remove on_errors in specific servers in favor of a general lifecycle warning (ros-navigation#1904)

SteveMacenski · ruffsl · commit f7d3f8587a48 · 2021-07-02T10:06:33.000-07:00
* remove on_errors in favor of a general lifecycle warning

* adding removed thing
diff --git a/nav2_amcl/include/nav2_amcl/amcl_node.hpp b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
@@ -66,7 +66,6 @@ class AmclNode : public nav2_util::LifecycleNode
   nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   // Since the sensor data from gazebo or the robot is not lifecycle enabled, we won't
   // respond until we're in the active state
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -389,13 +389,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-AmclNode::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 AmclNode::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {
diff --git a/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
@@ -82,11 +82,6 @@ class BtNavigator : public nav2_util::LifecycleNode
    * @return SUCCESS or FAILURE
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when in error state
-   * @param state Reference to LifeCycle node state
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   using Action = nav2_msgs::action::NavigateToPose;
 
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -223,13 +223,6 @@ BtNavigator::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-BtNavigator::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 BtNavigator::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {
diff --git a/nav2_controller/include/nav2_controller/nav2_controller.hpp b/nav2_controller/include/nav2_controller/nav2_controller.hpp
@@ -102,12 +102,6 @@ class ControllerServer : public nav2_util::LifecycleNode
    * @return Success or Failure
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when in Error state
-   * @param state LifeCycle Node's state
-   * @return Success or Failure
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   using Action = nav2_msgs::action::FollowPath;
   using ActionServer = nav2_util::SimpleActionServer<Action>;
diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
@@ -228,13 +228,6 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-ControllerServer::on_error(const rclcpp_lifecycle::State &)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 ControllerServer::on_shutdown(const rclcpp_lifecycle::State &)
 {
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -97,7 +97,6 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief  Subscribes to sensor topics if necessary and starts costmap
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -274,13 +274,6 @@ Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-Costmap2DROS::on_error(const rclcpp_lifecycle::State &)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 Costmap2DROS::on_shutdown(const rclcpp_lifecycle::State &)
 {
diff --git a/nav2_map_server/include/nav2_map_server/map_saver.hpp b/nav2_map_server/include/nav2_map_server/map_saver.hpp
@@ -86,12 +86,6 @@ class MapSaver : public nav2_util::LifecycleNode
    * @return Success or Failure
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when Error is raised
-   * @param state Lifecycle Node's state
-   * @return Success or Failure
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Map saving service callback
diff --git a/nav2_map_server/include/nav2_map_server/map_server.hpp b/nav2_map_server/include/nav2_map_server/map_server.hpp
@@ -77,12 +77,6 @@ class MapServer : public nav2_util::LifecycleNode
    * @return Success or Failure
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when Error is raised
-   * @param state Lifecycle Node's state
-   * @return Success or Failure
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Load the map YAML, image from map file name and
diff --git a/nav2_map_server/src/map_saver/map_saver.cpp b/nav2_map_server/src/map_saver/map_saver.cpp
@@ -95,13 +95,6 @@ MapSaver::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-MapSaver::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 MapSaver::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {
diff --git a/nav2_map_server/src/map_server/map_server.cpp b/nav2_map_server/src/map_server/map_server.cpp
@@ -160,13 +160,6 @@ MapServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-MapServer::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 MapServer::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {
diff --git a/nav2_planner/include/nav2_planner/planner_server.hpp b/nav2_planner/include/nav2_planner/planner_server.hpp
@@ -89,12 +89,6 @@ class PlannerServer : public nav2_util::LifecycleNode
    * @return SUCCESS or FAILURE
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when in error state
-   * @param state Reference to LifeCycle node state
-   * @return SUCCESS or FAILURE
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   using ActionServer = nav2_util::SimpleActionServer<nav2_msgs::action::ComputePathToPose>;
 
