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How to exit from a ROS2 lifecycle launch script? [closed]

asked 2018-11-07 09:30:11 -0500

Myzhar gravatar image

updated 2018-11-08 02:43:07 -0500

Hi,

is there a way to interrupt the execution of a ROS2 launch script?

In my case I have a lifecycle node managed by a lifecycle launch script. I would like to stop the execution of the script if the lifecycle node reaches the finalized state:

[...]

node_finalized_state_handler = RegisterEventHandler(
        OnStateTransition(
            target_lifecycle_node = node,
            goal_state = 'finalized',
            entities = [
                # Log
                LogInfo( msg = "'NODE' reached the 'FINALIZED' state." ),
                ***** INSERT SOMETHING HERE TO EXIT??? *****
            ],
        )
    )

[...]

# Add the actions to the launch description.
# The order they are added reflects the order in which they will be executed.
ld.add_action( node_inactive_from_unconfigured_state_handler )
ld.add_action( node_inactive_from_active_state_handler )
ld.add_action( node_active_state_handler )
ld.add_action( node_finalized_state_handler )
ld.add_action( node )
ld.add_action( node_configure_trans_event)

return ld

I cannot find a solution...

Thank you Walter

Update: I found the OpaqueFunction action and it seems that I can use it to call sys.exit, but the script still remains active because the Node is still running and "waiting" in the finalized state. So before using sys.kill I need to kill the running Node... how?

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Closed for the following reason the question is answered, right answer was accepted by Myzhar
close date 2018-11-15 07:47:41.136970

1 Answer

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answered 2018-11-08 12:21:18 -0500

William gravatar image

I would recommend you emit the shutdown event, e.g.:

https://github.com/ros2/launch/blob/a...

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Good, it works. Thank you :)

Myzhar gravatar imageMyzhar ( 2018-11-09 08:21:11 -0500 )edit

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Asked: 2018-11-07 09:30:11 -0500

Seen: 233 times

Last updated: Nov 08 '18