Per review feedback, use RCLCPP_FATAL upon a lifecycle node entering …

…an error state. (ros-navigation#748) In the future, there can be some error recovery here.
ljaniec · Jun 10, 2019 · 3d123cb · 3d123cb
1 parent 13fec6c
commit 3d123cb
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Showing 7 changed files with 7 additions and 7 deletions.
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -144,7 +144,7 @@ BtNavigator::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 nav2_lifecycle::CallbackReturn
 BtNavigator::on_error(const rclcpp_lifecycle::State & /*state*/)
 {
-  RCLCPP_ERROR(get_logger(), "Handling error state");
+  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
   return nav2_lifecycle::CallbackReturn::SUCCESS;
 }
 

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -237,7 +237,7 @@ Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 nav2_lifecycle::CallbackReturn
 Costmap2DROS::on_error(const rclcpp_lifecycle::State &)
 {
-  RCLCPP_ERROR(get_logger(), "Handling error state");
+  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
   return nav2_lifecycle::CallbackReturn::SUCCESS;
 }
 

diff --git a/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp b/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp
@@ -113,7 +113,7 @@ DwbController::on_cleanup(const rclcpp_lifecycle::State & state)
 nav2_lifecycle::CallbackReturn
 DwbController::on_error(const rclcpp_lifecycle::State &)
 {
-  RCLCPP_ERROR(get_logger(), "Handling error state");
+  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
   return nav2_lifecycle::CallbackReturn::SUCCESS;
 }
 

diff --git a/nav2_map_server/src/map_server.cpp b/nav2_map_server/src/map_server.cpp
@@ -112,7 +112,7 @@ MapServer::on_cleanup(const rclcpp_lifecycle::State & state)
 nav2_lifecycle::CallbackReturn
 MapServer::on_error(const rclcpp_lifecycle::State &)
 {
-  RCLCPP_ERROR(get_logger(), "Handling error state");
+  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
   return nav2_lifecycle::CallbackReturn::SUCCESS;
 }
 

diff --git a/nav2_mission_executor/src/mission_executor.cpp b/nav2_mission_executor/src/mission_executor.cpp
@@ -75,7 +75,7 @@ MissionExecutor::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 nav2_lifecycle::CallbackReturn
 MissionExecutor::on_error(const rclcpp_lifecycle::State & /*state*/)
 {
-  RCLCPP_ERROR(get_logger(), "Handling error state");
+  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
   return nav2_lifecycle::CallbackReturn::SUCCESS;
 }
 

diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -141,7 +141,7 @@ NavfnPlanner::on_cleanup(const rclcpp_lifecycle::State & state)
 nav2_lifecycle::CallbackReturn
 NavfnPlanner::on_error(const rclcpp_lifecycle::State &)
 {
-  RCLCPP_ERROR(get_logger(), "Handling error state");
+  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
   return nav2_lifecycle::CallbackReturn::SUCCESS;
 }
 

diff --git a/nav2_world_model/src/world_model.cpp b/nav2_world_model/src/world_model.cpp
@@ -88,7 +88,7 @@ WorldModel::on_cleanup(const rclcpp_lifecycle::State & state)
 nav2_lifecycle::CallbackReturn
 WorldModel::on_error(const rclcpp_lifecycle::State & /*state*/)
 {
-  RCLCPP_ERROR(get_logger(), "Handling error state");
+  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
   return nav2_lifecycle::CallbackReturn::SUCCESS;
 }