ros2 / ros2/rclcpp

LifeCycle pattern dosn't work (for me at least)

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more-information-needed
Dominant language
C++
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805
Forks
564
Avg merge
1d 17h
Merged PRs (30d)
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Description

Here's the problem:
I have LifeCycleNode implemented as component. The node has to received some data from a service to pass Configuration state. I bet you've already got the point. The configuration func is deadlocked. Because I can't return control to a component_container, cause configuration is not finished. I can't finish configuration, cause I've not received the data from the service (stiil awaiting). To receive response some of spins has to be called, but I can't do this, because my node will be double-registrated in that case. I cannot create another node (for client purpose) and destroy it after response is received, because any new node inside component derive name from parent. I cannot create sub-node, cause my node is derived from LifeCycleNode.
May be messed up a little bit, but it seems to me, that is is a bug.

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Research direction

The report concerns LifeCycleNode configuration, component_container registration, service responses, and spinning. Start by reproducing the configuration deadlock with a lifecycle component and inspect how node registration and service handling interact. Done means establishing whether the reported deadlock is a bug and documenting or testing a decided fix.

Written by the indexing model from the issue text.

Assessment

Tech stack
cpp
Domain
robotics
Issue type
Bug
Difficulty
4/5
Estimated time
3-5 days
Activity status
Stale
Clarity
Needs clarification
Newbie friendliness
25/100

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