change srv name, remove msg

revert launch file change

nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp

@@ -24,12 +24,12 @@
 #include "nav2_util/lifecycle_service_client.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "std_srvs/srv/empty.hpp"
-#include "nav2_msgs/srv/manage_nodes.hpp"
+#include "nav2_msgs/srv/manage_lifecycle_nodes.hpp"
 
 namespace nav2_lifecycle_manager
 {
 
-using nav2_msgs::srv::ManageNodes;
+using nav2_msgs::srv::ManageLifecycleNodes;
 
 class LifecycleManager : public rclcpp::Node
 {
@@ -42,12 +42,12 @@ protected:
   rclcpp::Node::SharedPtr service_client_node_;
 
   // The services provided by this node
-  rclcpp::Service<ManageNodes>::SharedPtr manager_srv_;
+  rclcpp::Service<ManageLifecycleNodes>::SharedPtr manager_srv_;
 
   void managerCallback(
     const std::shared_ptr<rmw_request_id_t> request_header,
-    const std::shared_ptr<ManageNodes::Request> request,
-    std::shared_ptr<ManageNodes::Response> response);
+    const std::shared_ptr<ManageLifecycleNodes::Request> request,
+    std::shared_ptr<ManageLifecycleNodes::Response> response);
 
   // Support functions for the service calls
   bool startup();
@@ -56,9 +56,8 @@ protected:
   bool pause();
   bool resume();
 
-  // Support functions for bring-up
+  // Support function for creating service clients
   void createLifecycleServiceClients();
-  bool bringupNode(const std::string & node_name);
 
   // Support functions for shutdown
   void shutdownAllNodes();

nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp

@@ -24,7 +24,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 #include "std_srvs/srv/empty.hpp"
-#include "nav2_msgs/srv/manage_nodes.hpp"
+#include "nav2_msgs/srv/manage_lifecycle_nodes.hpp"
 
 namespace nav2_lifecycle_manager
 {
@@ -46,7 +46,7 @@ public:
   bool navigate_to_pose(double x, double y, double theta);
 
 protected:
-  using ManageNodes = nav2_msgs::srv::ManageNodes;
+  using ManageLifecycleNodes = nav2_msgs::srv::ManageLifecycleNodes;
 
   // A generic method used to call startup, shutdown, etc.
   bool callService(uint8_t command);
@@ -54,7 +54,7 @@ protected:
   // The node to use for the service call
   rclcpp::Node::SharedPtr node_;
 
-  rclcpp::Client<ManageNodes>::SharedPtr manager_client_;
+  rclcpp::Client<ManageLifecycleNodes>::SharedPtr manager_client_;
   std::string service_name_{"lifecycle_manager/manage_nodes"};
 
   using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;

nav2_lifecycle_manager/src/lifecycle_manager.cpp

@@ -26,7 +26,6 @@ using namespace std::placeholders;
 
 using lifecycle_msgs::msg::Transition;
 using lifecycle_msgs::msg::State;
-using nav2_msgs::msg::Command;
 using nav2_util::LifecycleServiceClient;
 
 namespace nav2_lifecycle_manager
@@ -49,7 +48,7 @@ LifecycleManager::LifecycleManager()
   get_parameter("node_names", node_names_);
   get_parameter("autostart", autostart_);
 
-  manager_srv_ = create_service<ManageNodes>("lifecycle_manager/manage_nodes",
+  manager_srv_ = create_service<ManageLifecycleNodes>("lifecycle_manager/manage_nodes",
       std::bind(&LifecycleManager::managerCallback, this, _1, _2, _3));
 
