rclpy should provide a method to check if initialized about rclpy HOT 12 CLOSED

I think this feature already exists as rclpy.ok()

Implementation

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@EricCousineau-TRI it would be appreciated if you could review #1198

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I can help on this. Do you want to assign this to me?

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Thanks @hemantku

I'm not able to assign you to the ticket, but go ahead and start on it anyways. I would be happy to answer questions you may have if you encounter issues.

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#224

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@sloretz : Is there an reference architecture doc for rclpy just like launch: https://github.com/ros2/launch/blob/master/launch/doc/source/architecture.rst ? For example, How is the state stored in each node, using the lifecycle node? or is it something else

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Is there an reference architecture doc for rclpy just like launch

Not that I know of. There are slides about the architecture leading up to rclpy py starting at slide 30 here: https://roscon.ros.org/2016/presentations/ROSCon%202016%20-%20ROS%202%20Update.pdf

For example, How is the state stored in each node, using the lifecycle node

What kind of state? There is a pycapsule holding a pointer to an rcl_node_t on node._handle.

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I would like to help on this @sloretz

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@wjwwood Hello, I'm new to open source and love working with ros. How can I approach this issue?

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Sorry @pr-db, this got lost. If you, or anyone else, wants to work on this...

We need a function to check if rclpy is already initialized or not, or perhaps just a more specific exception being raise. You can see from here:

ros2/launch#75 (comment)

That we're catching a generic exception and comparing the error string to see if it is the already initialized error, which is very fragile.

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Yeah, I think @sloretz is right - worth closing this issue now?

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Closing this issue as complete

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