lifecycle_py.talker module

class lifecycle_py.talker.LifecycleTalker(*args: Any, **kwargs: Any)

Bases: Node

Our lifecycle talker node.

on_activate(state: rclpy.lifecycle.State) → rclpy.lifecycle.TransitionCallbackReturn

on_cleanup(state: rclpy.lifecycle.State) → rclpy.lifecycle.TransitionCallbackReturn

Cleanup the node, after a cleaning-up transition is requested.

on_cleanup callback is being called when the lifecycle node enters the “cleaning up” state.

Returns:: The state machine either invokes a transition to the “unconfigured” state or stays

in “inactive” depending on the return value.: TransitionCallbackReturn.SUCCESS transitions to “unconfigured”. TransitionCallbackReturn.FAILURE transitions to “inactive”. TransitionCallbackReturn.ERROR or any uncaught exceptions to “errorprocessing”

on_configure(state: rclpy.lifecycle.State) → rclpy.lifecycle.TransitionCallbackReturn

Configure the node, after a configuring transition is requested.

on_configure callback is being called when the lifecycle node enters the “configuring” state.

Returns:: The state machine either invokes a transition to the “inactive” state or stays

in “unconfigured” depending on the return value.: TransitionCallbackReturn.SUCCESS transitions to “inactive”. TransitionCallbackReturn.FAILURE transitions to “unconfigured”. TransitionCallbackReturn.ERROR or any uncaught exceptions to “errorprocessing”

on_deactivate(state: rclpy.lifecycle.State) → rclpy.lifecycle.TransitionCallbackReturn

on_shutdown(state: rclpy.lifecycle.State) → rclpy.lifecycle.TransitionCallbackReturn

Shutdown the node, after a shutting-down transition is requested.

on_shutdown callback is being called when the lifecycle node enters the “shutting down” state.

Returns:: The state machine either invokes a transition to the “finalized” state or stays

in the current state depending on the return value.: TransitionCallbackReturn.SUCCESS transitions to “unconfigured”. TransitionCallbackReturn.FAILURE transitions to “inactive”. TransitionCallbackReturn.ERROR or any uncaught exceptions to “errorprocessing”