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Reject wrong lifecycle transitions without crash (#1209) #1317

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Reject wrong lifecycle transitions without crash (#1209) #1317

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6 changes: 6 additions & 0 deletions rclpy/rclpy/lifecycle/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -350,6 +350,12 @@ def __on_change_state(
):
self.__check_is_initialized()
transition_id = req.transition.id

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

Comment on lines +353 to +358
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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.

if req.transition.label:
try:
transition_id = self._state_machine.get_transition_by_label(req.transition.label)
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