Lifecycle node: the message transition_event is not in the node namespace

[Myzhar]

Bug report

Required Info:

• Operating System:
  • Ubuntu 16.04
• Installation type:
  • binaries
• Version or commit hash:
  • Ardent
• DDS implementation:
  • default from binaries
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

I created a Lyfecyclenode and I set this kind of default constructor:

myLyfeCycleNode::myLyfeCycleNode(const std::string& node_name, const std::string& ros_namespace, bool intra_process_comms)
        : rclcpp_lifecycle::LifecycleNode(node_name, ros_namespace, intra_process_comms)

I run the node using the following main function:

int main(int argc, char* argv[]) {
    // force flush of the stdout buffer.
    // this ensures a correct sync of all prints
    // even when executed simultaneously within the launch file.
    setvbuf(stdout, NULL, _IONBF, BUFSIZ);

    rclcpp::init(argc, argv);
    rclcpp::executors::SingleThreadedExecutor exe;

    std::shared_ptr<myLyfeCycleNode> lc_node =
        std::make_shared<myLyfeCycleNode>("myNode", "myNamespace");

    exe.add_node(lc_node->get_node_base_interface());
    exe.spin();

    rclcpp::shutdown();

    return 0;
}

Expected behavior

Running the command
$ ros2 topic list
I expect to see:
/myNamespace/myNode/transition_event

Actual behavior

Running the command
$ ros2 topic list
I see:
/myNode/transition_event

[dirk-thomas]

This looks like a duplicate of ros2/rmw#142.

[dirk-thomas]

With the referenced changes merged this seems to be resolved:

• ros2 run lifecycle lifecycle_talker __ns:=/my_namespace
• ros2 topic list reports:
  /my_namespace/lc_talker/transition_event