Lifecycle Construction for Fault Reporter

[zeerekahmad]

Pull Request

Summary

Add additional ways to construct fault reporter allowing for LifecycleNodes and standard nodes as well by leveraging a core base interfaces constructor that other node type constructors can use!

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Issue

Link the related issue (required):

• closes Fault reporter needs to also support initialization inside of a lifecycle node #555

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Type

• Bug fix
• New feature or tests
• Breaking change
• Documentation only

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Testing

Can be verified by constructing FaultReporter via a lifecycle node

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Checklist

• Breaking changes are clearly described (and announced in docs / changelog if needed)
• Tests were added or updated if needed
• Docs were updated if behavior or public API changed

[Copilot]

Pull request overview

This PR extends ros2_medkit_fault_reporter::FaultReporter construction to support rclcpp_lifecycle::LifecycleNode (and additional node-handle forms) by introducing an interface-based “base” constructor that other constructors delegate to, making lifecycle-node initialization possible without relying on shared_from_this().

Changes:

• Added an interface-based FaultReporter constructor and delegating overloads for rclcpp::Node / rclcpp_lifecycle::LifecycleNode.
• Switched parameter loading to use NodeParametersInterface and created the service client via rclcpp::create_client(...) with node interfaces.
• Updated package dependencies and end-user docs (README + changelog) to reflect lifecycle support.

Reviewed changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 10 comments.

Show a summary per file

File	Description
src/ros2_medkit_fault_reporter/src/fault_reporter.cpp	Adds interface-based construction path and new delegating constructors; updates parameter loading and client creation.
src/ros2_medkit_fault_reporter/include/ros2_medkit_fault_reporter/fault_reporter.hpp	Exposes new public constructors and updates the parameter-loading helper signature and examples.
src/ros2_medkit_fault_reporter/README.md	Documents lifecycle-node usage and enumerates available constructors.
src/ros2_medkit_fault_reporter/package.xml	Adds rclcpp_lifecycle dependency.
src/ros2_medkit_fault_reporter/CMakeLists.txt	Finds/links/exports rclcpp_lifecycle for the library and tests.
src/ros2_medkit_fault_reporter/CHANGELOG.rst	Notes lifecycle-node construction support for the upcoming release.

[bburda]

Thanks, and good that you wrote the issue with the design first 👍 The shape is right - base ctor with the small delegating overloads, old shared_from_this() callers still work, params and QoS unchanged.

Two things to fix before it can go in:

• Doesn't build on Lyrical. See the create_client note.
• No test actually builds a FaultReporter - test_local_filter only covers LocalFilter and the integration test calls the service directly. Add one that constructs it from a LifecycleNode and a Node&.

Smaller stuff:

• If you see a suggestion to make the ref ctors const (const Node& / const LifecycleNode&), skip it - get_node_*_interface() are non-const so it won't compile. What you have is right.
• The header pulls in rclcpp_lifecycle/lifecycle_node.hpp. The ctor takes the node by reference, so you can forward-declare it and move the include to the .cpp - then plain Node users don't get the lifecycle header. Optional.
• Node has a ref and a SharedPtr ctor, LifecycleNode only a ref one. A LifecycleNode::SharedPtr overload would round it out so people don't pass *ptr. Optional.
• Minor: this create_client skips the sub-namespace expansion node->create_client did. Only matters for a sub-node with a relative service name - default name is absolute so normal use is fine.

[mfaferek93]

LGTM!