[bug] Ignored lifecycle state Event/EventHandler in launch file

[NickLaurenson-Visionick]

(Please add appropriate labels)

• Windows: (Version)
• Linux: (Dist/Version)
• ROS 1: Dist
• ROS 2: Dist

<Version of the plugin>
v0.9.2

<Copy the Version information from the Help | About menu>
Version: 1.95.3
Commit: f1a4fb101478ce6ec82fe9627c43efbf9e98c813
Date: 2024-11-13T14:50:04.152Z
Electron: 32.2.1
ElectronBuildId: 10427718
Chromium: 128.0.6613.186
Node.js: 20.18.0
V8: 12.8.374.38-electron.0
OS: Linux x64 6.8.0-48-generic snap

what is the bug

When debugging in the case of a ros Lifecycle node, I want to activate my node from a lauch file, via launch.actions.EmitEvent and launch_ros.events.lifecycle.ChangeState, but it look like the EmitEvent is not done. Event if I change the state manually via ros2 lifecycle <node_name> <state>, the EventHandler of the launch file do not work.

Minimal example launch example:

from launch.actions import Shutdown
from launch_ros.actions import LifecycleNode
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler, LogInfo
from launch_ros.event_handlers import OnStateTransition
from launch_ros.events.lifecycle import ChangeState
import launch
from lifecycle_msgs.msg import Transition


def generate_launch_description():
    node = LifecycleNode(package='lifecycle', executable='lifecycle_talker',
                         name='lc_talker', namespace='', output='screen')
    # THIS DO NOT WORK in Launch Debugging
    configure_event = EmitEvent(
        event=ChangeState(
            lifecycle_node_matcher=launch.events.matches_action(
                node),
            transition_id=Transition.TRANSITION_CONFIGURE,
        ))
    # THIS DO NOT WORK in Launch Debugging
    state_handler = RegisterEventHandler(
        OnStateTransition(
            target_lifecycle_node=node,
            goal_state='inactive',
            entities=[
                # Log
                LogInfo(
                    msg="RegisterEventHandler worked")]))
    return LaunchDescription([
        configure_event, node, state_handler
        # Node(package='lifecycle', executable='lifecycle_listener', output='screen'),
        # Node(package='lifecycle', executable='lifecycle_service_client', output='screen',
        #      on_exit=Shutdown()),

My final goal is perfrom something similar to this example.. But all the lifecycle node state dependencies doesn't seem to be handle correctly in the debugger.

Repro steps

<how to reproduce the bug. Please attach sample files or github repo if appropriate.>
I made a minimal example using the ros lifecycle demo code, only modifying the launch file:

1. clone this repo
2. compile the lifecycle package
3. launch debugin on the lauch package

expected behavior

<what you would expect to happen>
The behavior should be similar as when the launch file is run without debugger :

• signal are emitted
• handler are called
• and in the proivided example, we should have the LogInfo message

additional context

<any additional information would be helpful for a better understanding>

[mewescott]

Any comments/updates on this? I am having the same issue.