.. _program_listing_file_include_rclcpp_lifecycle_lifecycle_node.hpp:

Program Listing for File lifecycle_node.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_lifecycle_lifecycle_node.hpp>` (``include/rclcpp_lifecycle/lifecycle_node.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2016 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
   #define RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
   
   #include <chrono>
   #include <functional>
   #include <map>
   #include <memory>
   #include <string>
   #include <utility>
   #include <vector>
   
   #include "rcutils/macros.h"
   
   #include "rcl/error_handling.h"
   #include "rcl/node.h"
   
   #include "rcl_interfaces/msg/list_parameters_result.hpp"
   #include "rcl_interfaces/msg/parameter_descriptor.hpp"
   #include "rcl_interfaces/msg/set_parameters_result.hpp"
   
   #include "rclcpp/callback_group.hpp"
   #include "rclcpp/client.hpp"
   #include "rclcpp/clock.hpp"
   #include "rclcpp/event.hpp"
   #include "rclcpp/generic_publisher.hpp"
   #include "rclcpp/generic_subscription.hpp"
   #include "rclcpp/logger.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/message_memory_strategy.hpp"
   #include "rclcpp/node_options.hpp"
   #include "rclcpp/node_interfaces/node_base_interface.hpp"
   #include "rclcpp/node_interfaces/node_clock_interface.hpp"
   #include "rclcpp/node_interfaces/node_graph_interface.hpp"
   #include "rclcpp/node_interfaces/node_logging_interface.hpp"
   #include "rclcpp/node_interfaces/node_parameters_interface.hpp"
   #include "rclcpp/node_interfaces/node_services_interface.hpp"
   #include "rclcpp/node_interfaces/node_time_source_interface.hpp"
   #include "rclcpp/node_interfaces/node_timers_interface.hpp"
   #include "rclcpp/node_interfaces/node_topics_interface.hpp"
   #include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp"
   #include "rclcpp/node_interfaces/node_waitables_interface.hpp"
   #include "rclcpp/parameter.hpp"
   #include "rclcpp/publisher.hpp"
   #include "rclcpp/publisher_options.hpp"
   #include "rclcpp/qos.hpp"
   #include "rclcpp/service.hpp"
   #include "rclcpp/subscription.hpp"
   #include "rclcpp/subscription_options.hpp"
   #include "rclcpp/time.hpp"
   #include "rclcpp/timer.hpp"
   
   #include "rmw/types.h"
   
   #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
   #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
   #include "rclcpp_lifecycle/state.hpp"
   #include "rclcpp_lifecycle/transition.hpp"
   #include "rclcpp_lifecycle/visibility_control.h"
   
   namespace rclcpp_lifecycle
   {
   
   // include these here to work around an esoteric Windows error where the namespace
   // cannot be used in the function declaration below without getting an error like:
   //   'rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>':
   //     no appropriate default constructor available
   template<typename AllocatorT>
   using PublisherOptionsWithAllocator = rclcpp::PublisherOptionsWithAllocator<AllocatorT>;
   template<typename AllocatorT>
   using SubscriptionOptionsWithAllocator = rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>;
   
   template<typename AllocatorT>
   PublisherOptionsWithAllocator<AllocatorT>
   create_default_publisher_options()
   {
     return rclcpp::PublisherOptionsWithAllocator<AllocatorT>();
   }
   
   template<typename AllocatorT>
   SubscriptionOptionsWithAllocator<AllocatorT>
   create_default_subscription_options()
   {
     return rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>();
   }
   
   
   class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
     public std::enable_shared_from_this<LifecycleNode>
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(LifecycleNode)
   
     
     RCLCPP_LIFECYCLE_PUBLIC
     explicit LifecycleNode(
       const std::string & node_name,
       const rclcpp::NodeOptions & options = rclcpp::NodeOptions(),
       bool enable_communication_interface = true);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     LifecycleNode(
       const std::string & node_name,
       const std::string & namespace_,
       const rclcpp::NodeOptions & options = rclcpp::NodeOptions(),
       bool enable_communication_interface = true);
   
     RCLCPP_LIFECYCLE_PUBLIC
     virtual ~LifecycleNode();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     const char *
     get_name() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     const char *
     get_namespace() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     const char *
     get_fully_qualified_name() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::Logger
     get_logger() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::CallbackGroup::SharedPtr
     create_callback_group(
       rclcpp::CallbackGroupType group_type,
       bool automatically_add_to_executor_with_node = true);
   
