Expose lifecycle_node (#327) (with test)

[SuperJappie08]

Original committer: @esteve
Original author: @kenji-miyake
Original reviewer: @ivanpauno

Description

Added the requested tests to #327, also exposed autostart.

Fixes #236

Is this user-facing behavior change?

Did you use Generative AI?

No

Additional Information

Rebased original pull request on rolling.

[SuperJappie08]

@fujitatomoya, this is the updated version of #327, which you closed recently.
Would you have time to review it?

[fujitatomoya]

i think this is lgtm.

@christophebedard @ahcorde i would like to have 2nd review on this. can you take a look when you have time?

[fujitatomoya]

Pulls: #482
Gist: https://gist.githubusercontent.com/fujitatomoya/dc3ac29ce2fd7482d8091acdfd376795/raw/fc06bb5c62c0819740751c82b217c78322a2ce74/ros2.repos
BUILD args: --packages-above-and-dependencies launch_ros test_launch_ros
TEST args: --packages-above launch_ros test_launch_ros
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17317

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[SuperJappie08]

@fujitatomoya, I think the CI failed on cloning the repos.
Would it benefit from retrying?

[christophebedard]

I'll give this a quick review and take care of CI later today.

[christophebedard]

Just to note this here:

#236 mentions supporting event handlers (i.e., the RegisterEventHandler action) in frontends. As explained in #327 (review), without this, there isn't much advantage to exposing LifecycleNode to frontends. However, as mentioned in that issue, it's still a good first step. Also, it looks like we have ros2/launch#658 for exposing RegisterEventHandler to frontends, so I think it's fine to close #236.

[christophebedard]

Looks good to me! We just need to wait for the CI jobs I retriggered to finish; CI queues are a bit full right now.