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[SOLVED] [ROS2 humble linux] Wait until a node has been destroyed in launch_testing

asked 2023-03-31 05:30:53 -0500

LastStarDust gravatar image

updated 2023-03-31 08:22:35 -0500

Hello. This is what I am trying to do:

  1. Create a lifecycle-managed C++ node using launch_testing
  2. Perform a test on the node
  3. Stop the node
  4. Wait until the node has been destroyed
  5. Exit the test

My question is: how would you approach problem 4.?

Here is what I came up with:

  • inside the node under test:

    LifecycleNodeInterface::CallbackReturn on_shutdown(const rclcpp_lifecycle::State& state) {
        RCLCPP_INFO(get_logger(), "on shutdown() is called from state %s.", state.label().c_str());
        return LifecycleNode::on_shutdown(state);
  • inside the test routine:

    proc_info.assertWaitForShutdown(process=node, timeout=60)

This is working somehow but it is ugly as hell. Why should I manually raise SIGINT just to destroy a node?

I have tried to use theTRANSITION_DESTROY but run into this bug.

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answered 2023-03-31 08:22:16 -0500

LastStarDust gravatar image

I solved the problem by adding this action to the launch description:

destroy_node = RegisterEventHandler(
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Asked: 2023-03-31 05:30:53 -0500

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Last updated: Mar 31 '23