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LifecycleNode / ManagedNode in rclpy?

asked 2020-06-04 10:28:05 -0500

CraigH92
128 ●13 ●20 ●20

In C++ we can inherit from:

rclcpp_lifecycle::LifecycleNode

To enable the node to be used with the lifecycle CLI tools. What is the equivalent in python? If it does not exist, what subscriptions, publishers, and services will the node need to provide in order to be considered a lifecycle node by the CLI tools? And how difficult would it be for me to implement this myself?

Thanks.

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