C++ API

rcl: Common functionality ROS lifecycle

rcl_lifecycle provides a pure C implementation of the ROS concept of lifecycle. It builds on top of the implementation of topics and services in rcl.

rcl_lifecycle consists of functions and structs for the following ROS lifecycle entities:

  • Lifecycle states

  • Lifecycle transitions

  • Lifecycle state machine

  • Lifecycle triggers

Some useful abstractions:

  • Return codes and other types

    • rcl_lifecycle/data_types.h

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