Support required nodes #179
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kyrofa
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Feb 7, 2019
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Currently, the only way to specify that a given node is required for a
given `LaunchDescription` is to register an `OnProcessExit` handler for
the exit event of the required node that then emits a `Shutdown` event.
Instead of requiring this boilerplate for a common use-case, add an
`on_exit` parameter to `ExecuteProcess` that can take actions, and add a
new action called `Shutdown` that immediately causes the launched system
to shut down. This allows for the concept of a required node to be
expressed simply with:
launch_ros.actions.Node(
# ...
on_exit=Shutdown()
)
Resolve ros2#174
Signed-off-by: Kyle Fazzari <kyle@canonical.com>
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Closed
Signed-off-by: Kyle Fazzari <kyle@canonical.com>
wjwwood
approved these changes
Feb 7, 2019
Signed-off-by: Kyle Fazzari <kyle@canonical.com>
wjwwood
approved these changes
Feb 7, 2019
wjwwood
reviewed
Feb 7, 2019
Signed-off-by: Kyle Fazzari <kyle@canonical.com>
wjwwood
approved these changes
Feb 7, 2019
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Currently, the only way to specify that a given node is required for a given
LaunchDescriptionis to register anOnProcessExithandler for the exit event of the required node that then emits aShutdownevent. Instead of requiring this boilerplate for a common use-case, This PR resolves #174 by adding anon_exitparameter toExecuteProcessthat can take actions, and adding a new action calledShutdownthat immediately causes the launched system to shut down. This allows for the concept of a required node to be expressed simply with: