lifecycle_msgs

A package containing some lifecycle related message and service definitions.

• Message Definitions
  • State
  • Transition
  • TransitionDescription
  • TransitionEvent
• Service Definitions
  • ChangeState
  • GetAvailableStates
  • GetAvailableTransitions
  • GetState
• Standard Documents
  • CHANGELOG
  • PACKAGE
  • QUALITY_DECLARATION
  • README

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.