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micro-ROS / system_modes

System modes for ROS 2 and micro-ROS
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Ensure systems/nodes are activated with their default mode #79

Closed norro closed 3 years ago

norro commented 3 years ago

If systems or nodes are started (activated) not through the mode manager but from a third-party, they will not automatically be set into their default mode, but instead use the default parameter values (from node parameter yaml file or the declare_parameter defaults). Instead, we want to be able to ensure that system/nodes are started into their default mode (or optionally any other mode) even in these situations to not be required to duplicate parameters in the SMH file and the node defaults.

Potential solution:

  1. Provide a launch description that changes modes, probably similar to launch_ros/events/lifecycle/change_state.py
norro commented 3 years ago

Implemented, working, and tested in PR https://github.com/micro-ROS/system_modes/pull/80. Just need to get the CI workflow to work with the c++ tests, python tests, and launch tests now.