ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

There is no error handling done when a transition is executed successfully. The underlying state machine only handles the transitions, but not the primary states. So you might want to catch exceptions in your primary states yourself and then trigger a change of state manually. https://github.com/ros2/rclcpp/blob/master/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp#L408-L468