Add diagnostics

[tonynajjar]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#2984
Primary OS tested on	Ubuntu
Robotic platform tested on	Turtlebot gazebo simulation

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Description of contribution in a few bullet points

• I added diagnostics publishing for the lifecycle state of the nodes

Description of documentation updates required from your changes

• Not sure, let me know if I should add docs

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Future work that may be required in bullet points

• Maybe more elaborate diagnostics

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify]

@tonynajjar, please properly fill in PR template in the future. @SteveMacenski, use this instead.

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify]

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

LGTM, just unavoidable linter complaints

[SteveMacenski]

White space that I'm sure CI will complain about - no empty lines at the start or end of the function

[tonynajjar]

Weird, I ran ament_uncrustify

root@10a5941ce854:~# ament_uncrustify /root/ros2_ws/src/navigation2/nav2_lifecycle_manager/src/lifecycle_manager.cpp
No code style divergence in file '/root/ros2_ws/src/navigation2/nav2_lifecycle_manager/src/lifecycle_manager.cpp'

No problems found

Anything else I should run to detect the CI problems you mentioned?

[SteveMacenski]

You may have an outdated version 🤷

[SteveMacenski]

Test lifecycle also failed: https://app.circleci.com/pipelines/github/ros-planning/navigation2/7390/workflows/720796c3-4123-4fed-a865-8d126264caf3/jobs/26044 that should not be failing, so this might introduce a regression

[tonynajjar]

I'm not 100% sure but it seems like the nav2_lifecycle_manager tests pass now? I simply fixed the empty lines.

Would be nice to see a more detailed summary (or I'm missing where to look):

Summary: 2854 tests, 3 errors, 3 failures, 565 skipped

[SteveMacenski]

Yeah maybe, I'm going to retrigger CI a few times just to make sure

There's a more detailed look in the artifacts tab, sorted by stdout in each package's tests

[SteveMacenski]

Ran 4x, looked related to the linter error, done!