Fixing lifecycle node autostart issue #445 (#449)

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
(cherry picked from commit 98952b5)

# Conflicts:
#	launch_ros/launch_ros/actions/lifecycle_node.py
#	launch_ros/launch_ros/actions/load_composable_nodes.py

Author: SteveMacenski

launch_ros/launch_ros/actions/lifecycle_node.py

@@ -145,6 +145,7 @@ def execute(self, context: launch.LaunchContext) -> Optional[List[Action]]:
         self._perform_substitutions(context)  # ensure self.node_name is expanded
         if '<node_name_unspecified>' in self.node_name:
             raise RuntimeError('node_name unexpectedly incomplete for lifecycle node')
+<<<<<<< HEAD
         node = get_ros_node(context)
         # Create a subscription to monitor the state changes of the subprocess.
         self.__rclpy_subscription = node.create_subscription(
@@ -161,5 +162,22 @@ def execute(self, context: launch.LaunchContext) -> Optional[List[Action]]:
             matcher=lambda event: isinstance(event, ChangeState),
             entities=[launch.actions.OpaqueFunction(function=self._on_change_state_event)],
         ))
+=======
+
+        self.__lifecycle_event_manager = LifecycleEventManager(self)
+        self.__lifecycle_event_manager.setup_lifecycle_manager(context)
+
+        # If autostart is enabled, transition to the 'active' state.
+        autostart_actions = None
+        if self.node_autostart:
+            autostart_actions = [
+                LifecycleTransition(
+                    lifecycle_node_names=[self.node_name],
+                    transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
+                                    lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE]
+                ),
+            ]
+
+>>>>>>> 98952b5 (Fixing lifecycle node autostart issue #445 (#449))
         # Delegate execution to Node and ExecuteProcess.
         return super().execute(context)

launch_ros/launch_ros/actions/load_composable_nodes.py

@@ -236,6 +236,24 @@ def execute(
             if request is not None:
                 load_node_requests.append(request)
 
+<<<<<<< HEAD
+=======
+            # If autostart is enabled, transition to the 'active' state.
+            if hasattr(node_description, 'node_autostart') and node_description.node_autostart:
+                complete_node_name = request.node_namespace + request.node_name
+                if not complete_node_name.startswith('/'):
+                    complete_node_name = '/' + complete_node_name
+                self.__logger.info(
+                    'Autostart enabled for requested lifecycle node {}'.format(complete_node_name))
+                node_description.init_lifecycle_event_manager(context)
+                autostart_actions.append(
+                    LifecycleTransition(
+                        lifecycle_node_names=[complete_node_name],
+                        transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
+                                        lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE]
+                    ))
+
+>>>>>>> 98952b5 (Fixing lifecycle node autostart issue #445 (#449))
         if load_node_requests:
             context.add_completion_future(
                 context.asyncio_loop.run_in_executor(