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lifecycle_msgs

This package contains message and service definitions for managing lifecycle nodes. These messages and services form a standardized interface for transitioning these managed nodes through a known state-machine.

For more information about life cycle nodes see: design.ros2.org.

For more information about ROS 2 interfaces, see docs.ros.org.

Messages (.msg)

• State: A lifecycle node's state-machine state.
• Transition: A state transition with specific id and label.
• TransitionDescription: A description of a transition from one state-machine state to another.
• TransitionEvent: A timestamped state transition.

Services (.srv)

• ChangeState: Request a node change states with a specific transition.
• GetAvailableStates: Request an array of states that this node can transition to.
• GetAvailableTransitions: Request an array of lifecycle state transitions available for this node.
• GetState: Request the current lifecycle state of this node.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.