launch_ros.actions.lifecycle_transition module
- class launch_ros.actions.lifecycle_transition.LifecycleTransition(*args: Any, **kwargs: Any)
Bases:
Action
An action that simplifies execution of lifecyle transitions.
- execute(context: launch.LaunchContext) List[launch.action.Action] | None
Execute the LifecycleTransition action.
- :return Returns a list of actions to be executed to achieve specified transitions.
These are EventHandlers and EventEmitters for ChangeState and StateTransition events of the nodes indicated.
- transition_targets = {lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE: {'goal_state': 'active', 'start_state': 'activating'}, lifecycle_msgs.msg.Transition.TRANSITION_ACTIVE_SHUTDOWN: {'goal_state': 'finalized', 'start_state': 'shuttingdown'}, lifecycle_msgs.msg.Transition.TRANSITION_CLEANUP: {'goal_state': 'unconfigured', 'start_state': 'cleaningup'}, lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE: {'goal_state': 'inactive', 'start_state': 'configuring'}, lifecycle_msgs.msg.Transition.TRANSITION_DEACTIVATE: {'goal_state': 'inactive', 'start_state': 'deactivating'}, lifecycle_msgs.msg.Transition.TRANSITION_INACTIVE_SHUTDOWN: {'goal_state': 'finalized', 'start_state': 'shuttingdown'}, lifecycle_msgs.msg.Transition.TRANSITION_UNCONFIGURED_SHUTDOWN: {'goal_state': 'finalized', 'start_state': 'shuttingdown'}}
- launch_ros.actions.lifecycle_transition.match_node_name_goal(node_name: str, goal_state: str)
- launch_ros.actions.lifecycle_transition.match_node_name_start_goal(node_name: str, start_state: str, goal_state: str)