From 0d42877ca066b00ae0e8a03e5e19e9e2c93756af Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 17 Mar 2025 14:19:29 -0700 Subject: [PATCH] Fixing lifecycle node autostart issue #445 (#449) Signed-off-by: Steve Macenski (cherry picked from commit 98952b58d570cde78d8cfec8c8d697f331b8c982) --- launch_ros/launch_ros/actions/lifecycle_node.py | 7 ++----- launch_ros/launch_ros/actions/load_composable_nodes.py | 9 ++------- 2 files changed, 4 insertions(+), 12 deletions(-) diff --git a/launch_ros/launch_ros/actions/lifecycle_node.py b/launch_ros/launch_ros/actions/lifecycle_node.py index 79bca627c..d5c9ad895 100644 --- a/launch_ros/launch_ros/actions/lifecycle_node.py +++ b/launch_ros/launch_ros/actions/lifecycle_node.py @@ -107,11 +107,8 @@ def execute(self, context: launch.LaunchContext) -> Optional[List[Action]]: autostart_actions = [ LifecycleTransition( lifecycle_node_names=[self.node_name], - transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE] - ), - LifecycleTransition( - lifecycle_node_names=[self.node_name], - transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE] + transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, + lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE] ), ] diff --git a/launch_ros/launch_ros/actions/load_composable_nodes.py b/launch_ros/launch_ros/actions/load_composable_nodes.py index ba4f6e21c..e16e39283 100644 --- a/launch_ros/launch_ros/actions/load_composable_nodes.py +++ b/launch_ros/launch_ros/actions/load_composable_nodes.py @@ -251,14 +251,9 @@ def execute( autostart_actions.append( LifecycleTransition( lifecycle_node_names=[complete_node_name], - transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE] + transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, + lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE] )) - autostart_actions.append( - LifecycleTransition( - lifecycle_node_names=[complete_node_name], - transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE] - ), - ) if load_node_requests: context.add_completion_future(