How am I supposed to make a LifecycleNode in rclcpp?

asked 2022-12-12 05:36:59 -0500

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The implementation of my next node fits well with the LifecycleNode pattern, so I thought I would implement one using it. I go to the rclcpp GitHub page and ask myself, what do I need to inherit from the LifecycleNode and perform all transitions properly? The GitHub page refers me to the API page (https://docs.ros2.org/latest/api/rclc...). It looks a lot like an API page, not a tutorial page. Maybe I am not good enough at reading API's, but I sure could not figure out how to make a LifecycleNode based on looking around the API.

I am also referred to the design documents, which do give an idea of what the rclcpp implementation needs, but not necessarily what I as a user need.

I am also referred to the quality declaration, where rclcpp_lifecycle intends to be a Quality Level 1 category, which includes all _kinds_ of documentation.

Is there a decent guide or example available that I just missed?

answered 2022-12-12 08:24:11 -0500

gvdhoorn
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Searching for lifecycle on docs.ros.org leads to Managing nodes with managed lifecycles, which points to ros2/demos/humble/lifecycle.

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That's a good place to end, thanks for providing the link. For the record, when I searched for lifecycle on docs.ros.org I mainly got links to change logs and release posts. It's there, but I hope you agree that this is not particularly ergonomic. A link from the GitHub readme would not be too much, I think.

Per Edwardsson ( 2022-12-12 08:36:23 -0500 )edit

Sure.

I would suggest you post this as an issue on the rclcpp repository's tracker.

It's not going to have good visibility as a comment / question on ROS Answers.