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micro-ROS / system_modes

System modes for ROS 2 and micro-ROS
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system_modes_examples problem to change node status #26

Closed chcorbato closed 4 years ago

chcorbato commented 4 years ago

In the system_modes_example, after activating the actuation system, I am trying to change the state of driver_base to inactive, but the request does not succeeds, I do not understand why:

ros2 service call /drive_base/change_state lifecycle_msgs/srv/ChangeState "{transition: {id: 2, label: 'inactive'}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=2, label='inactive'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=False)

output from drive_base:

[drive_base-1] [WARN] [1594978436.120593022] [rcl_lifecycle]: No transition matching inactive found for current state active

Also, I noticed that when I check all available states, I get all the states specified by the lifecycle model in ROS2. However, I am not sure all the states and transitions are implemented for drive_base for example. Is this something that needs improving? Could this be interesting in the context of MROS?

FranFin commented 4 years ago

@chcorbato Hi! Thank you for your interest in micro-ROS. Notice that we’ll discuss the recent contributions and developments in the next Embedded WG meeting. You’re invited to bring your micro-ROS related issue to this platform. We’ll be very happy to have you join us and discuss your questions with the community.

chcorbato commented 4 years ago

Thanks @FranFin . I am not into the "embedded" world, but am in collaboration with @norro and @ralph-lange to apply system modes in another project called MROS

Regarding this issue, I was using incorrect transitions IDs, apologies. I close the issue.