     RCLCPP_LIFECYCLE_PUBLIC
     void
     for_each_callback_group(
       const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction & func);
   
   
     template<typename MessageT, typename AllocatorT = std::allocator<void>>
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>>
     create_publisher(
       const std::string & topic_name,
       const rclcpp::QoS & qos,
       const PublisherOptionsWithAllocator<AllocatorT> & options = (
         create_default_publisher_options<AllocatorT>()
       )
     );
   
   
     template<
       typename MessageT,
       typename CallbackT,
       typename AllocatorT = std::allocator<void>,
       typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
       typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
     std::shared_ptr<SubscriptionT>
     create_subscription(
       const std::string & topic_name,
       const rclcpp::QoS & qos,
       CallbackT && callback,
       const SubscriptionOptionsWithAllocator<AllocatorT> & options =
       create_default_subscription_options<AllocatorT>(),
       typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
         MessageMemoryStrategyT::create_default()
       )
     );
   
   
     template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
     typename rclcpp::WallTimer<CallbackT>::SharedPtr
     create_wall_timer(
       std::chrono::duration<DurationRepT, DurationT> period,
       CallbackT callback,
       rclcpp::CallbackGroup::SharedPtr group = nullptr);
   
   
     template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
     typename rclcpp::GenericTimer<CallbackT>::SharedPtr
     create_timer(
       std::chrono::duration<DurationRepT, DurationT> period,
       CallbackT callback,
       rclcpp::CallbackGroup::SharedPtr group = nullptr);
   
   
     template<typename ServiceT>
     [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
     typename rclcpp::Client<ServiceT>::SharedPtr
     create_client(
       const std::string & service_name,
       const rmw_qos_profile_t & qos_profile,
       rclcpp::CallbackGroup::SharedPtr group = nullptr);
   
   
     template<typename ServiceT>
     typename rclcpp::Client<ServiceT>::SharedPtr
     create_client(
       const std::string & service_name,
       const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
       rclcpp::CallbackGroup::SharedPtr group = nullptr);
   
   
     template<typename ServiceT, typename CallbackT>
     [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
     typename rclcpp::Service<ServiceT>::SharedPtr
     create_service(
       const std::string & service_name,
       CallbackT && callback,
       const rmw_qos_profile_t & qos_profile,
       rclcpp::CallbackGroup::SharedPtr group = nullptr);
   
   
     template<typename ServiceT, typename CallbackT>
     typename rclcpp::Service<ServiceT>::SharedPtr
     create_service(
       const std::string & service_name,
       CallbackT && callback,
       const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
       rclcpp::CallbackGroup::SharedPtr group = nullptr);
   
   
     template<typename AllocatorT = std::allocator<void>>
     std::shared_ptr<rclcpp::GenericPublisher> create_generic_publisher(
       const std::string & topic_name,
       const std::string & topic_type,
       const rclcpp::QoS & qos,
       const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
         rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
       )
     );
   
   
     template<typename AllocatorT = std::allocator<void>>
     std::shared_ptr<rclcpp::GenericSubscription> create_generic_subscription(
       const std::string & topic_name,
       const std::string & topic_type,
       const rclcpp::QoS & qos,
       std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
       const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
         rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
       )
     );
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     const rclcpp::ParameterValue &
     declare_parameter(
       const std::string & name,
       const rclcpp::ParameterValue & default_value,
       const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
       rcl_interfaces::msg::ParameterDescriptor(),
       bool ignore_override = false);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     const rclcpp::ParameterValue &
     declare_parameter(
       const std::string & name,
       rclcpp::ParameterType type,
       const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
       rcl_interfaces::msg::ParameterDescriptor{},
       bool ignore_override = false);
   
   
     template<typename ParameterT>
     auto
     declare_parameter(
       const std::string & name,
       const ParameterT & default_value,
       const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
       rcl_interfaces::msg::ParameterDescriptor(),
       bool ignore_override = false);
   
   
     template<typename ParameterT>
     auto
     declare_parameter(
       const std::string & name,
       const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
       rcl_interfaces::msg::ParameterDescriptor(),
       bool ignore_override = false);
   
