Composable Lifecycle components do not auto start correctly due to differences in node_name #479
Description
Generated by Generative AI
No response
Operating System:
Linux J001-Ubuntu2404 6.14.0-27-generic #27~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Jul 22 17:38:49 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
ROS version or commit hash:
Rolling
RMW implementation (if applicable):
No response
RMW Configuration (if applicable):
No response
Client library (if applicable):
rclcpp/rlcpy (_lifecycle)
'ros2 doctor --report' output
ros2 doctor --report
ACTION LIST
action : none
action server count : 0
action client count : 0
NETWORK CONFIGURATION
inet : 127.0.0.1
inet4 : ['127.0.0.1']
inet6 : ['::1']
netmask : 255.0.0.0
device : lo
flags : UP,LOOPBACK,RUNNING
mtu : 65536
inet : 192.168.1.35
inet4 : ['192.168.1.35']
ether : 70:66:55:e9:0b:cf
inet6 : ['fe80::5a98:d8cb:dfbf:f00c%wlo1']
netmask : 255.255.255.0
device : wlo1
flags : UP,BROADCAST,RUNNING,MULTICAST
mtu : 1500
broadcast : 192.168.1.255
inet : 172.17.0.1
inet4 : ['172.17.0.1']
ether : fa:a2:1d:a9:2d:65
netmask : 255.255.0.0
device : docker0
flags : UP,BROADCAST,MULTICAST
mtu : 1500
broadcast : 172.17.255.255
ether : bc:e9:2f:89:04:51
device : eno1
flags : UP,BROADCAST,MULTICAST
mtu : 1500
PACKAGE VERSIONS
topic_statistics_demo : latest=0.37.2, local=0.37.2
topic_monitor : latest=0.37.2, local=0.37.2
test_launch_ros : latest=N/A, local=0.29.2
ros2launch : latest=0.29.2, local=0.29.2
quality_of_service_demo_py : latest=0.37.2, local=0.37.2
quality_of_service_demo_cpp : latest=0.37.2, local=0.37.2
pendulum_control : latest=0.37.2, local=0.37.2
pendulum_msgs : latest=0.37.2, local=0.37.2
logging_demo : latest=0.37.2, local=0.37.2
lifecycle_py : latest=0.37.2, local=0.37.2
lifecycle : latest=0.37.2, local=0.37.2
launch_testing_ros : latest=0.29.2, local=0.29.2
dummy_robot_bringup : latest=0.37.2, local=0.37.2
demo_nodes_cpp : latest=0.37.2, local=0.37.2
composition : latest=0.37.2, local=0.37.2
launch_ros : latest=0.29.2, local=0.29.2
intra_process_demo : latest=0.37.2, local=0.37.2
image_tools : latest=0.37.2, local=0.37.2
dummy_sensors : latest=0.37.2, local=0.37.2
dummy_map_server : latest=0.37.2, local=0.37.2
demo_nodes_py : latest=0.37.2, local=0.37.2
demo_nodes_cpp_native : latest=0.37.2, local=0.37.2
action_tutorials_py : latest=0.37.2, local=0.37.2
action_tutorials_cpp : latest=0.37.2, local=0.37.2
libyaml_vendor : latest=1.8.0, local=1.8.0
ros_environment : latest=4.4.1, local=4.4.1
std_srvs : latest=5.8.2, local=5.8.2
rosidl_typesupport_cpp : latest=3.4.0, local=3.4.0
ament_uncrustify : latest=0.20.2, local=0.20.2
ros2action : latest=0.40.0, local=0.40.0
ament_cmake_core : latest=2.8.4, local=2.8.4
tf2_msgs : latest=0.44.0, local=0.44.0
unique_identifier_msgs : latest=2.8.1, local=2.8.1
lifecycle_msgs : latest=2.4.2, local=2.4.2
diagnostic_msgs : latest=5.8.2, local=5.8.2
gz_math_vendor : latest=0.3.1, local=0.3.1
spdlog_vendor : latest=1.8.0, local=1.8.0
rosbag2_storage : latest=0.33.0, local=0.33.0
rclcpp_components : latest=30.1.0, local=30.1.0
ament_cppcheck : latest=0.20.2, local=0.20.2
ros2doctor : latest=0.40.0, local=0.40.0
ament_cmake_ros_core : latest=0.15.2, local=0.15.2
rosidl_typesupport_fastrtps_cpp : latest=3.9.1, local=3.9.1
shape_msgs : latest=5.8.2, local=5.8.2
ament_cmake_version : latest=2.8.4, local=2.8.4
ament_cmake_ros : latest=0.15.2, local=0.15.2
trajectory_msgs : latest=5.8.2, local=5.8.2
