Merge branch 'feat_node_tree' into node_namespace_name_collision

src/node_window.cpp

@@ -172,7 +172,8 @@ void visualizeNodeTree(const std::shared_ptr<const TreeNode>& root, std::string
         // leaf node
         // push "leaf" to id stack to prevent ID collision between node and namespace with same name
         ImGui::PushID("leaf");
-        if (ImGui::Selectable(root->name.c_str())) {
+        if (ImGui::Selectable(root->name.c_str(), selectedNode == root->fullName)) {
+
             selectedNode = root->fullName;
         }
         ImGui::PopID();

src/service_wrapper.cpp

@@ -126,6 +126,16 @@ void ServiceWrapper::handleRequest(const RequestPtr &request) {
                     continue;
                 }
 
+                 {
+                    auto tmpclient = node->create_client<rcl_interfaces::srv::ListParameters>(serviceName);
+                    if (!tmpclient->service_is_ready()) {
+                        // Service is known, but not ready.
+                        // This happens e.g. if this is the currently selected node,
+                        // so we still have clients for the service, but the node has died.
+                        continue;
+                    }
+                }
+
                 nodeNames.push_back(extractedNodeName);
             }