lifecycle_bringup_commandline.cpp

// Copyright (c) 2019 Intel Corporation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include <vector>
#include <string>
#include <iostream>
#include <cstdlib>
#include <chrono>
#include "rclcpp/rclcpp.hpp"
#include "nav2_util/lifecycle_service_client.hpp"
 
using std::cerr;
using namespace std::chrono_literals;  // NOLINT
using namespace nav2_util;  // NOLINT
 
void usage()
{
  cerr << "Invalid command line.\n\n";
  cerr << "This command will take a set of unconfigured lifecycle nodes through the\n";
  cerr << "CONFIGURED to the ACTIVATED state\n";
  cerr << "The nodes are brought up in the order listed on the command line\n\n";
  cerr << "Usage:\n";
  cerr << " > lifecycle_startup <node name> ...\n";
  std::exit(1);
}
 
#define RETRY(fn, retries) \
  { \
    int count = 0; \
    while (true) { \
      try { \
        fn; \
        break; \
      } catch (const std::runtime_error & e) { \
        ++count; \
        if (count > (retries)) { \
          throw e;} \
      } \
    } \
  }
 
inline void startupLifecycleNode(
  const std::string & node_name,
  const std::chrono::seconds service_call_timeout,
  const int retries)
{
  LifecycleServiceClient sc(node_name);
 
  // Despite waiting for the service to be available and using reliable transport
  // service calls still frequently hang. To get reliable startup it's necessary
  // to timeout the service call and retry it when that happens.
  RETRY(
    sc.change_state(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE, service_call_timeout),
    retries);
  RETRY(
    sc.change_state(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE, service_call_timeout),
    retries);
}
 
inline void startup_lifecycle_nodes(
  const std::vector<std::string> & node_names,
  const std::chrono::seconds service_call_timeout,
  const int retries = 3)
{
  for (const auto & node_name : node_names) {
    startupLifecycleNode(node_name, service_call_timeout, retries);
  }
}
 
 
int main(int argc, char * argv[])
{
  if (argc == 1) {
    usage();
  }
  rclcpp::init(0, nullptr);
  startup_lifecycle_nodes(
    std::vector<std::string>(argv + 1, argv + argc),
    10s);
  rclcpp::shutdown();
}