Fix a bad bug in fetching the lifecycle transitions. (#1321)

We were fetching one more lifecycle transition than existed in the source list (i.e. we should use < instead of <=). In turn, this allows us to enable the test_lifecycle.py test, and to fix the spurious "empty" string in the expected states. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Jul 26, 2024 · 2a8f23e · 2a8f23e
1 parent f7dd807
commit 2a8f23e
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Showing 3 changed files with 3 additions and 2 deletions.
diff --git a/rclpy/CMakeLists.txt b/rclpy/CMakeLists.txt
@@ -180,6 +180,7 @@ if(BUILD_TESTING)
       test/test_expand_topic_name.py
       test/test_guard_condition.py
       test/test_init_shutdown.py
+      test/test_lifecycle.py
       test/test_logging.py
       test/test_logging_rosout.py
       test/test_logging_service.py

diff --git a/rclpy/src/rclpy/lifecycle.cpp b/rclpy/src/rclpy/lifecycle.cpp
@@ -182,7 +182,7 @@ class LifecycleStateMachine : public rclpy::Destroyable,
   {
     std::vector<std::tuple<uint8_t, std::string>> ret;
     ret.reserve(state_machine_->transition_map.states_size);
-    for (size_t i = 0; i <= state_machine_->transition_map.states_size; ++i) {
+    for (size_t i = 0; i < state_machine_->transition_map.states_size; ++i) {
       ret.emplace_back(
         std::make_tuple(
           state_machine_->transition_map.states[i].id,

diff --git a/rclpy/test/test_lifecycle.py b/rclpy/test/test_lifecycle.py
@@ -176,7 +176,7 @@ def cleanup():
     states_labels = {state.label for state in resp.available_states}
     assert states_labels == {
         'unknown', 'unconfigured', 'inactive', 'active', 'finalized', 'configuring', 'cleaningup',
-        'shuttingdown', 'activating', 'deactivating', 'errorprocessing', ''
+        'shuttingdown', 'activating', 'deactivating', 'errorprocessing'
     }
     req = lifecycle_msgs.srv.GetAvailableTransitions.Request()
     resp = get_available_transitions_cli.call(req)