   
     template<typename ParameterT>
     std::vector<ParameterT>
     declare_parameters(
       const std::string & namespace_,
       const std::map<std::string, ParameterT> & parameters);
   
   
     template<typename ParameterT>
     std::vector<ParameterT>
     declare_parameters(
       const std::string & namespace_,
       const std::map<
         std::string,
         std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
       > & parameters);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     void
     undeclare_parameter(const std::string & name);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     bool
     has_parameter(const std::string & name) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rcl_interfaces::msg::SetParametersResult
     set_parameter(const rclcpp::Parameter & parameter);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::vector<rcl_interfaces::msg::SetParametersResult>
     set_parameters(const std::vector<rclcpp::Parameter> & parameters);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rcl_interfaces::msg::SetParametersResult
     set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::Parameter
     get_parameter(const std::string & name) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     bool
     get_parameter(
       const std::string & name,
       rclcpp::Parameter & parameter) const;
   
   
     template<typename ParameterT>
     bool
     get_parameter(const std::string & name, ParameterT & parameter) const;
   
   
     template<typename ParameterT>
     bool
     get_parameter_or(
       const std::string & name,
       ParameterT & value,
       const ParameterT & alternative_value) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::vector<rclcpp::Parameter>
     get_parameters(const std::vector<std::string> & names) const;
   
   
     template<typename MapValueT>
     bool
     get_parameters(
       const std::string & prefix,
       std::map<std::string, MapValueT> & values) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rcl_interfaces::msg::ParameterDescriptor
     describe_parameter(const std::string & name) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::vector<rcl_interfaces::msg::ParameterDescriptor>
     describe_parameters(const std::vector<std::string> & names) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::vector<uint8_t>
     get_parameter_types(const std::vector<std::string> & names) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rcl_interfaces::msg::ListParametersResult
     list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
   
     using PreSetParametersCallbackHandle =
       rclcpp::node_interfaces::PreSetParametersCallbackHandle;
     using PreSetParametersCallbackType =
       rclcpp::node_interfaces::NodeParametersInterface::PreSetParametersCallbackType;
   
     using OnSetParametersCallbackHandle =
       rclcpp::node_interfaces::OnSetParametersCallbackHandle;
     using OnSetParametersCallbackType =
       rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType;
     using OnParametersSetCallbackType [[deprecated("use OnSetParametersCallbackType instead")]] =
       OnSetParametersCallbackType;
   
     using PostSetParametersCallbackHandle =
       rclcpp::node_interfaces::PostSetParametersCallbackHandle;
     using PostSetParametersCallbackType =
       rclcpp::node_interfaces::NodeParametersInterface::PostSetParametersCallbackType;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     RCUTILS_WARN_UNUSED
     rclcpp_lifecycle::LifecycleNode::PreSetParametersCallbackHandle::SharedPtr
     add_pre_set_parameters_callback(
       rclcpp_lifecycle::LifecycleNode::PreSetParametersCallbackType callback);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     RCUTILS_WARN_UNUSED
     rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr
     add_on_set_parameters_callback(
       rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackType callback);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     RCUTILS_WARN_UNUSED
     rclcpp_lifecycle::LifecycleNode::PostSetParametersCallbackHandle::SharedPtr
     add_post_set_parameters_callback(
       rclcpp_lifecycle::LifecycleNode::PostSetParametersCallbackType callback);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     void
     remove_pre_set_parameters_callback(
       const rclcpp_lifecycle::LifecycleNode::PreSetParametersCallbackHandle * const handler);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     void
     remove_on_set_parameters_callback(
       const rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle * const handler);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     void
     remove_post_set_parameters_callback(
       const rclcpp_lifecycle::LifecycleNode::PostSetParametersCallbackHandle * const handler);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::vector<std::string>
     get_node_names() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_topic_names_and_types(bool no_demangle = false) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_service_names_and_types() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_service_names_and_types_by_node(
       const std::string & node_name,
       const std::string & namespace_) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     size_t
     count_publishers(const std::string & topic_name) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     size_t
     count_subscribers(const std::string & topic_name) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     size_t
     count_clients(const std::string & service_name) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     size_t
     count_services(const std::string & service_name) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::vector<rclcpp::TopicEndpointInfo>
     get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::vector<rclcpp::TopicEndpointInfo>
     get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
   