rosbag2_storage_sqlite3 : latest=0.33.0, local=0.33.0
ament_package : latest=0.18.1, local=0.18.1
ament_cmake : latest=2.8.4, local=2.8.4
rosidl_core_runtime : latest=0.4.0, local=0.4.0
ros2run : latest=0.40.0, local=0.40.0
rcl_action : latest=10.2.3, local=10.2.3
rosbag2 : latest=0.33.0, local=0.33.0
rmw_dds_common : latest=4.0.0, local=4.0.0
ament_cmake_export_definitions : latest=2.8.4, local=2.8.4
launch_xml : latest=3.9.2, local=3.9.2
python_orocos_kdl_vendor : latest=0.8.0, local=0.8.0
rosbag2_compression : latest=0.33.0, local=0.33.0
ament_cmake_export_dependencies : latest=2.8.4, local=2.8.4
ros2pkg : latest=0.40.0, local=0.40.0
ament_cmake_gen_version_h : latest=2.8.4, local=2.8.4
ament_pep257 : latest=0.20.2, local=0.20.2
rcpputils : latest=2.14.2, local=2.14.2
mcap_vendor : latest=0.33.0, local=0.33.0
ros_workspace : latest=1.0.3, local=1.0.3
rosidl_dynamic_typesupport_fastrtps : latest=0.5.0, local=0.5.0
gz_transport_vendor : latest=0.2.2, local=0.2.2
rqt_gui : latest=1.10.0, local=1.10.0
ament_cmake_pep257 : latest=0.20.2, local=0.20.2
tf2_sensor_msgs : latest=0.44.0, local=0.44.0
ament_cmake_test : latest=2.8.4, local=2.8.4
common_interfaces : latest=5.8.2, local=5.8.2
ament_cmake_gmock : latest=2.8.4, local=2.8.4
ament_lint_cmake : latest=0.20.2, local=0.20.2
uncrustify_vendor : latest=3.2.0, local=3.2.0
orocos_kdl_vendor : latest=0.8.0, local=0.8.0
ament_cmake_export_libraries : latest=2.8.4, local=2.8.4
ament_lint_common : latest=0.20.2, local=0.20.2
rclcpp_action : latest=30.1.0, local=30.1.0
tf2_ros : latest=0.44.0, local=0.44.0
ros2topic : latest=0.40.0, local=0.40.0
urdf : latest=2.13.0, local=2.13.0
rosbag2_cpp : latest=0.33.0, local=0.33.0
std_msgs : latest=5.8.2, local=5.8.2
stereo_msgs : latest=5.8.2, local=5.8.2
rcl_interfaces : latest=2.4.2, local=2.4.2
rosidl_core_generators : latest=0.4.0, local=0.4.0
ament_cmake_export_include_directories : latest=2.8.4, local=2.8.4
ros2param : latest=0.40.0, local=0.40.0
service_msgs : latest=2.4.2, local=2.4.2
gz_msgs_vendor : latest=0.2.3, local=0.2.3
ament_cmake_gtest : latest=2.8.4, local=2.8.4
rmw_test_fixture_implementation : latest=0.15.2, local=0.15.2
ament_cmake_flake8 : latest=0.20.2, local=0.20.2
sqlite3_vendor : latest=0.33.0, local=0.33.0
rosidl_pycommon : latest=5.0.1, local=5.0.1
zenoh_cpp_vendor : latest=0.8.2, local=0.8.2
rosidl_typesupport_introspection_c : latest=5.0.1, local=5.0.1
ament_cmake_lint_cmake : latest=0.20.2, local=0.20.2
rosbag2_storage_mcap : latest=0.33.0, local=0.33.0
ament_cmake_cpplint : latest=0.20.2, local=0.20.2
rmw_implementation : latest=3.1.2, local=3.1.2
rmw_fastrtps_shared_cpp : latest=9.4.2, local=9.4.2
rosbag2_compression_zstd : latest=0.33.0, local=0.33.0
console_bridge_vendor : latest=1.9.1, local=1.9.1
ament_cpplint : latest=0.20.2, local=0.20.2
tf2_kdl : latest=0.44.0, local=0.44.0
rcl_lifecycle : latest=10.2.3, local=10.2.3
composition_interfaces : latest=2.4.2, local=2.4.2
rcl_yaml_param_parser : latest=10.2.3, local=10.2.3
ament_cmake_target_dependencies : latest=2.8.4, local=2.8.4
ament_cmake_cppcheck : latest=0.20.2, local=0.20.2
rmw_security_common : latest=7.9.0, local=7.9.0
ros2cli_common_extensions : latest=0.5.1, local=0.5.1
rosidl_cli : latest=5.0.1, local=5.0.1
rosidl_default_generators : latest=1.8.1, local=1.8.1
ament_xmllint : latest=0.20.2, local=0.20.2
ament_lint_auto : latest=0.20.2, local=0.20.2
rosidl_typesupport_interface : latest=5.0.1, local=5.0.1
ament_cmake_pytest : latest=2.8.4, local=2.8.4
