rclpy.lifecycle package

Submodules

• rclpy.lifecycle.managed_entity module
  • ManagedEntity
    • ManagedEntity.on_activate()
    • ManagedEntity.on_cleanup()
    • ManagedEntity.on_configure()
    • ManagedEntity.on_deactivate()
    • ManagedEntity.on_error()
    • ManagedEntity.on_shutdown()
  • SimpleManagedEntity
    • SimpleManagedEntity.is_activated
    • SimpleManagedEntity.on_activate()
    • SimpleManagedEntity.on_deactivate()
    • SimpleManagedEntity.when_enabled()
• rclpy.lifecycle.node module
  • CreateLifecyclePublisherArgs
    • CreateLifecyclePublisherArgs.callback_group
    • CreateLifecyclePublisherArgs.event_callbacks
    • CreateLifecyclePublisherArgs.qos_overriding_options
  • LifecycleNode
  • LifecycleNodeArgs
    • LifecycleNodeArgs.allow_undeclared_parameters
    • LifecycleNodeArgs.automatically_declare_parameters_from_overrides
    • LifecycleNodeArgs.cli_args
    • LifecycleNodeArgs.context
    • LifecycleNodeArgs.enable_logger_service
    • LifecycleNodeArgs.enable_rosout
    • LifecycleNodeArgs.namespace
    • LifecycleNodeArgs.parameter_overrides
    • LifecycleNodeArgs.start_parameter_services
    • LifecycleNodeArgs.use_global_arguments
  • LifecycleNodeMixin
    • LifecycleNodeMixin.add_managed_entity()
    • LifecycleNodeMixin.create_lifecycle_publisher()
    • LifecycleNodeMixin.destroy_lifecycle_publisher()
    • LifecycleNodeMixin.on_activate()
    • LifecycleNodeMixin.on_cleanup()
    • LifecycleNodeMixin.on_configure()
    • LifecycleNodeMixin.on_deactivate()
    • LifecycleNodeMixin.on_error()
    • LifecycleNodeMixin.on_shutdown()
    • LifecycleNodeMixin.trigger_activate()
    • LifecycleNodeMixin.trigger_cleanup()
    • LifecycleNodeMixin.trigger_configure()
    • LifecycleNodeMixin.trigger_deactivate()
    • LifecycleNodeMixin.trigger_shutdown()
  • LifecycleState
    • LifecycleState.label
    • LifecycleState.state_id
• rclpy.lifecycle.publisher module
  • LifecyclePublisher
    • LifecyclePublisher.publish()

Module contents

class rclpy.lifecycle.LifecycleNode(node_name: str, *, enable_communication_interface: bool = True, **kwargs: Unpack[LifecycleNodeArgs])

Bases: LifecycleNodeMixin, Node

A ROS 2 managed node.

This class extends Node with the methods provided by LifecycleNodeMixin. Methods in LifecycleNodeMixin override the ones in Node.

Create a lifecycle node.

See rclpy.lifecycle.LifecycleNodeMixin.__init__() and rclpy.node.Node() for the documentation of each parameter.

class rclpy.lifecycle.LifecycleNodeMixin(*, enable_communication_interface: bool = True, callback_group: CallbackGroup | None = None)

Bases: ManagedEntity

Mixin class to share as most code as possible between Node and LifecycleNode.

This class is not useful if not used in multiple inheritance together with Node, as it access attributes created by Node directly here!

Initialize a lifecycle node.

Parameters:

• enable_communication_interface – Creates the lifecycle nodes services and publisher if True.

• callback_group – Callback group that will be used by all the lifecycle node services.

add_managed_entity(entity: ManagedEntity) → None

create_lifecycle_publisher(msg_type: Type[MsgT], topic: str, qos_profile: rclpy.qos.QoSProfile | int, *, publisher_class: None = None, **kwargs: Unpack[CreateLifecyclePublisherArgs]) → LifecyclePublisher[MsgT]

destroy_lifecycle_publisher(publisher: LifecyclePublisher[Any]) → bool

on_activate(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle an activating transition.

