Class LifecycleServiceClient

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class LifecycleServiceClient : public rclcpp::Node

Client node to manage the lifecycle of another ROS2 node.

Provides methods to query and change the state of a managed node using the lifecycle management services.

Public Functions

explicit LifecycleServiceClient(const std::string &node_name, const std::string &managed_node)

Construct a new LifecycleServiceClient object.

Parameters:

  • node_name – [in] Name for this client node.

  • managed_node – [in] Name of the node to be managed.

void init()

Initializes the service clients for lifecycle management.

unsigned int get_state(std::chrono::seconds time_out = std::chrono::seconds(3))

Gets the current state of the managed node.

Parameters:

time_out – [in] Timeout for the service call (default: 3 seconds).

Returns:

unsigned int The current state as defined in lifecycle_msgs::msg::State.

bool change_state(std::uint8_t transition, std::chrono::seconds time_out = std::chrono::seconds(3))

Changes the state of the managed node.

Parameters:

  • transition – [in] The transition ID to trigger.

  • time_out – [in] Timeout for the service call (default: 3 seconds).

Returns:

true if the transition was successful, false otherwise.