transition start and goal states can be null (#662)

* transition start and goal states can be null Signed-off-by: Karsten Knese <karsten@openrobotics.org> * correct tests Signed-off-by: Karsten Knese <karsten@openrobotics.org>
ros2 · May 27, 2020 · 0de31d0 · 0de31d0
1 parent c212a0d
commit 0de31d0
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Showing 2 changed files with 2 additions and 12 deletions.
diff --git a/rcl_lifecycle/src/rcl_lifecycle.c b/rcl_lifecycle/src/rcl_lifecycle.c
@@ -132,16 +132,6 @@ rcl_lifecycle_transition_init(
     return RCL_RET_ERROR;
   }
 
-  if (!start) {
-    RCL_SET_ERROR_MSG("start state pointer is null\n");
-    return RCL_RET_ERROR;
-  }
-
-  if (!goal) {
-    RCL_SET_ERROR_MSG("goal state pointer is null\n");
-    return RCL_RET_ERROR;
-  }
-
   transition->start = start;
   transition->goal = goal;
 

diff --git a/rcl_lifecycle/test/test_rcl_lifecycle.cpp b/rcl_lifecycle/test/test_rcl_lifecycle.cpp
@@ -133,12 +133,12 @@ TEST(TestRclLifecycle, lifecycle_transition) {
 
   ret = rcl_lifecycle_transition_init(
     &transition, expected_id, &expected_label[0], nullptr, nullptr, &allocator);
-  EXPECT_EQ(ret, RCL_RET_ERROR);
+  EXPECT_EQ(ret, RCL_RET_OK);
   rcutils_reset_error();
 
   ret = rcl_lifecycle_transition_init(
     &transition, expected_id, &expected_label[0], start, nullptr, &allocator);
-  EXPECT_EQ(ret, RCL_RET_ERROR);
+  EXPECT_EQ(ret, RCL_RET_OK);
   rcutils_reset_error();
 
   rcl_allocator_t bad_allocator = rcl_get_default_allocator();