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Clearer warning message, the old one lacked information and was perhaps misleading (backport #2927) #2932

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Merged
merged 1 commit into from
Aug 19, 2025
Merged

Clearer warning message, the old one lacked information and was perhaps misleading (backport #2927) #2932

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16 changes: 12 additions & 4 deletions rclcpp_lifecycle/src/lifecycle_node_interface_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -397,6 +397,7 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
constexpr bool publish_update = true;
State initial_state;
unsigned int current_state_id;
const rcl_lifecycle_transition_t * original_transition{nullptr};

{
std::lock_guard<std::recursive_mutex> lock(state_machine_mutex_);
Expand All @@ -411,6 +412,10 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
// keep the initial state to pass to a transition callback
initial_state = State(state_machine_.current_state);

original_transition =
rcl_lifecycle_get_transition_by_id(state_machine_.current_state, transition_id);


if (
rcl_lifecycle_trigger_transition_by_id(
&state_machine_, transition_id, publish_update) != RCL_RET_OK)
Expand Down Expand Up @@ -461,12 +466,15 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
// Update the internal current_state_
current_state_ = State(state_machine_.current_state);

// error handling ?!
// error handling
// TODO(karsten1987): iterate over possible ret value
if (cb_return_code == node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR) {
RCLCPP_WARN(
node_logging_interface_->get_logger(),
"Error occurred while doing error handling.");
if (original_transition) {
RCLCPP_WARN(
node_logging_interface_->get_logger(),
"Callback returned ERROR during the transition: %s", original_transition->label);
}


auto error_cb_code = execute_callback(current_state_id, initial_state);
auto error_cb_label = get_label_for_return_code(error_cb_code);
Expand Down