Description
Description
Lifecycle Publishers and Subscriptions (being implemented with #2715) should not be discovered by the ROS 2 network until the Lifecycle Node has entered the inactive state (meaning it is configured)
This was originally brought up by @fujitatomoya in #2715 (comment).
Motivation
This will allow one to determine whether a node is actually publishing/subscribing to a particular topic. It doesn't make sense to list lifecycle nodes as publishing/subscribing to a specific topic when they haven't even been configured.
Design / Implementation Considerations
The following way to implement this has been suggested by @fujitatomoya in #2715 (comment):
for doing that, probably we need to have state control (configured, inactive) in SubscriberBase class and underlying implementations, and then on_configure callback, we can configure the subscription to be discovered.
Additional Information
No response