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The lifecycle demo is a fairly complete example. You should also look at the managed nodes wiki page, which talks about the example and what is going on.

Managed nodes can be controlled using the ros2 lifecycle command. Run ros2 lifecycle -h to get its help. It's still a little rudimentary - you have to specify a transition as text, rather than being able to say "activate node X", for example. But it does work. But the big thing for managed nodes is that the new launch system uses them. You will be able to do things like launch all the nodes and only activate them when all nodes are actually ready to run, ensuring you don't get a half-started system.

The lifecycle demo is a fairly complete example. You should also look at the managed nodes wiki page, which talks about the example and what is going on.

Managed nodes can be controlled using the ros2 lifecycle command. Run ros2 lifecycle -h to get its help. It's still a little rudimentary - you have to specify a transition as text, rather than being able to say "activate node X", for example. But it does work. But the big thing for managed nodes is that the new launch system uses them. You will be able to do things like launch all the nodes and only activate them when all nodes are actually ready to run, ensuring you don't get a half-started system.