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
@@ -197,13 +197,6 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & state)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-PlannerServer::on_error(const rclcpp_lifecycle::State &)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 PlannerServer::on_shutdown(const rclcpp_lifecycle::State &)
 {
diff --git a/nav2_recoveries/include/nav2_recoveries/recovery_server.hpp b/nav2_recoveries/include/nav2_recoveries/recovery_server.hpp
@@ -46,7 +46,6 @@ class RecoveryServer : public nav2_util::LifecycleNode
   nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   std::shared_ptr<tf2_ros::Buffer> tf_;
   std::shared_ptr<tf2_ros::TransformListener> transform_listener_;
diff --git a/nav2_recoveries/src/recovery_server.cpp b/nav2_recoveries/src/recovery_server.cpp
@@ -169,13 +169,6 @@ RecoveryServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-RecoveryServer::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 RecoveryServer::on_shutdown(const rclcpp_lifecycle::State &)
 {
diff --git a/nav2_util/include/nav2_util/lifecycle_node.hpp b/nav2_util/include/nav2_util/lifecycle_node.hpp
@@ -123,6 +123,14 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
       rclcpp_lifecycle::LifecycleNode::shared_from_this());
   }
 
+  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & /*state*/)
+  {
+    RCLCPP_FATAL(
+      get_logger(),
+      "Lifecycle node %s does not have error state implemented", get_name());
+    return nav2_util::CallbackReturn::SUCCESS;
+  }
+
   // bond connection to lifecycle manager
   void createBond();
   void destroyBond();
diff --git a/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp b/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp
@@ -92,11 +92,6 @@ class WaypointFollower : public nav2_util::LifecycleNode
    * @return SUCCESS or FAILURE
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  /**
-   * @brief Called when in error state
-   * @param state Reference to LifeCycle node state
-   */
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Action server callbacks
diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
@@ -101,13 +101,6 @@ WaypointFollower::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-WaypointFollower::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 WaypointFollower::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {

Original file line number	Diff line number	Diff line change
`@@ -389,13 +389,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /state/)`
`389`	`389`	`return nav2_util::CallbackReturn::SUCCESS;`
`390`	`390`	`}`
`391`	`391`
`392`		`-nav2_util::CallbackReturn`
`393`		`-AmclNode::on_error(const rclcpp_lifecycle::State & /state/)`
`394`		`-{`
`395`		`- RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");`
`396`		`- return nav2_util::CallbackReturn::SUCCESS;`
`397`		`-}`
`398`		`-`
`399`	`392`	`nav2_util::CallbackReturn`
`400`	`393`	`AmclNode::on_shutdown(const rclcpp_lifecycle::State & /state/)`
`401`	`394`	`{`
Original file line number	Diff line number	Diff line change
`@@ -223,13 +223,6 @@ BtNavigator::on_cleanup(const rclcpp_lifecycle::State & /state/)`
`223`	`223`	`return nav2_util::CallbackReturn::SUCCESS;`
`224`	`224`	`}`
`225`	`225`
`226`		`-nav2_util::CallbackReturn`
`227`		`-BtNavigator::on_error(const rclcpp_lifecycle::State & /state/)`
`228`		`-{`
`229`		`- RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");`
`230`		`- return nav2_util::CallbackReturn::SUCCESS;`
`231`		`-}`
`232`		`-`
`233`	`226`	`nav2_util::CallbackReturn`
`234`	`227`	`BtNavigator::on_shutdown(const rclcpp_lifecycle::State & /state/)`
`235`	`228`	`{`
Original file line number	Diff line number	Diff line change
`@@ -228,13 +228,6 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)`
`228`	`228`	`return nav2_util::CallbackReturn::SUCCESS;`
`229`	`229`	`}`
`230`	`230`
`231`		`-nav2_util::CallbackReturn`
`232`		`-ControllerServer::on_error(const rclcpp_lifecycle::State &)`
`233`		`-{`
`234`		`- RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");`
`235`		`- return nav2_util::CallbackReturn::SUCCESS;`
`236`		`-}`
`237`		`-`
`238`	`231`	`nav2_util::CallbackReturn`
`239`	`232`	`ControllerServer::on_shutdown(const rclcpp_lifecycle::State &)`
`240`	`233`	`{`
Original file line number	Diff line number	Diff line change
`@@ -274,13 +274,6 @@ Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /state/)`
`274`	`274`	`return nav2_util::CallbackReturn::SUCCESS;`
`275`	`275`	`}`
`276`	`276`
`277`		`-nav2_util::CallbackReturn`
`278`		`-Costmap2DROS::on_error(const rclcpp_lifecycle::State &)`
`279`		`-{`
`280`		`- RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");`
`281`		`- return nav2_util::CallbackReturn::SUCCESS;`
`282`		`-}`
`283`		`-`
`284`	`277`	`nav2_util::CallbackReturn`
`285`	`278`	`Costmap2DROS::on_shutdown(const rclcpp_lifecycle::State &)`
`286`	`279`	`{`