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Compatiblity with 'Populate Transitions' ros2/rcl#1269 #495

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Compatiblity with 'Populate Transitions' ros2/rcl#1269 #495

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12 changes: 8 additions & 4 deletions launch_ros/launch_ros/events/lifecycle/state_transition.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
"""Module for StateTransition event."""

from typing import Text
from typing import TYPE_CHECKING

from launch.event import Event

Expand All @@ -24,6 +25,9 @@
# imports here would cause loops, but are only used as forward-references for type-checking
from ...actions import LifecycleNode # noqa: F401

if TYPE_CHECKING:
import builtin_interfaces.msg


class StateTransition(Event):
"""Event emitted when a lifecycle node makes a state transition."""
Expand All @@ -45,7 +49,7 @@ def __init__(
super().__init__()
self.__action = action
self.__msg = msg
self.__timestamp = msg.timestamp
self.__stamp = msg.stamp
self.__transition = msg.transition.label
self.__start_state = msg.start_state.label
self.__goal_state = msg.goal_state.label
Expand All @@ -61,9 +65,9 @@ def msg(self) -> lifecycle_msgs.msg.TransitionEvent:
return self.__msg

@property
def timestamp(self) -> int:
"""Getter for timestamp."""
return self.__timestamp
def stamp(self) -> 'builtin_interfaces.msg.Time':
"""Getter for stamp."""
return self.__stamp

@property
def transition(self) -> Text:
Expand Down