Create service context in main

[norro]

Context passed to the lifecycle services needs to be created in main.

Fixes #223

Signed-off-by: Nordmann Arne (CR/ADT3) [email protected]

[codecov-commenter]

Codecov Report

Merging #224 (a86a1ec) into master (27b4d4f) will decrease coverage by 0.06%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master     #224      +/-   ##
==========================================
- Coverage   63.49%   63.42%   -0.07%     
==========================================
  Files          16       16              
  Lines        2153     2149       -4     
  Branches      643      641       -2     
==========================================
- Hits         1367     1363       -4     
- Misses        471      472       +1     
+ Partials      315      314       -1     

Impacted Files	Coverage Δ
rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c	48.78% <100.00%> (-0.03%)	⬇️
rclc/src/rclc/action_goal_handle.c	59.87% <0.00%> (-1.28%)	⬇️

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[JanStaschulat]

Fine for me, but I don't see why this fixes the problem, as the lifecycle_node was also created in main function

rclc/rclc_examples/src/example_lifecycle_node.c

Line 86 in 27b4d4f

rclc_lifecycle_node_t lifecycle_node;

[JanStaschulat]

Error on buid farm:
https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/333/gcc/

[JanStaschulat]

no backport to Galactic, Foxy possible due to API break in
rclc_lifecycle_init_get_state_server(), rclc_lifecycle_init_get_available_states_server() and rclc_lifecycle_init_change_state_server().

[JanStaschulat]

@norro could you add a note in the header file for Galactic and Foxy and in rclc_examples, that lifecycle with context does not work for Galactic and Foxy but that the the issue was fixed in Rolling?

[norro]

Yes, I will do.