Add raise_error function to lifecycle nodeso a node can self-transition to errorProcessing

Signed-off-by: thebyohazard <[email protected]>

Author: thebyohazard

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -613,6 +613,14 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   const State &
   deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
 
+  RCLCPP_LIFECYCLE_PUBLIC
+  const State &
+  raise_error();
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  const State &
+  raise_error(LifecycleNodeInterface::CallbackReturn & cb_return_code);
+
   RCLCPP_LIFECYCLE_PUBLIC
   const State &
   shutdown();

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -555,6 +555,28 @@ LifecycleNode::deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_cod
     lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE, cb_return_code);
 }
 
+const State &
+LifecycleNode::raise_error()
+{
+  if(get_current_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+    return impl_->trigger_transition(
+        lifecycle_msgs::msg::Transition::TRANSITION_ACTIVE_ERROR);
+  else
+    return impl_->trigger_transition(
+        lifecycle_msgs::msg::Transition::TRANSITION_INACTIVE_ERROR);
+}
+
+const State &
+LifecycleNode::raise_error(LifecycleNodeInterface::CallbackReturn & cb_return_code)
+{
+  if(get_current_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+    return impl_->trigger_transition(
+        lifecycle_msgs::msg::Transition::TRANSITION_ACTIVE_ERROR, cb_return_code);
+  else
+    return impl_->trigger_transition(
+        lifecycle_msgs::msg::Transition::TRANSITION_INACTIVE_ERROR, cb_return_code);
+}
+
 const State &
 LifecycleNode::shutdown()
 {