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

• • Namespace rclcpp_lifecycle
    • Namespace rclcpp_lifecycle::node_interfaces
      • Class LifecycleNodeInterface
    • Class LifecycleNode
    • Template Class LifecyclePublisher
    • Class ManagedEntityInterface
    • Class SimpleManagedEntity
    • Class State
    • Class Transition
  • 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

• • Directory include
    • Directory rclcpp_lifecycle
      • Directory node_interfaces
        • File lifecycle_node_interface.hpp
      • Directory type_traits
        • File is_manageable_node.hpp
      • File lifecycle_node.hpp
      • File lifecycle_node_impl.hpp
      • File lifecycle_publisher.hpp
      • File managed_entity.hpp
      • File state.hpp
      • File transition.hpp
      • File visibility_control.h

Full C++ API

Namespaces

• Namespace rclcpp_lifecycle

• Namespace rclcpp_lifecycle::node_interfaces

Classes and Structs

• 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 >

• Class LifecycleNode

• Template Class LifecyclePublisher

• Class ManagedEntityInterface

• Class LifecycleNodeInterface

• Class SimpleManagedEntity

• Class State

• Class Transition

Functions

• Template Function rclcpp_lifecycle::create_default_publisher_options

• Template Function rclcpp_lifecycle::create_default_subscription_options

Defines

• Define RCLCPP_LIFECYCLE_EXPORT

• Define RCLCPP_LIFECYCLE_IMPORT

• Define RCLCPP_LIFECYCLE_LOCAL

• Define RCLCPP_LIFECYCLE_PUBLIC

• Define RCLCPP_LIFECYCLE_PUBLIC_TYPE

Typedefs

• Typedef rclcpp_lifecycle::PublisherOptionsWithAllocator

• Typedef rclcpp_lifecycle::SubscriptionOptionsWithAllocator

Directories

• Directory include

• Directory rclcpp_lifecycle

• Directory node_interfaces

• Directory type_traits

Files

• File is_manageable_node.hpp

• File lifecycle_node.hpp

• File lifecycle_node_impl.hpp

• File lifecycle_node_interface.hpp

• File lifecycle_publisher.hpp

• File managed_entity.hpp

• File state.hpp

• File transition.hpp

• File visibility_control.h