builtin_interfaces : latest=2.4.2, local=2.4.2
ament_cmake_export_targets : latest=2.8.4, local=2.8.4
tf2_eigen : latest=0.44.0, local=0.44.0
rclcpp_lifecycle : latest=30.1.0, local=30.1.0
qt_dotgraph : latest=2.10.1, local=2.10.1
rosidl_runtime_c : latest=5.0.1, local=5.0.1
rosbag2_storage_default_plugins : latest=0.33.0, local=0.33.0
pybind11_vendor : latest=3.3.1, local=3.3.1
rmw : latest=7.9.0, local=7.9.0
keyboard_handler : latest=0.5.0, local=0.5.0
domain_coordinator : latest=0.15.2, local=0.15.2
rmw_test_fixture : latest=0.15.2, local=0.15.2
gz_utils_vendor : latest=0.3.0, local=0.3.0
ament_cmake_copyright : latest=0.20.2, local=0.20.2
vision_msgs : latest=4.2.0, local=4.2.0
ros2cli : latest=0.40.0, local=0.40.0
ament_cmake_libraries : latest=2.8.4, local=2.8.4
geometry2 : latest=0.44.0, local=0.44.0
rosidl_generator_type_description : latest=5.0.1, local=5.0.1
ament_flake8 : latest=0.20.2, local=0.20.2
ament_mypy : latest=0.20.2, local=0.20.2
rosidl_typesupport_c : latest=3.4.0, local=3.4.0
ament_cmake_export_link_flags : latest=2.8.4, local=2.8.4
rosidl_runtime_py : latest=0.15.1, local=0.15.1
ros2test : latest=0.9.1, local=0.9.1
rosidl_typesupport_fastrtps_c : latest=3.9.1, local=3.9.1
rosidl_typesupport_introspection_cpp : latest=5.0.1, local=5.0.1
tinyxml2_vendor : latest=0.11.2, local=0.11.2
rosidl_cmake : latest=5.0.1, local=5.0.1
ament_cmake_xmllint : latest=0.20.2, local=0.20.2
tracetools : latest=8.8.1, local=8.8.1
pluginlib : latest=5.7.0, local=5.7.0
rosidl_default_runtime : latest=1.8.1, local=1.8.1
actuator_msgs : latest=0.0.1, local=0.0.1
ros2component : latest=0.40.0, local=0.40.0
launch_yaml : latest=3.9.2, local=3.9.2
class_loader : latest=2.9.0, local=2.9.0
osrf_pycommon : latest=2.1.7, local=2.1.7
ros_testing : latest=0.9.1, local=0.9.1
python_qt_binding : latest=2.4.0, local=2.4.0
tlsf : latest=0.11.1, local=0.11.1
ros_base : latest=0.13.0, local=0.13.0
liblz4_vendor : latest=0.33.0, local=0.33.0
ros2multicast : latest=0.40.0, local=0.40.0
rosidl_parser : latest=5.0.1, local=5.0.1
rclpy : latest=10.0.0, local=10.0.0
ament_cmake_uncrustify : latest=0.20.2, local=0.20.2
rosbag2_interfaces : latest=0.33.0, local=0.33.0
ros2node : latest=0.40.0, local=0.40.0
rclcpp : latest=30.1.0, local=30.1.0
nav_msgs : latest=5.8.2, local=5.8.2
type_description_interfaces : latest=2.4.2, local=2.4.2
eigen3_cmake_module : latest=0.5.1, local=0.5.1
sensor_msgs_py : latest=5.8.2, local=5.8.2
qt_gui : latest=2.10.1, local=2.10.1
message_filters : latest=7.3.0, local=7.3.0
ament_index_cpp : latest=1.12.1, local=1.12.1
tlsf_cpp : latest=0.19.1, local=0.19.1
tf2_bullet : latest=0.44.0, local=0.44.0
tango_icons_vendor : latest=0.5.1, local=0.5.1
ament_lint : latest=0.20.2, local=0.20.2
gps_msgs : latest=2.1.1, local=2.1.1
ament_copyright : latest=0.20.2, local=0.20.2
ament_cmake_python : latest=2.8.4, local=2.8.4
rmw_implementation_cmake : latest=7.9.0, local=7.9.0
rosidl_generator_c : latest=5.0.1, local=5.0.1
action_msgs : latest=2.4.2, local=2.4.2
zstd_vendor : latest=0.33.0, local=0.33.0
gz_tools_vendor : latest=0.1.2, local=0.1.2
launch_testing : latest=3.9.2, local=3.9.2
rmw_fastrtps_cpp : latest=9.4.2, local=9.4.2
rosidl_generator_cpp : latest=5.0.1, local=5.0.1
launch_testing_ament_cmake : latest=3.9.2, local=3.9.2
rmw_zenoh_cpp : latest=0.8.2, local=0.8.2
rosidl_generator_py : latest=0.26.0, local=0.25.0
rqt_graph : latest=1.8.1, local=1.8.1
tf2_ros_py : latest=0.44.0, local=0.44.0
