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Compatiblity with 'Populate Transitions' ros2/rcl#1269 #1528

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Compatiblity with 'Populate Transitions' ros2/rcl#1269 #1528

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4 changes: 3 additions & 1 deletion rclpy/rclpy/lifecycle/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -126,9 +126,11 @@ def __init__(
# this doesn't only checks, but also imports some stuff we need later
check_is_valid_srv_type(srv_type)

clock = self.get_clock()

with self.handle:
self._state_machine: _rclpy.LifecycleStateMachine = _rclpy.LifecycleStateMachine(
self.handle, enable_communication_interface)
self.handle, clock.handle, enable_communication_interface)
if enable_communication_interface:
self._service_change_state = Service(
self._state_machine.service_change_state,
Expand Down
9 changes: 6 additions & 3 deletions rclpy/src/rclpy/lifecycle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@
#include <tuple>
#include <vector>

#include "clock.hpp"
#include "destroyable.hpp"
#include "exceptions.hpp"
#include "lifecycle.hpp"
Expand All @@ -49,8 +50,8 @@ class LifecycleStateMachine : public rclpy::Destroyable,
{
public:
LifecycleStateMachine(
rclpy::Node & node, bool enable_com_interface)
: node_(node)
rclpy::Node & node, rclpy::Clock & clock, bool enable_com_interface)
: node_(node), clock_(clock)
{
state_machine_ = std::shared_ptr<rcl_lifecycle_state_machine_t>(
new rcl_lifecycle_state_machine_t(rcl_lifecycle_get_zero_initialized_state_machine()),
Expand All @@ -70,6 +71,7 @@ class LifecycleStateMachine : public rclpy::Destroyable,
rcl_ret_t ret = rcl_lifecycle_state_machine_init(
state_machine_.get(),
node_.rcl_ptr(),
clock_.rcl_ptr(),
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent),
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, ChangeState),
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetState),
Expand Down Expand Up @@ -268,6 +270,7 @@ class LifecycleStateMachine : public rclpy::Destroyable,

private:
rclpy::Node node_;
rclpy::Clock clock_;
std::shared_ptr<rclpy::Service> srv_change_state_;
std::shared_ptr<rclpy::Service> srv_get_state_;
std::shared_ptr<rclpy::Service> srv_get_available_states_;
Expand Down Expand Up @@ -307,7 +310,7 @@ define_lifecycle_api(py::module m)
{
py::class_<LifecycleStateMachine, Destroyable, std::shared_ptr<LifecycleStateMachine>>(
m, "LifecycleStateMachine")
.def(py::init<Node &, bool>())
.def(py::init<Node &, Clock &, bool>())
.def_property_readonly(
"initialized", &LifecycleStateMachine::is_initialized,
"Check if state machine is initialized.")
Expand Down