Added Lifecycle Subscription wrapper by Prathmesh2931 · Pull Request #5772 · ros-navigation/navigation2

Prathmesh2931 · 2025-12-09T09:31:34Z

Added new LifecycleSubscription wrapper class.
Integrated lifecycle-state checking before executing user callbacks.
Added new create_subscription() helper that automatically:
- Applies Nav2 QoS & SubscriptionOptions
- Wraps user callbacks in lifecycle checks
- Registers the subscription inside the lifecycle wrapper
Updated:
- interface_factories.hpp
- lifecycle_node.hpp
- subscription.hpp
  to support the new lifecycle subscription interface.
Added the new header:
nav2_ros_common/lifecycle_subscription.hpp

Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

mini-1235 · 2025-12-09T10:31:39Z

@Prathmesh2931, this does not build, did you test this? https://app.circleci.com/pipelines/github/ros-navigation/navigation2/17109/workflows/dd740d4c-6d31-44af-90d1-a5133d5950e9/jobs/50347

Prathmesh2931 · 2025-12-09T12:02:51Z

@mini-1235
Thanks for the clarification. I’m currently trying to set up a clean, reproducible build environment for testing changes on the main branch, but I’m running into container-related issues (mainly DevContainer build failures, /tmp/devcontainercli-* temp folder problems, and incomplete multi-stage builds).

mini-1235 · 2025-12-09T12:07:07Z

Take a look at https://github.com/ros-navigation/nav2_docker/pkgs/container/nav2_docker, you can directly pull the image:

docker pull ghcr.io/ros-navigation/nav2_docker:rolling-nightly

SteveMacenski · 2025-12-09T18:25:06Z

Please fill in the PR template properly :-)

SteveMacenski · 2025-12-09T18:25:42Z

-  const bool allow_parameter_qos_overrides = true,
-  const rclcpp::CallbackGroup::SharedPtr callback_group_ptr = nullptr,
-  rclcpp::QOSMessageLostCallbackType qos_message_lost_callback = nullptr,
-  rclcpp::SubscriptionMatchedCallbackType subscription_matched_callback = nullptr,
-  rclcpp::IncompatibleTypeCallbackType incompatible_qos_type_callback = nullptr,
-  rclcpp::QOSRequestedIncompatibleQoSCallbackType requested_incompatible_qos_callback = nullptr,
-  rclcpp::QOSDeadlineRequestedCallbackType qos_deadline_requested_callback = nullptr,
-  rclcpp::QOSLivelinessChangedCallbackType qos_liveliness_changed_callback = nullptr)


We need all this, do not change

SteveMacenski · 2025-12-09T18:26:22Z

  */
 template<typename MessageT>
-using Subscription = rclcpp::Subscription<MessageT>;
+using Subscription = LifecycleSubscription<MessageT>;


This file should contain the new subscription, not lifecycle_subscription.hpp. This is now Nav2 subscription

SteveMacenski · 2025-12-09T18:26:56Z

  double bond_heartbeat_period{0.1};
  rclcpp::TimerBase::SharedPtr autostart_timer_;
+
+  // ADDED: Vector to store all managed entities (publishers, subscriptions, etc.)


This line and ones like it are making me think this is the output of an LLM. How did you validate, test, review, and compile this? We do not typically review AI outputs without you taking responsibility for quality control, we cannot review direct AI outputs - it is not a good use of maintainer time and resources. If you want to contribute a feature or fix, please put in your own legwork / effort to at least do QA and testing.

Thanks for your feedback @SteveMacenski ,
The issue was on my side -I hadn’t fully verified the build environment and Docker setup before submitting the changes. That’s my mistake.
I will make sure to do Proper checks , validation and QC from my end .
I really appreciate your guidance and it means lot to me .
Sorry for inconvenience .

Its ok - just for the future its important to do your own QC before involving other developers :-)

SteveMacenski · 2025-12-18T01:08:52Z

Any update?

Prathmesh2931 · 2025-12-19T02:16:50Z

Yes , I am doing some lifecycle subscription testing

Add nav2::Subscription class that wraps rclcpp subscriptions with lifecycle state management, blocking message processing when inactive. Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

Prathmesh2931 · 2025-12-28T12:51:01Z

I am running into a build issue here - the existing test files are trying to use the old subscription type but I changed it to a lifecycle wrapper class.
Can you please guide me or any hint , how should i be proceeding further .
Should I fix the test or any other approach ?

Prathmesh2931 · 2025-12-29T04:29:54Z

And also the ordering of parameter is different of rclcpp::Node::create_subscription and nav2::LifecycleNode::create_subscription .
I guess that is what causing build problem and also rclcpp::Subscription does not have virtual callback methods to override.

Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

Add subscription helpers that are aware of LifecycleNode state. Subscriptions created from a LifecycleNode will ignore incoming messages when the node is inactive, while regular Node subscriptions continue to behave as before. Update affected tests to use SharedPtr callback signatures to match the updated interfaces. This change preserves backwards compatibility with existing Nav2 code Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

mergify · 2026-01-12T06:25:09Z

This pull request is in conflict. Could you fix it @Prathmesh2931?

Signed-off-by: Prathmesh2931 <145354550+Prathmesh2931@users.noreply.github.com>

- Adjust indentation in test_service_server.cpp - Fix alignment in geometry_utils.hpp" Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

Prathmesh2931 · 2026-01-12T07:42:42Z

Hi @mini-1235 ,
This PR addresses the lifecycle subscription functionality discussed in issue #5298. All changes have been manually tested and verified to work correctly with both active and inactive lifecycle states.

