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fix: handle transition failures in planner/controller/smoother servers #4697

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fix: handle transition failures in planner/controller/smoother servers #4697

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16 changes: 14 additions & 2 deletions nav2_controller/src/controller_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ 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 @@ -152,6 +152,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
RCLCPP_FATAL(
get_logger(),
"Failed to create progress_checker. Exception: %s", ex.what());
on_cleanup(state);
return nav2_util::CallbackReturn::FAILURE;
}
}
Expand All @@ -178,6 +179,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
RCLCPP_FATAL(
get_logger(),
"Failed to create goal checker. Exception: %s", ex.what());
on_cleanup(state);
return nav2_util::CallbackReturn::FAILURE;
}
}
Expand Down Expand Up @@ -206,6 +208,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
RCLCPP_FATAL(
get_logger(),
"Failed to create controller. Exception: %s", ex.what());
on_cleanup(state);
return nav2_util::CallbackReturn::FAILURE;
}
}
Expand Down Expand Up @@ -254,7 +257,7 @@ 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");

Expand All @@ -265,6 +268,15 @@ ControllerServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
ControllerMap::iterator it;
for (it = controllers_.begin(); it != controllers_.end(); ++it) {
it->second->activate();
try {
it->second->activate();
} catch (const std::exception & ex) {
RCLCPP_FATAL(
get_logger(), "Failed to activate controller. Exception: %s",
ex.what());
on_deactivate(state);
return nav2_util::CallbackReturn::FAILURE;
}
}
vel_publisher_->on_activate();
action_server_->activate();
Expand Down
15 changes: 12 additions & 3 deletions nav2_planner/src/planner_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ 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");

Expand Down Expand Up @@ -120,6 +120,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
RCLCPP_FATAL(
get_logger(), "Failed to create global planner. Exception: %s",
ex.what());
on_cleanup(state);
return nav2_util::CallbackReturn::FAILURE;
}
}
Expand Down Expand Up @@ -177,7 +178,7 @@ 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");

Expand All @@ -191,7 +192,15 @@ PlannerServer::on_activate(const rclcpp_lifecycle::State & /*state*/)

PlannerMap::iterator it;
for (it = planners_.begin(); it != planners_.end(); ++it) {
it->second->activate();
try {
it->second->activate();
} catch (const std::exception & ex) {
RCLCPP_FATAL(
get_logger(), "Failed to activate global planner. Exception: %s",
ex.what());
on_deactivate(state);
return nav2_util::CallbackReturn::FAILURE;
}
}

auto node = shared_from_this();
Expand Down
15 changes: 12 additions & 3 deletions nav2_smoother/src/nav2_smoother.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ SmootherServer::~SmootherServer()
}

nav2_util::CallbackReturn
SmootherServer::on_configure(const rclcpp_lifecycle::State &)
SmootherServer::on_configure(const rclcpp_lifecycle::State & state)
{
RCLCPP_INFO(get_logger(), "Configuring smoother server");

Expand Down Expand Up @@ -100,6 +100,7 @@ SmootherServer::on_configure(const rclcpp_lifecycle::State &)
*costmap_sub_, *footprint_sub_, this->get_name());

if (!loadSmootherPlugins()) {
on_cleanup(state);
return nav2_util::CallbackReturn::FAILURE;
}

Expand Down Expand Up @@ -162,14 +163,22 @@ bool SmootherServer::loadSmootherPlugins()
}

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

plan_publisher_->on_activate();
SmootherMap::iterator it;
for (it = smoothers_.begin(); it != smoothers_.end(); ++it) {
it->second->activate();
try {
it->second->activate();
} catch (const std::exception & ex) {
RCLCPP_FATAL(
get_logger(), "Failed to activate smoother. Exception: %s",
ex.what());
on_deactivate(state);
return nav2_util::CallbackReturn::FAILURE;
}
}
action_server_->activate();

Expand Down