This is the default on_activate() callback. It will call all on_activate() callbacks of managed entities, giving up at the first entity that returns TransitionCallbackReturn.FAILURE or TransitionCallbackReturn.ERROR.

It’s possible to override this callback if the default behavior is not desired. If you only want to extend what this callback does, make sure to call super().on_activate() in derived classes.

on_cleanup(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle a cleaning up transition.

This is the default on_cleanup() callback. It will call all on_cleanup() callbacks of managed entities, giving up at the first entity that returns TransitionCallbackReturn.FAILURE or TransitionCallbackReturn.ERROR.

It’s possible to override this callback if the default behavior is not desired. If you only want to extend what this callback does, make sure to call super().on_cleanup() in derived classes.

on_configure(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle a configuring transition.

This is the default on_configure() callback. It will call all on_configure() callbacks of managed entities, giving up at the first entity that returns TransitionCallbackReturn.FAILURE or TransitionCallbackReturn.ERROR.

It’s possible to override this callback if the default behavior is not desired. If you only want to extend what this callback does, make sure to call super().on_configure() in derived classes.

on_deactivate(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle a deactivating transition.

This is the default on_deactivate() callback. It will call all on_deactivate() callbacks of managed entities, giving up at the first entity that returns TransitionCallbackReturn.FAILURE or TransitionCallbackReturn.ERROR.

It’s possible to override this callback if the default behavior is not desired. If you only want to extend what this callback does, make sure to call super().on_deactivate() in derived classes.

on_error(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle a transition error.

This is the default on_error() callback. It will call all on_error() callbacks of managed entities, giving up at the first entity that returns TransitionCallbackReturn.FAILURE or TransitionCallbackReturn.ERROR.

It’s possible to override this callback if the default behavior is not desired. If you only want to extend what this callback does, make sure to call super().on_error() in derived classes.

on_shutdown(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle a shutting down transition.

This is the default on_shutdown() callback. It will call all on_shutdown() callbacks of managed entities, giving up at the first entity that returns TransitionCallbackReturn.FAILURE or TransitionCallbackReturn.ERROR.

It’s possible to override this callback if the default behavior is not desired. If you only want to extend what this callback does, make sure to call super().on_shutdown() in derived classes.

trigger_activate() → rpyutils.import_c_library.TransitionCallbackReturnType

trigger_cleanup() → rpyutils.import_c_library.TransitionCallbackReturnType

trigger_configure() → rpyutils.import_c_library.TransitionCallbackReturnType

trigger_deactivate() → rpyutils.import_c_library.TransitionCallbackReturnType

trigger_shutdown() → rpyutils.import_c_library.TransitionCallbackReturnType

class rclpy.lifecycle.LifecyclePublisher(*args: Unpack[LifecyclePublisherArgs[MsgT]], **kwargs: Unpack[LifecyclePublisherKWArgs[MsgT]])

Bases: SimpleManagedEntity, Publisher[MsgT]

Managed publisher entity.

publish(msg: MsgT | bytes) → None

Publish a message if the lifecycle publisher is enabled.

See rclpy.publisher.Publisher.publish() for more details.

class rclpy.lifecycle.LifecycleState(label, state_id)

Bases: NamedTuple

Create new instance of LifecycleState(label, state_id)

label: str

Alias for field number 0

state_id: int

Alias for field number 1

class rclpy.lifecycle.ManagedEntity

Bases: object

on_activate(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle activate transition request.

on_cleanup(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle cleanup transition request.

on_configure(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle configure transition request.

on_deactivate(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle deactivate transition request.

on_error(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle error transition request.

on_shutdown(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle shutdown transition request.

class rclpy.lifecycle.SimpleManagedEntity

Bases: ManagedEntity

A simple managed entity that only sets a flag when activated/deactivated.

property is_activated: bool

on_activate(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle activate transition request.

on_deactivate(state: LifecycleState) → rpyutils.import_c_library.TransitionCallbackReturnType

Handle deactivate transition request.

static when_enabled(wrapped: Callable[[...], None] | None = None, *, when_not_enabled: Callable[[...], None] | None = None) → Callable[[...], None] | Callable[[Callable[[...], None]], Callable[[...], None]]