From 85058c7c0d8c4f3b16ed11887394ce5ac1edee98 Mon Sep 17 00:00:00 2001 From: Alexey Panferov Date: Thu, 29 Feb 2024 17:46:21 +0300 Subject: [PATCH] feat(autoware_node): add send normal state after registration Signed-off-by: Alexey Panferov --- common/autoware_node/src/autoware_node.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/common/autoware_node/src/autoware_node.cpp b/common/autoware_node/src/autoware_node.cpp index 190d0df2d2..c91a1e1271 100644 --- a/common/autoware_node/src/autoware_node.cpp +++ b/common/autoware_node/src/autoware_node.cpp @@ -116,8 +116,13 @@ void AutowareNode::register_callback() }; auto future_result = cli_register_->async_send_request(req, response_received_callback); - RCLCPP_INFO(get_logger(), "Sent request"); + + std::string msg = self_name + " node started"; + autoware_control_center_msgs::msg::AutowareNodeState node_state; + node_state.status = autoware_control_center_msgs::msg::AutowareNodeState::NORMAL; + send_state(node_state, msg); + RCLCPP_INFO(get_logger(), "Sent node state"); } void AutowareNode::heartbeat_callback()