add info about shutdown

Signed-off-by: M. Fatih Cırıt <[email protected]>

common/autoware_node/include/autoware/node/node.hpp

@@ -23,13 +23,18 @@
 
 namespace autoware::node
 {
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
 class Node : public rclcpp_lifecycle::LifecycleNode
 {
 public:
   AUTOWARE_NODE_PUBLIC
   explicit Node(
     const std::string & node_name, const std::string & ns = "",
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+
+protected:
+  CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 };
 }  // namespace autoware::node
 

common/autoware_node/src/node.cpp

@@ -23,6 +23,15 @@ Node::Node(
 : LifecycleNode(node_name, ns, options)
 {
   RCLCPP_DEBUG(
-    get_logger(), "Node %s constructor was called.", get_node_base_interface()->get_fully_qualified_name());
+    get_logger(), "Node %s constructor was called.",
+    get_node_base_interface()->get_fully_qualified_name());
+}
+
+CallbackReturn Node::on_shutdown(const rclcpp_lifecycle::State & state)
+{
+  RCLCPP_DEBUG(
+    get_logger(), "Node %s shutdown was called with state %s.",
+    get_node_base_interface()->get_fully_qualified_name(), state.label().c_str());
+  return CallbackReturn::SUCCESS;
 }
 }  // namespace autoware::node

common/autoware_test_node/README.md

@@ -10,6 +10,8 @@ ros2 launch autoware_test_node autoware_test_node.launch.xml
 
 ### Lifecycle control
 
+Information on Lifecycle nodes can be found [here](https://design.ros2.org/articles/node_lifecycle.html).
+
 Output a list of nodes with lifecycle:
 
 ```console
@@ -41,4 +43,11 @@ Shutdown the node:
 ```console
 $ ros2 lifecycle set /test_ns1/test_node1 shutdown
 Transitioning successful
-```
+```
+
+```console
+$ ros2 lifecycle get /test_ns1/test_node1
+finalized [4]
+```
+
+The node will remain alive in the `finalized` state until it is killed by the user.