Prathmesh2931 · 2026-01-12T08:46:55Z

File Purpose: Updated callback signatures in TwistSubscriber test to use SharedPtr for lifecycle subscription compatibility.

Change Summary:

Changed callback parameters from raw messages to SharedPtr

Updated assignment logic to dereference SharedPtr (*msg)

Prathmesh2931 · 2026-01-12T08:49:58Z

File Purpose: Updated TwistPublisher test callback signatures to use SharedPtr for lifecycle subscription compatibility.

Change Summary:

Updated create_subscription callbacks from raw message to SharedPtr pattern

Modified assignment to dereference SharedPtr (*msg)

Prathmesh2931 · 2026-01-12T08:52:21Z

File Purpose: Updated PathConverter test callback signature to use SharedPtr for lifecycle subscription compatibility.

Change Summary:

Updated Path subscription callback from raw message to SharedPtr pattern

Modified assignment to dereference SharedPtr (*msg)

Prathmesh2931 · 2026-01-12T08:55:18Z

File Purpose: Updated route operations test callback signature to use SharedPtr for lifecycle subscription compatibility.

Change Summary:

Updated SpeedLimit subscription callback from raw message to SharedPtr pattern

Modified assignment to dereference SharedPtr (*msg)

Preserved both the flag setting and message capture logic

Prathmesh2931 · 2026-01-12T09:04:27Z

File Purpose: Added test executable for lifecycle subscription feature validation.

Change Summary:

Added test_lifecycle_sub executable target

Configure dependencies for lifecycle subscription testing

Added installation directive for the test binary

Prathmesh2931 · 2026-01-12T09:19:27Z

File Purpose: New test executable to validate lifecycle-aware subscription .

What Tests are cover:
Creates a test for lifecycle subscriptions which shows:

Messages are not received while the node is unconfigured or inactive

Messages are processed only after activation

Subscriptions correctly stop receiving messages once the node is deactivated

Test exercise on on_configure , on_activate and on_deactivate callbacks to confirm behavior

Prathmesh2931 · 2026-01-12T09:29:26Z

File Purpose: Updated action server test to use LifecycleNode and SharedPtr callbacks for lifecycle subscription compatibility.

Change Summary:

Class Inheritance: Changed from rclcpp::Node to nav2::LifecycleNode

Callback Signatures: Updated from UniquePtr to SharedPtr pattern

Constructor Update: Updated base class initialization

QoS Syntax: Fixed subscription parameter order

Prathmesh2931 · 2026-01-12T10:05:06Z

File Purpose: Nav2 nodes rely on managed entities to ensure subscriptions follow lifecycle
transitions like activate and deactivate correctly.

Prathmesh2931 · 2026-01-12T10:32:03Z

File Purpose: Extended LifecycleNode with managed entity interface support for lifecycle management.

Additions:

Managed Entity System: Track publishers, subscriptions, services, actions as lifecycle-managed entities

Coordinated Activation and Deactivation: activateInterfaces() - activate all entities and deactivateInterfaces() - deactivate all entities in order.

Entity Registration: add_managed_entity() - register entities for lifecycle management

Prathmesh2931 · 2026-01-12T10:40:05Z

File Purpose: -Implements lifecycle-aware create_subscription and Provides overloads for rclcpp::Node and rclcpp_lifecycle::LifecycleNode.

Changes:
Replaced single complex create_subscription function with two overloads that automatically select appropriate behavior based on node type.

Prathmesh2931 · 2026-01-12T10:42:59Z

File Purpose: Updated trajectory visualization test callback signatures to use SharedPtr for lifecycle subscription compatibility.

Summary:

Updated multiple test callbacks from raw message to SharedPtr pattern

Modified assignments to dereference SharedPtr (*msg)

Consistent pattern across all visualization test cases

SteveMacenski · 2026-01-22T02:41:48Z

@Prathmesh2931 I think #5834 should supersede. Thanks for your work here and collaborating with @Lotusymt -- I think that has yielded a really nice solution 😄

Any interest in working on the services / actions?

Closing since I think we're moving forward with Lotusymt's design

Prathmesh2931 · 2026-01-22T06:19:42Z

Thanks Steve, appreciate the feedback .
Yes, I would definitely be interested in working on the services side. Happy to continue from @Lotusymt design.

Added Lifecycle Subscription wrapper

35640ef

Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

SteveMacenski requested changes Dec 9, 2025

View reviewed changes

Prathmesh2931 and others added 2 commits December 28, 2025 14:08

feat: implement lifecycle subscription wrapper

2ee17a2

Add nav2::Subscription class that wraps rclcpp subscriptions with lifecycle state management, blocking message processing when inactive. Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

Merge branch 'ros-navigation:main' into feat/5298-lifecycle-subscription

26c33df

Prathmesh2931 added 3 commits January 10, 2026 18:35

Improve lifecycle subscription wrapper behavior and tests

c49f05c

Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

Improve lifecycle subscription wrapper behavior and tests

92d3264

Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

Improve lifecycle subscription wrapper behavior and tests

ef44b00

Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

Prathmesh2931 force-pushed the feat/5298-lifecycle-subscription branch from 9ca0dbc to ef44b00 Compare January 10, 2026 14:50

Prathmesh2931 and others added 2 commits January 12, 2026 11:56

Merge branch 'main' into feat/5298-lifecycle-subscription

df658f7

Signed-off-by: Prathmesh2931 <145354550+Prathmesh2931@users.noreply.github.com>

style: fix ament_uncrustify formatting issues

c114c21

- Adjust indentation in test_service_server.cpp - Fix alignment in geometry_utils.hpp" Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>

Prathmesh2931 commented Jan 12, 2026

View reviewed changes

SteveMacenski closed this Jan 22, 2026

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