system_modes

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[FEA] Allow configuring a subset of nodes in a certain mode.

2

Hi, first of all I want to say this is a great project to manage lifecycle nodes! There'a a need to config the lifecycle state of only a subset of...

ZhenshengLee

Why is so slow of changing lifecycle state of a node. there is a test log below, from the data, there will cost at less than 4s, to change the...

ZhenshengLee

[FEA] Allow deactivating nodes when system is activated.

2

There is a need to selectively disable the function of a node, that's say deactivating a node in a certain system mode. Should the following config work? Thanks! #### SHM...

ZhenshengLee

[FEA] Allow all inactive in DEFAULT MODE.

2

#### SHM file ```yaml # system modes example --- actuation: ros__parameters: type: system parts: drive_base left/manipulator right/manipulator modes: __DEFAULT__: drive_base: inactive.__DEFAULT__ left/manipulator: inactive.__DEFAULT__ right/manipulator: inactive.__DEFAULT__ LEFT: # drive_base: active.__DEFAULT__ left/manipulator:...

ZhenshengLee

Hi all I am trying to use system modes for a system composed of these nodes: `{nav2, manipulator, camera, guard}`. `guard` is a special node that detects if the system...

fmrico

Seperate CI for focal and jammy. Added humble distro to workflow

2

Configures two (almost identical) workflows * foxy and galactic to be built on Ubuntu focal * humble and rolling to be built on Ubuntu jammy Had to exclude include-order from...

norro

When the system definition (SMH) contains non-lifecycle nodes, inference will most probably fail, because nodes woll not report any (of the specified) states / transitions used by the inference. Two...

norro

Installation fails when system modes src is a symbolic link

2

Minor, low-priority issue but curious: The system modes package build/installation seems to fail, if the package sources are not placed in the ros2 workspace, but just (symbollically) linked into the...

norro

Consistency check of SMH file

2

Introduce consistency check of SMH file (yaml). Examples for - currently not detected - inconsistencies: 1. systems specify parts that are themselves not specified in the SMH file 1. system...

norro

(sub-)systems not recognized by ros2 lifecycle cli

1

When calling `ros2 lifecycle set`, the tool will abort with an error (*"Node not found"*). Reproduce: 1. Start mode manager with example system (see [system_modes_examples](system_modes_examples/README.md) 2. Execute `ros2 lifecycle set...

norro