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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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ROS 2 Lifecycle support for current node executables. #1210

Open FelipeH92 opened 1 month ago

FelipeH92 commented 1 month ago

Hello.

Is there any plan on implementing lifecycle support for the current node executables? It would be useful to use lifecycle to control, reconfigure and restart the nodes on the fly.

matlabbe commented 1 month ago

Since ros1, rtabmap_ros has already ros services to provide that kind of workflow on runtime (reconfigure, reload a different database, restart, delete current map...), even controllable by rtabmap_viz UI interface, but there is indeed no output giving the current state of the node (e.g., initializing, loading database, running, shutting down...), as described in this doc: https://design.ros2.org/articles/node_lifecycle.html

Nav2 is using extensively lifecycle managed nodes, so it could be indeed useful to have rtabmap integrated in nav2 lifecyle loop. To answer your question, there is no short-term plan to implement it, but I am open to review a PR about that.