rclcpp_lifecycle: Package containing a prototype for lifecycle implementation.

  • Lifecycle states: Define the State class. There are 4 primary states: Unconfigured, Inactive, Active and Finalized. There are also 6 transition states which are intermediate states during a requested transition. Configuring, CleaningUp, ShuttingDown, Activating, Deactivating and ErrorProcessing.

    • rclcpp_lifecycle/state.hpp

  • Lifecycle transitions Define the Transition class. There are 7 transitions exposed to a supervisory process, they are: create, configure, cleanup, activate, deactivate, shutdown and destroy.

    • rclcpp_lifecycle/transition.hpp

  • Lifecycle publisher creates a publisher that allows enabling and disabling message publication.

    • rclcpp_lifecycle/publisher.hpp

  • Lifecycle node: An optional interface class for life cycle node implementations.

    • rclcpp_lifecycle/lifecycle_node.hpp

Some useful internal abstractions and utilities:

  • Macros for controlling symbol visibility on the library

    • rclcpp_lifecycle/visibility_control.h

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