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[FEA] Allow configuring a subset of nodes in a certain mode. #95
Description
Hi, first of all I want to say this is a great project to manage lifecycle nodes!
There'a a need to config the lifecycle state of only a subset of nodes in one mode, but config another subset of nodes in other modes.
Let's say, can the following config work? (Currently I don't need the extra parameter-based modes either)
SHM file
# system modes example
---
actuation:
ros__parameters:
type: system
parts:
drive_base
left/manipulator
right/manipulator
modes:
__DEFAULT__:
drive_base: active.__DEFAULT__
left/manipulator: inactive.__DEFAULT__
right/manipulator: inactive.__DEFAULT__
LEFT:
# drive_base: active.__DEFAULT__
left/manipulator: active.__DEFAULT__
# right/manipulsator: inactive.__DEFAULT__
RIGHT:
# drive_base: active.__DEFAULT__
# left/manipulator: inactive.__DEFAULT__
right/manipulator: active.__DEFAULT__
left/manipulator:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
max_torque: 0.1
drive_base:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
max_speed: 0.1
controller: PID
right/manipulator:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
max_torque: 0.11
EDIT, the step of reproduce has been updated @ralph-lange
step to reproduce
time ros2 service call /actuation/change_state lifecycle_msgs/ChangeState "{transition: {id: 1, label: configure}}"
time ros2 service call /actuation/change_state lifecycle_msgs/ChangeState "{transition: {id: 3, label: activate}}"expected
the lefe manipulator should be in active
actual
Activity
[-][FEA] Only config subset of nodes in a certain mode.[/-][+][FEA] Only config a subset of nodes in a certain mode.[/+][-][FEA] Only config a subset of nodes in a certain mode.[/-][+][FEA] Allow configuring a subset of nodes in a certain mode.[/+]ralph-lange commentedon Nov 3, 2022
I assume this issue is superseded by #96, or?
ZhenshengLee commentedon Nov 4, 2022
@ralph-lange thank you again!
No, this case is different with #96
In #96 , the bug/fea is about changing mode state to set one of nodes to inactive.
In this issue, the bug/fea is about changing mode state to set only one node to other state, and leave other nodes not changing their state(remain the same)