Make nodes have managed lifecycle

space-concordia-robotics / robotics-prototype

Teleoperated Mars rover with autonomous capabilities intended for robotics competitions.

https://spaceconcordia.github.io/robotics.html

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Make nodes have managed lifecycle #630

Open vexandmore opened 7 months ago

vexandmore commented 7 months ago

In Ros2, with the nodes such as they are now, there is no way to kill a node without manually killing the process. To change this, the nodes need to be made LifecycleNodes so they can be shutdown properly. Some documentation is here: https://index.ros.org/p/lifecycle/github-ros2-demos/

steamypotato commented 6 months ago

The packages in question for this task : absenc_interface, arm_ik, arm_controller, sil, wheels_controller, gps.

How to know you are done this task : You can stop and restart of these nodes after they have been launched

Nicaus commented 5 months ago

Its currently impossible to run the nodes locally on my laptop. According to Omar, the repo is only runnable on the Jetson. I'm trying my best to code without having to check if any nodes with lifecycles works yet.

Nicaus commented 3 months ago

The lifecycle nodes are now fully operational, I just have to make sure that setting a lifecycle node to finalized kills it

Nicaus commented 3 months ago

shutdown works therefore it kills the node :)