libstatistics_collector : latest=2.1.1, local=2.1.1
sensor_msgs : latest=5.8.2, local=5.8.2
robot_state_publisher : latest=3.5.2, local=3.5.2
ament_cmake_include_directories : latest=2.8.4, local=2.8.4
geometry_msgs : latest=5.8.2, local=5.8.2
ament_index_python : latest=1.12.1, local=1.12.1
tf2_eigen_kdl : latest=0.44.0, local=0.44.0
rosgraph_msgs : latest=2.4.2, local=2.4.2
tf2_tools : latest=0.44.0, local=0.44.0
rqt_gui_py : latest=1.10.0, local=1.10.0
rcl : latest=10.2.3, local=10.2.3
yaml_cpp_vendor : latest=9.2.0, local=9.2.0
ros2interface : latest=0.40.0, local=0.40.0
rosidl_adapter : latest=5.0.1, local=5.0.1
kdl_parser : latest=3.0.0, local=3.0.0
tf2_py : latest=0.44.0, local=0.44.0
example_interfaces : latest=0.14.1, local=0.14.1
tf2 : latest=0.44.0, local=0.44.0
tf2_geometry_msgs : latest=0.44.0, local=0.44.0
rttest : latest=0.19.1, local=0.19.1
ros_core : latest=0.13.0, local=0.13.0
gz_cmake_vendor : latest=0.3.1, local=0.3.1
sros2_cmake : latest=0.16.2, local=0.16.2
rcl_logging_interface : latest=3.3.0, local=3.3.0
ros2lifecycle : latest=0.40.0, local=0.40.0
rosbag2_transport : latest=0.33.0, local=0.33.0
rpyutils : latest=0.7.1, local=0.7.1
ros2bag : latest=0.33.0, local=0.33.0
rosidl_dynamic_typesupport : latest=0.4.0, local=0.4.0
ament_cmake_auto : latest=2.8.4, local=2.8.4
visualization_msgs : latest=5.8.2, local=5.8.2
rcutils : latest=7.0.1, local=7.0.1
rosidl_runtime_cpp : latest=5.0.1, local=5.0.1
urdf_parser_plugin : latest=2.13.0, local=2.13.0
statistics_msgs : latest=2.4.2, local=2.4.2
ros2service : latest=0.40.0, local=0.40.0
sros2 : latest=0.16.2, local=0.16.2
rcl_logging_spdlog : latest=3.3.0, local=3.3.0
launch : latest=3.9.2, local=3.9.2
rosbag2_py : latest=0.33.0, local=0.33.0
PLATFORM INFORMATION
system : Linux
platform info : Linux-6.14.0-27-generic-x86_64-with-glibc2.39
release : 6.14.0-27-generic
processor : x86_64
QOS COMPATIBILITY LIST
compatibility status : No publisher/subscriber pairs found
RMW MIDDLEWARE
middleware name : rmw_fastrtps_cpp
ROS 2 INFORMATION
distribution name : rolling
distribution type : ros2
distribution status : rolling
release platforms : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}
SERVICE LIST
service : none
service count : 0
client count : 0
TOPIC LIST
topic : none
publisher count : 0
subscriber count : 0
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!!! WARNING !!!
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The report includes all ROS 2 endpoint information and system platform information.
Please review the report before sharing, as it may contain sensitive or private data.
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Steps to reproduce issue
- Make a (python) launch file, which namespaces a lifecycle node component (directly in container or loaded latter does not matter)
- Make sure autostart is enabled
- launch
Expected behavior
The node auto activates.
Actual behavior
The node does not activate.
Additional information
Setting autostart does not work when a lifecycle node component is namespaced due to differences in the node_name attribute between the Composable(Lifecycle)Node and (Lifecycle)Node, which is used by the LifecycleEventManager.
node_name is the fully qualified node name for the normal (lifecycle) node.
While it is just the node name for the component equivalent.
(Discovered while working on #478, which is non-trivial to test due to the lack of demo/example lifecycle components)
EDIT: Clarification