Function rcl_lifecycle_trigger_transition_by_id

Function Documentation

rcl_ret_t rcl_lifecycle_trigger_transition_by_id(rcl_lifecycle_state_machine_t *state_machine, uint8_t id, bool publish_notification)

Trigger a state by id.

This function will trigger a transition based on the id. If the argument publish_notification is true then a message will be published in the ROS 2 network notifying the transition, if false no message will be published.

Attribute

Adherence

Allocates Memory

No

Thread-Safe

No

Uses Atomics

No

Lock-Free

Yes

Parameters:

  • state_machine – [in] pointer to the state machine struct

  • id – [in] identifier of the transition to be triggered

  • publish_notification – [in] if the value is true a message will be published notifying the transition, otherwise no message will be published

Returns:

RCL_RET_OK if the transition was triggered successfully, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.