   auto options = rclcpp::NodeOptions().arguments(
@@ -85,23 +84,23 @@ LifecycleManager::~LifecycleManager()
 void
 LifecycleManager::managerCallback(
   const std::shared_ptr<rmw_request_id_t>/*request_header*/,
-  const std::shared_ptr<ManageNodes::Request> request,
-  std::shared_ptr<ManageNodes::Response> response)
+  const std::shared_ptr<ManageLifecycleNodes::Request> request,
+  std::shared_ptr<ManageLifecycleNodes::Response> response)
 {
-  switch (request->command.id) {
-    case Command::STARTUP:
+  switch (request->command) {
+    case ManageLifecycleNodes::Request::STARTUP:
       response->success = startup();
       break;
-    case Command::RESET:
+    case ManageLifecycleNodes::Request::RESET:
       response->success = reset();
       break;
-    case Command::SHUTDOWN:
+    case ManageLifecycleNodes::Request::SHUTDOWN:
       response->success = shutdown();
       break;
-    case Command::PAUSE:
+    case ManageLifecycleNodes::Request::PAUSE:
       response->success = pause();
       break;
-    case Command::RESUME:
+    case ManageLifecycleNodes::Request::RESUME:
       response->success = resume();
       break;
   }

nav2_lifecycle_manager/src/lifecycle_manager_client.cpp

@@ -23,7 +23,6 @@
 namespace nav2_lifecycle_manager
 {
 using nav2_util::geometry_utils::orientationAroundZAxis;
-using nav2_msgs::msg::Command;
 
 LifecycleManagerClient::LifecycleManagerClient()
 {
@@ -31,7 +30,7 @@ LifecycleManagerClient::LifecycleManagerClient()
   node_ = std::make_shared<rclcpp::Node>("lifecycle_manager_client_service_client");
 
   // Create the service clients
-  manager_client_ = node_->create_client<ManageNodes>(service_name_);
+  manager_client_ = node_->create_client<ManageLifecycleNodes>(service_name_);
 
   navigate_action_client_ =
     rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(node_, "NavigateToPose");
@@ -44,31 +43,31 @@ LifecycleManagerClient::LifecycleManagerClient()
 bool
 LifecycleManagerClient::startup()
 {
-  return callService(Command::STARTUP);
+  return callService(ManageLifecycleNodes::Request::STARTUP);
 }
 
 bool
 LifecycleManagerClient::shutdown()
 {
-  return callService(Command::SHUTDOWN);
+  return callService(ManageLifecycleNodes::Request::SHUTDOWN);
 }
 
 bool
 LifecycleManagerClient::pause()
 {
-  return callService(Command::PAUSE);
+  return callService(ManageLifecycleNodes::Request::PAUSE);
 }
 
 bool
 LifecycleManagerClient::resume()
 {
-  return callService(Command::RESUME);
+  return callService(ManageLifecycleNodes::Request::RESUME);
 }
 
 bool
 LifecycleManagerClient::reset()
 {
-  return callService(Command::RESET);
+  return callService(ManageLifecycleNodes::Request::RESET);
 }
 
 void
@@ -143,8 +142,8 @@ LifecycleManagerClient::navigate_to_pose(double x, double y, double theta)
 bool
 LifecycleManagerClient::callService(uint8_t command)
 {
-  auto request = std::make_shared<ManageNodes::Request>();
-  request->command.id = command;
+  auto request = std::make_shared<ManageLifecycleNodes::Request>();
+  request->command = command;
 
   RCLCPP_INFO(node_->get_logger(), "Waiting for the lifecycle_manager's %s service...",
     service_name_);

nav2_msgs/CMakeLists.txt

@@ -16,12 +16,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/CostmapMetaData.msg"
   "msg/Path.msg"
   "msg/VoxelGrid.msg"
-  "msg/Command.msg"
   "srv/GetCostmap.srv"
   "srv/ClearCostmapExceptRegion.srv"
   "srv/ClearCostmapAroundRobot.srv"
   "srv/ClearEntireCostmap.srv"
-  "srv/ManageNodes.srv"
+  "srv/ManageLifecycleNodes.srv"
   "action/BackUp.action"
   "action/ComputePathToPose.action"
   "action/FollowPath.action"

nav2_msgs/msg/Command.msg → nav2_msgs/srv/ManageLifecycleNodes.srv

@@ -4,4 +4,6 @@ uint8 RESUME = 2
 uint8 RESET = 3
 uint8 SHUTDOWN = 4
 
-uint8 id
+uint8 command
+---
+bool success

nav2_msgs/srv/ManageNodes.srv

-Command command
----
-bool success