     /* The graph Event object is a loan which must be returned.
      * The Event object is scoped and therefore to return the load just let it go
      * out of scope.
      */
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::Event::SharedPtr
     get_graph_event();
   
     /* The given Event must be acquire through the get_graph_event() method.
      *
      * \throws InvalidEventError if the given event is nullptr
      * \throws EventNotRegisteredError if the given event was not acquired with
      *   get_graph_event().
      */
     RCLCPP_LIFECYCLE_PUBLIC
     void
     wait_for_graph_change(
       rclcpp::Event::SharedPtr event,
       std::chrono::nanoseconds timeout);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::Clock::SharedPtr
     get_clock();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::Clock::ConstSharedPtr
     get_clock() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::Time
     now() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
     get_node_base_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr
     get_node_clock_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
     get_node_graph_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
     get_node_logging_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
     get_node_timers_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
     get_node_topics_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
     get_node_services_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
     get_node_parameters_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
     get_node_time_source_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
     get_node_type_descriptions_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
     get_node_waitables_interface();
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     const rclcpp::NodeOptions &
     get_node_options() const;
   
     //
     // LIFECYCLE COMPONENTS
     //
   
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     get_current_state() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::vector<State>
     get_available_states() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::vector<Transition>
     get_available_transitions() const;
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     std::vector<Transition>
     get_transition_graph() const;
   
     /*
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     trigger_transition(const Transition & transition);
   
     /*
      * \param[out] cb_return_code transition callback return code
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     trigger_transition(
       const Transition & transition, LifecycleNodeInterface::CallbackReturn & cb_return_code);
   
     /*
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     trigger_transition(uint8_t transition_id);
   
     /*
      * \param[out] cb_return_code transition callback return code
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     trigger_transition(
       uint8_t transition_id, LifecycleNodeInterface::CallbackReturn & cb_return_code);
   
     /*
      * \param[out] cb_return_code transition callback return code.
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     configure();
   
     /*
      * \param[out] cb_return_code transition callback return code
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     configure(LifecycleNodeInterface::CallbackReturn & cb_return_code);
   
     /*
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     cleanup();
   
     /*
      * \param[out] cb_return_code transition callback return code
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     cleanup(LifecycleNodeInterface::CallbackReturn & cb_return_code);
   
     /*
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     activate();
   
     /*
      * \param[out] cb_return_code transition callback return code
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     activate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
   
     /*
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     deactivate();
   
     /*
      * \param[out] cb_return_code transition callback return code
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
   
     /*
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     shutdown();
   
     /*
      * \param[out] cb_return_code transition callback return code
      * \return the new state after this transition
      */
     RCLCPP_LIFECYCLE_PUBLIC
     const State &
     shutdown(LifecycleNodeInterface::CallbackReturn & cb_return_code);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     bool
     register_on_configure(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     bool
     register_on_cleanup(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     bool
     register_on_shutdown(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     bool
     register_on_activate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     bool
     register_on_deactivate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
   
   
     RCLCPP_LIFECYCLE_PUBLIC
     bool
     register_on_error(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
   
     RCLCPP_LIFECYCLE_PUBLIC
     CallbackReturn
     on_activate(const State & previous_state) override;
   
     RCLCPP_LIFECYCLE_PUBLIC
     CallbackReturn
     on_deactivate(const State & previous_state) override;
   
   protected:
     RCLCPP_LIFECYCLE_PUBLIC
     void
     add_managed_entity(std::weak_ptr<rclcpp_lifecycle::ManagedEntityInterface> managed_entity);
   
     RCLCPP_LIFECYCLE_PUBLIC
     void
     add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer);
   
   private:
     RCLCPP_DISABLE_COPY(LifecycleNode)
   
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
     rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
     rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
     rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
     rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
     rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
   
     const rclcpp::NodeOptions node_options_;
   
     class LifecycleNodeInterfaceImpl;
     std::unique_ptr<LifecycleNodeInterfaceImpl> impl_;
   };
   
   }  // namespace rclcpp_lifecycle
   
   #ifndef RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_
   // Template implementations
   #include "rclcpp_lifecycle/lifecycle_node_impl.hpp"
   #endif
   
   #endif  // RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_