From de77a51663d6335a5f47426f0d1bb56f64e42904 Mon Sep 17 00:00:00 2001 From: Aditya Jindal Date: Sat, 1 Aug 2026 23:04:58 +0530 Subject: [PATCH 1/2] clarify difference between faliur and error : issue-3086 Signed-off-by: Aditya Jindal --- .../node_interfaces/lifecycle_node_interface.hpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp index 45748ea55d..516b11e5c9 100644 --- a/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp +++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp @@ -55,8 +55,15 @@ class LifecycleNodeInterface public: enum class CallbackReturn : uint8_t { + /// The callback completed successfully. SUCCESS = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, + + /// The callback completed, but the requested transition could not + /// be completed. The node returns to a stable lifecycle state. FAILURE = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE, + + /// An unexpected error occurred. The node enters the + /// error-processing state. ERROR = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR }; From 198c518e989942aac056911ab0a0b72eee235900 Mon Sep 17 00:00:00 2001 From: Aditya Jindal Date: Mon, 3 Aug 2026 22:04:21 +0530 Subject: [PATCH 2/2] Address review feedback on CallbackReturn documentation Signed-off-by: Aditya Jindal --- .../node_interfaces/lifecycle_node_interface.hpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp index 516b11e5c9..05a779f504 100644 --- a/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp +++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp @@ -55,16 +55,16 @@ class LifecycleNodeInterface public: enum class CallbackReturn : uint8_t { - /// The callback completed successfully. + /// The callback completed successfully and the transition can proceed. SUCCESS = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, - /// The callback completed, but the requested transition could not - /// be completed. The node returns to a stable lifecycle state. + /// The callback completed normally, but the requested transition + /// could not be completed. FAILURE = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE, - /// An unexpected error occurred. The node enters the - /// error-processing state. - ERROR = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR + /// An error occurred during callback execution. + /// The node transitions to an error handling state. + ERROR = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR, }; /// Callback function for configure transition