Fixing lifecycle node autostart issue #445 (backport #449)

[mergify]

Fixing lifecycle node autostart issue #445

The issue boils down to the emitting of signals for the first transition in the transition_ids. It appears that sometimes the Launch system doesn't emit these in order or for whatever reason the second signal is received by the server before the first. By putting them both in a single transition, only the configure signal is emitted and activate is dependent fully on the state transition.

Honestly, this is probably how it should have always been implemented, but I didn't think it mattered at the time since I thought ordering was guaranteed.

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This is an automatic backport of pull request #449 done by Mergify.

[mergify]

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	both modified:   launch_ros/launch_ros/actions/lifecycle_node.py
	both modified:   launch_ros/launch_ros/actions/load_composable_nodes.py

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[christophebedard]

Pulls: #453
Gist: https://gist.githubusercontent.com/christophebedard/ad28ca56666edb2c62944e4fd6d2f98b/raw/d37b83ee0706759bb664be4be9d14666241f252b/ros2.repos
BUILD args: --packages-above-and-dependencies launch_ros test_launch_ros
TEST args: --packages-above launch_ros test_launch_ros
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15458

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[christophebedard]

I included #438 (the backport of #430) in this PR (the backport of #449, which fixes an issue with #430). So the CI above tests both. Then we can merge #438 and #453. See #438 (comment).

[christophebedard]

The ros2bag test failure on Windows is known: ros2/rosbag2#1947.

CI with both PRs looks good, so I'll merge one after the other, making sure that this one gets properly rebased.

[christophebedard]

Rebased. The comparison shows nothing changed: https://github.com/ros2/launch_ros/compare/a2484157e42301fa540767483df755a9201b2d9b..0d42877ca066b00ae0e8a03e5e19e9e2c93756af.