C++ API
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
Class Hierarchy
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- Namespace rclcpp_lifecycle
- Template Struct has_on_activate
- Template Struct has_on_activate< T, typename std::enable_if< std::is_same< void, decltype(std::declval< T >, ().on_activate()) >::value >::type >
- Template Struct has_on_deactivate
- Template Struct has_on_deactivate< T, typename std::enable_if< std::is_same< void, decltype(std::declval< T >, ().on_deactivate()) >::value >::type >
- Template Struct is_manageable_node
- Template Struct is_manageable_node< T, typename std::enable_if< has_on_activate< T >::value &&has_on_deactivate< T >::value >::type >
File Hierarchy
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- Directory include