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Expose lifecycle_node #327

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Expose lifecycle_node #327

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11 changes: 11 additions & 0 deletions launch_ros/launch_ros/actions/lifecycle_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,9 @@
import launch
from launch import SomeSubstitutionsType
from launch.action import Action
from launch.frontend import Entity
from launch.frontend import expose_action
from launch.frontend import Parser
import launch.logging

import lifecycle_msgs.msg
Expand All @@ -35,6 +38,7 @@
from ..ros_adapters import get_ros_node


@expose_action('lifecycle_node')
class LifecycleNode(Node):
"""Action that executes a ROS lifecycle node."""

Expand Down Expand Up @@ -78,6 +82,13 @@ def __init__(
self.__current_state = \
ChangeState.valid_states[lifecycle_msgs.msg.State.PRIMARY_STATE_UNKNOWN]

@classmethod
def parse(cls, entity: Entity, parser: Parser):
"""Return `LifecycleNode` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)

return cls, kwargs

def _on_transition_event(self, context, msg):
try:
event = StateTransition(action=self, msg=msg)
Expand Down