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Fix for costmap nodes lifecycle status #3005

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merged 1 commit into from
Jun 8, 2022
Merged

Fix for costmap nodes lifecycle status #3005

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16 changes: 8 additions & 8 deletions nav2_controller/src/nav2_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ ControllerServer::~ControllerServer()
}

nav2_util::CallbackReturn
ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
{
auto node = shared_from_this();

Expand Down Expand Up @@ -102,7 +102,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
get_parameter("min_theta_velocity_threshold", min_theta_velocity_threshold_);
RCLCPP_INFO(get_logger(), "Controller frequency set to %.4fHz", controller_frequency_);

costmap_ros_->on_configure(state);
costmap_ros_->configure();

try {
progress_checker_type_ = nav2_util::get_plugin_type_param(node, progress_checker_id_);
Expand Down Expand Up @@ -171,11 +171,11 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
}

nav2_util::CallbackReturn
ControllerServer::on_activate(const rclcpp_lifecycle::State & state)
ControllerServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Activating");

costmap_ros_->on_activate(state);
costmap_ros_->activate();
ControllerMap::iterator it;
for (it = controllers_.begin(); it != controllers_.end(); ++it) {
it->second->activate();
Expand All @@ -187,7 +187,7 @@ ControllerServer::on_activate(const rclcpp_lifecycle::State & state)
}

nav2_util::CallbackReturn
ControllerServer::on_deactivate(const rclcpp_lifecycle::State & state)
ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Deactivating");

Expand All @@ -196,7 +196,7 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & state)
for (it = controllers_.begin(); it != controllers_.end(); ++it) {
it->second->deactivate();
}
costmap_ros_->on_deactivate(state);
costmap_ros_->deactivate();

publishZeroVelocity();
vel_publisher_->on_deactivate();
Expand All @@ -205,7 +205,7 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & state)
}

nav2_util::CallbackReturn
ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
ControllerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Cleaning up");

Expand All @@ -215,7 +215,7 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
it->second->cleanup();
}
controllers_.clear();
costmap_ros_->on_cleanup(state);
costmap_ros_->cleanup();

// Release any allocated resources
action_server_.reset();
Expand Down
16 changes: 8 additions & 8 deletions nav2_planner/src/planner_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,11 +64,11 @@ PlannerServer::~PlannerServer()
}

nav2_util::CallbackReturn
PlannerServer::on_configure(const rclcpp_lifecycle::State & state)
PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Configuring");

costmap_ros_->on_configure(state);
costmap_ros_->configure();
costmap_ = costmap_ros_->getCostmap();

RCLCPP_DEBUG(
Expand Down Expand Up @@ -139,13 +139,13 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & state)
}

nav2_util::CallbackReturn
PlannerServer::on_activate(const rclcpp_lifecycle::State & state)
PlannerServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Activating");

plan_publisher_->on_activate();
action_server_->activate();
costmap_ros_->on_activate(state);
costmap_ros_->activate();

PlannerMap::iterator it;
for (it = planners_.begin(); it != planners_.end(); ++it) {
Expand All @@ -156,13 +156,13 @@ PlannerServer::on_activate(const rclcpp_lifecycle::State & state)
}

nav2_util::CallbackReturn
PlannerServer::on_deactivate(const rclcpp_lifecycle::State & state)
PlannerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Deactivating");

action_server_->deactivate();
plan_publisher_->on_deactivate();
costmap_ros_->on_deactivate(state);
costmap_ros_->deactivate();

PlannerMap::iterator it;
for (it = planners_.begin(); it != planners_.end(); ++it) {
Expand All @@ -173,14 +173,14 @@ PlannerServer::on_deactivate(const rclcpp_lifecycle::State & state)
}

nav2_util::CallbackReturn
PlannerServer::on_cleanup(const rclcpp_lifecycle::State & state)
PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Cleaning up");

action_server_.reset();
plan_publisher_.reset();
tf_.reset();
costmap_ros_->on_cleanup(state);
costmap_ros_->cleanup();

PlannerMap::iterator it;
for (it = planners_.begin(); it != planners_.end(); ++it) {
Expand Down