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@fujitatomoya has this been replaced by #1319? If so, can this one be closed? |
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@mjcarroll yes, i will go ahead to close this. |
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Fix for #1209
Instead of attempting to do a lifecycle transition and potentially crashing the node, it is first checked if a transition is valid. If it is not, it is ignored. The service caller gets notified via
success = False.