Wonguk Jeong
Wonguk Jeong
This PR is about unimplemented service request filtering in the [managed node design](https://design.ros2.org/articles/node_lifecycle.html). > ### Primary State: Inactive > ... > _While in this state, the node will not receive...
@alsora thank you. I have the same concerns as you about my PR. Actually, I was thinking about overriding the take_type_erased_request of ServiceBase as a virtual function and returning false....
@alsora I think you're right. (executor recognizes the state and controls the waitset.) If so, isn't it right to generalize the rclcpp service to handle the active/inactive state instead of...
@alsora I re-implemented, - declare `add_to_wait_set()` (pure virtual) in `ServiceBase` - implement `add_to_wait_set()` in `Service` - override `add_to_wait_set()` in `LifecycleService` And,, since `add_handles_to_wait_set()` of `rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp` traverses `rcl_service_t` (shared_ptr) not `ServiceBase`,...
@alsora done what you've mentioned.
@alsora Thanks for the review. Added a commit that applies the last comment. :)
@bpwilcox Yes, I will work on subscription and demo as well after this PR is merged.
> overall looks good to me, but a couple of questions. > > probably this is off topic from this PR. with current implementation application is responsible to activate /...
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