README

lifecycle_msgs

This package contains message and service definitions for managing lifecycle nodes. These messages and services form a standardized interface for transitioning these managed nodes through a known state-machine.

For more information about life cycle nodes see: design.ros2.org.

For more information about ROS 2 interfaces, see docs.ros.org.

Messages (.msg)

State: A lifecycle node’s state-machine state.
Transition: A state transition with specific id and label.
TransitionDescription: A description of a transition from one state-machine state to another.
TransitionEvent: A timestamped state transition.

Services (.srv)

ChangeState: Request a node change states with a specific transition.
GetAvailableStates: Request an array of states that this node can transition to.
GetAvailableTransitions: Request an array of lifecycle state transitions available for this node.
GetState: Request the current lifecycle state of this node.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.