Lifecyle node failed to make transition.

  ros2/rcl#1166

Signed-off-by: Tomoya Fujita <[email protected]>

prover_rclpy/launch/rcl_1166_launch.py

@@ -0,0 +1,74 @@
+import os
+import signal
+
+from launch import LaunchDescription
+from launch.actions import EmitEvent
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnProcessStart
+import launch.events
+from launch.launch_description_entity import LaunchDescriptionEntity
+from launch.launch_service import LaunchService
+import launch_ros
+from launch_ros.actions import LifecycleNode
+from launch_ros.events.lifecycle import ChangeState
+from lifecycle_msgs.msg import Transition
+from multiprocessing import Process
+from typing import List
+
+
+def up_launch(launch_description_list: List[LaunchDescriptionEntity]):
+    ls = LaunchService()
+    ls.include_launch_description(LaunchDescription(launch_description_list))
+    ls.run()
+
+
+def generate_launch_description(ns):
+    lc_node = LifecycleNode(
+        package='lifecycle_py',
+        executable='lifecycle_talker',
+        name='lc_talker',
+        namespace=ns,
+        output='screen',
+    )
+
+    # send activate when on_configure finished
+    emit_active = RegisterEventHandler(
+        launch_ros.event_handlers.OnStateTransition(
+            target_lifecycle_node=lc_node,
+            goal_state='inactive',
+            # start_state='configuring',
+            entities=[
+                EmitEvent(event=ChangeState(
+                    lifecycle_node_matcher=launch.events.matches_action(lc_node),
+                    transition_id=Transition.TRANSITION_ACTIVATE,
+                )),
+            ],
+        ))
+
+    # Prepare the talker node, and request transition to be configured.
+    emit_configure = RegisterEventHandler(
+        OnProcessStart(
+            target_action=lc_node,
+            on_start=[
+                EmitEvent(event=ChangeState(
+                    lifecycle_node_matcher=launch.events.matches_action(lc_node),
+                    transition_id=Transition.TRANSITION_CONFIGURE,
+                )),
+            ]))
+
+
+    return [lc_node, emit_active, emit_configure]
+
+
+if __name__ == '__main__':
+    os.setpgrp()
+    try:
+        for i in range(12):
+            ls = generate_launch_description('room'+str(i))
+            launch_proc = Process(target=up_launch,
+                                  args=(ls,),
+                                  )
+            launch_proc.start()
+    except KeyboardInterrupt:
+        print('group kill')
+        os.killpg(0, signal.SIGINT)