The cascade_lifecycle from fmrico

Support for rclpy -> LifecycleNode

is it possible to trigger rclpy->Lifecyclenode (node 'A' ) from cascade->Lifecyclenode (node 'B' ) ?

intraprocess communication

Hi and thanks for this package.

I these days I'm trying to use it on a project constituted by composable (lifecycle) node using intraprocess communication.
Trying to launch it I get this error:

[control_container]: Component constructor threw an exception: intraprocess communication is not allowed with keep all history qos policy

In your opinion is it possible to change this part

cascade_lifecycle/rclcpp_cascade_lifecycle/src/rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.cpp

Lines 49 to 64 in dc1b8dc

    
           activations_pub_ = create_publisher<cascade_lifecycle_msgs::msg::Activation>( 
        
             "/cascade_lifecycle_activations", 
        
             rclcpp::QoS(1000).keep_all().transient_local().reliable()); 
        
           states_pub_ = create_publisher<cascade_lifecycle_msgs::msg::State>( 
        
             "/cascade_lifecycle_states", rclcpp::QoS(5).keep_last(5).transient_local().reliable()); 
        
           activations_sub_ = create_subscription<cascade_lifecycle_msgs::msg::Activation>( 
        
             "/cascade_lifecycle_activations", 
        
             rclcpp::QoS(1000).keep_all().transient_local().reliable(), 
        
             std::bind(&CascadeLifecycleNode::activations_callback, this, _1)); 
        
           states_sub_ = create_subscription<cascade_lifecycle_msgs::msg::State>( 
        
             "/cascade_lifecycle_states", 
        
             rclcpp::QoS(100).keep_last(100).transient_local().reliable(), 
        
             std::bind(&CascadeLifecycleNode::states_callback, this, _1));

checking if the intraprocess communication is it used or not with a simple:

if(options.use_intra_process_comms())
{
     activations_pub_ = create_publisher<cascade_lifecycle_msgs::msg::Activation>(
     "/cascade_lifecycle_activations",
     rclcpp::QoS(1000));
     ...
}
else
{
     activations_pub_ = create_publisher<cascade_lifecycle_msgs::msg::Activation>(
    "/cascade_lifecycle_activations",
    rclcpp::QoS(1000).keep_all().transient_local().reliable());
    ...
}

or do you see some drawback ?

Thanks in advance
Alessio

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Support for rclpy -> LifecycleNode

intraprocess communication

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	activations_pub_ = create_publisher<cascade_lifecycle_msgs::msg::Activation>(
	"/cascade_lifecycle_activations",
	rclcpp::QoS(1000).keep_all().transient_local().reliable());

	states_pub_ = create_publisher<cascade_lifecycle_msgs::msg::State>(
	"/cascade_lifecycle_states", rclcpp::QoS(5).keep_last(5).transient_local().reliable());

	activations_sub_ = create_subscription<cascade_lifecycle_msgs::msg::Activation>(
	"/cascade_lifecycle_activations",
	rclcpp::QoS(1000).keep_all().transient_local().reliable(),
	std::bind(&CascadeLifecycleNode::activations_callback, this, _1));

	states_sub_ = create_subscription<cascade_lifecycle_msgs::msg::State>(
	"/cascade_lifecycle_states",
	rclcpp::QoS(100).keep_last(100).transient_local().reliable(),
	std::bind(&CascadeLifecycleNode::states_callback, this, _1));