From 9882367f69fd7fb9e1a1c56c9398367197d6f9d5 Mon Sep 17 00:00:00 2001
From: Shivang Patel <shivaang14@gmail.com>
Date: Mon, 11 Nov 2019 21:48:52 -0500
Subject: [PATCH] address PR feedback.
---
.../lifecycle_manager.hpp | 17 ++++++++++-------
.../lifecycle_manager_client.hpp | 4 ++--
2 files changed, 12 insertions(+), 9 deletions(-)
diff --git a/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp b/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp
index c54a8dd0..b4e541a8 100644
--- a/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp
+++ b/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp
@@ -33,7 +33,9 @@ namespace nav2_lifecycle_manager
using nav2_msgs::srv::ManageLifecycleNodes;
/**
* @class nav2_lifecycle_manager::LifecycleManager
- * @brief Implements lifecycle node manager service
+ * @brief Implements service interface to control the lifecycle nodes of
+ * Navigation2 stack. It receives control request and then uses lifecycle
+ * interface to change lifecycle node's state.
*/
class LifecycleManager : public rclcpp::Node
{
@@ -65,7 +67,8 @@ protected:
const std::shared_ptr<ManageLifecycleNodes::Request> request,
std::shared_ptr<ManageLifecycleNodes::Response> response);
/**
- * @brief Trigger callback funcition checks if the system is active or not
+ * @brief Trigger callback function checks if the managed nodes are in active
+ * state.
* @param request_header Header of the request
* @param request Service request
* @param reponse Service response
@@ -77,27 +80,27 @@ protected:
// Support functions for the service calls
/**
- * @brief Start up manage nodes.
+ * @brief Start up managed nodes.
* @return true or false
*/
bool startup();
/**
- * @brief Deactivates, clean up and shutdown all the manage nodes.
+ * @brief Deactivate, clean up and shut down all the managed nodes.
* @return true or false
*/
bool shutdown();
/**
- * @brief Reset all the manage nodes.
+ * @brief Reset all the managed nodes.
* @return true or false
*/
bool reset();
/**
- * @brief Pause all the manage nodes.
+ * @brief Pause all the managed nodes.
* @return true or false
*/
bool pause();
/**
- * @brief Resume all the manage nodes.
+ * @brief Resume all the managed nodes.
* @return true or false
*/
bool resume();
diff --git a/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp b/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
index 2be5e477..5414b988 100644
--- a/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
+++ b/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
@@ -36,8 +36,8 @@ namespace nav2_lifecycle_manager
enum class SystemStatus {ACTIVE, INACTIVE, TIMEOUT};
/**
* @class nav2_lifecycle_manager::LifeCycleMangerClient
- * @brief Implements lifecycle manager service client and NavigateToPose action
- * client
+ * @brief Implements lifecycle manager service client and NavgationToPose
+ * action client.
*/
class LifecycleManagerClient
{
--
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