Fix for lifecycle cli status for global & local costmap nodes

gistfile1.txt

diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
index dd938c4d..e72ed3ef 100644
--- a/nav2_controller/src/nav2_controller.cpp
+++ b/nav2_controller/src/nav2_controller.cpp
@@ -67,7 +67,7 @@ ControllerServer::~ControllerServer()
 }
 
 nav2_util::CallbackReturn
-ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
+ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
 {
   auto node = shared_from_this();
 
@@ -102,7 +102,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
   get_parameter("min_theta_velocity_threshold", min_theta_velocity_threshold_);
   RCLCPP_INFO(get_logger(), "Controller frequency set to %.4fHz", controller_frequency_);
 
-  costmap_ros_->on_configure(state);
+  costmap_ros_->configure();
 
   try {
     progress_checker_type_ = nav2_util::get_plugin_type_param(node, progress_checker_id_);
@@ -171,11 +171,11 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-ControllerServer::on_activate(const rclcpp_lifecycle::State & state)
+ControllerServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Activating");
 
-  costmap_ros_->on_activate(state);
+  costmap_ros_->activate();
   ControllerMap::iterator it;
   for (it = controllers_.begin(); it != controllers_.end(); ++it) {
     it->second->activate();
@@ -187,7 +187,7 @@ ControllerServer::on_activate(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-ControllerServer::on_deactivate(const rclcpp_lifecycle::State & state)
+ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Deactivating");
 
@@ -196,7 +196,7 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & state)
   for (it = controllers_.begin(); it != controllers_.end(); ++it) {
     it->second->deactivate();
   }
-  costmap_ros_->on_deactivate(state);
+  costmap_ros_->deactivate();
 
   publishZeroVelocity();
   vel_publisher_->on_deactivate();
@@ -205,7 +205,7 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
+ControllerServer::on_cleanup(const rclcpp_lifecycle::State & /* state */)
 {
   RCLCPP_INFO(get_logger(), "Cleaning up");
 
@@ -215,7 +215,7 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
     it->second->cleanup();
   }
   controllers_.clear();
-  costmap_ros_->on_cleanup(state);
+  costmap_ros_->cleanup();
 
   // Release any allocated resources
   action_server_.reset();
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 48eede36..a7165871 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -64,11 +64,11 @@ PlannerServer::~PlannerServer()
 }
 
 nav2_util::CallbackReturn
-PlannerServer::on_configure(const rclcpp_lifecycle::State & state)
+PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Configuring");
 
-  costmap_ros_->on_configure(state);
+  costmap_ros_->configure();
   costmap_ = costmap_ros_->getCostmap();
 
   RCLCPP_DEBUG(
@@ -139,13 +139,13 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-PlannerServer::on_activate(const rclcpp_lifecycle::State & state)
+PlannerServer::on_activate(const rclcpp_lifecycle::State & /* state */)
 {
   RCLCPP_INFO(get_logger(), "Activating");
 
   plan_publisher_->on_activate();
   action_server_->activate();
-  costmap_ros_->on_activate(state);
+  costmap_ros_->activate();
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {
@@ -156,13 +156,13 @@ PlannerServer::on_activate(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-PlannerServer::on_deactivate(const rclcpp_lifecycle::State & state)
+PlannerServer::on_deactivate(const rclcpp_lifecycle::State & /* state */)
 {
   RCLCPP_INFO(get_logger(), "Deactivating");
 
   action_server_->deactivate();
   plan_publisher_->on_deactivate();
-  costmap_ros_->on_deactivate(state);
+  costmap_ros_->deactivate();
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {
@@ -173,14 +173,14 @@ PlannerServer::on_deactivate(const rclcpp_lifecycle::State & state)
 }
 
 nav2_util::CallbackReturn
-PlannerServer::on_cleanup(const rclcpp_lifecycle::State & state)
+PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /* state */)
 {
   RCLCPP_INFO(get_logger(), "Cleaning up");
 
   action_server_.reset();
   plan_publisher_.reset();
   tf_.reset();
-  costmap_ros_->on_cleanup(state);
+  costmap_ros_->cleanup();
 
   PlannerMap::iterator it;
   for (it = planners_.begin(); it != planners_.end(); ++it) {