Repository Summary

Checkout URI	https://github.com/fmrico/cascade_lifecycle.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2024-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
cascade_lifecycle_msgs	1.1.0
rclcpp_cascade_lifecycle	1.1.0

README

cascade_lifecycle

Managed nodes (or lifecycle nodes, LN) are an extremely useful concept in ROS2. It provides a mechanism to define states in a node so that its life cycle can be better controlled.

When an application is made up of multiple LNs, it is common to use a node to orchestrate the transitions of each one. This occurs, for example, in Navigation2 or in ROS2 Planning System.

cascade_lifecycle provides a mechanism that can make managing LNs easier. This idea is based on my developments with BICA. This mechanism allows defining dependencies between LNs. When an LN A establishes an LN B as a dependency, when an A enters a state, B automatically enters this state. This allows creating configuration/activation/deactivation trees.

The class rclcpp_cascade_lifecycle::CascadeLifecycleNode extends the rclcpp_lifecycle::LifecycleNode API with next operations:

void add_activation (const std::string & node_name);
void remove_activation (const std::string & node_name);
void clear_activation ();

Using rclcpp_cascade_lifecycle in the next example, node_b makes the same state transitions as node_a:

auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A");
auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node_a->get_node_base_interface());
executor.add_node(node_b->get_node_base_interface());

node_a->add_activation("node_B");
node_a->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
{
  rclcpp::Rate rate(10);
  auto start = node_a->now();
  while ((node_a->now() - start).seconds() < 0.5) {
    executor.spin_some();
    rate.sleep();
  }
}

ASSERT_EQ(node_a->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(node_b->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);

Hope it helps!!!

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI	https://github.com/fmrico/cascade_lifecycle.git
VCS Type	git
VCS Version	rolling-devel
Last Updated	2024-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
cascade_lifecycle_msgs	2.0.0
rclcpp_cascade_lifecycle	2.0.0

README

cascade_lifecycle

Managed nodes (or lifecycle nodes, LN) are an extremely useful concept in ROS2. It provides a mechanism to define states in a node so that its life cycle can be better controlled.

When an application is made up of multiple LNs, it is common to use a node to orchestrate the transitions of each one. This occurs, for example, in Navigation2 or in ROS2 Planning System.

cascade_lifecycle provides a mechanism that can make managing LNs easier. This idea is based on my developments with BICA. This mechanism allows defining dependencies between LNs. When an LN A establishes an LN B as a dependency, when an A enters a state, B automatically enters this state. This allows creating configuration/activation/deactivation trees.

The class rclcpp_cascade_lifecycle::CascadeLifecycleNode extends the rclcpp_lifecycle::LifecycleNode API with next operations:

void add_activation (const std::string & node_name);
void remove_activation (const std::string & node_name);
void clear_activation ();

Using rclcpp_cascade_lifecycle in the next example, node_b makes the same state transitions as node_a:

auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A");
auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node_a->get_node_base_interface());
executor.add_node(node_b->get_node_base_interface());

node_a->add_activation("node_B");
node_a->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
{
  rclcpp::Rate rate(10);
  auto start = node_a->now();
  while ((node_a->now() - start).seconds() < 0.5) {
    executor.spin_some();
    rate.sleep();
  }
}

ASSERT_EQ(node_a->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(node_b->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);

Hope it helps!!!

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI	https://github.com/fmrico/cascade_lifecycle.git
VCS Type	git
VCS Version	rolling-devel
Last Updated	2024-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
cascade_lifecycle_msgs	2.0.0
rclcpp_cascade_lifecycle	2.0.0

README

cascade_lifecycle

Managed nodes (or lifecycle nodes, LN) are an extremely useful concept in ROS2. It provides a mechanism to define states in a node so that its life cycle can be better controlled.

When an application is made up of multiple LNs, it is common to use a node to orchestrate the transitions of each one. This occurs, for example, in Navigation2 or in ROS2 Planning System.

cascade_lifecycle provides a mechanism that can make managing LNs easier. This idea is based on my developments with BICA. This mechanism allows defining dependencies between LNs. When an LN A establishes an LN B as a dependency, when an A enters a state, B automatically enters this state. This allows creating configuration/activation/deactivation trees.

The class rclcpp_cascade_lifecycle::CascadeLifecycleNode extends the rclcpp_lifecycle::LifecycleNode API with next operations:

void add_activation (const std::string & node_name);
void remove_activation (const std::string & node_name);
void clear_activation ();

Using rclcpp_cascade_lifecycle in the next example, node_b makes the same state transitions as node_a:

auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A");
auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node_a->get_node_base_interface());
executor.add_node(node_b->get_node_base_interface());

node_a->add_activation("node_B");
node_a->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
{
  rclcpp::Rate rate(10);
  auto start = node_a->now();
  while ((node_a->now() - start).seconds() < 0.5) {
    executor.spin_some();
    rate.sleep();
  }
}

ASSERT_EQ(node_a->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(node_b->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);

Hope it helps!!!

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI	https://github.com/fmrico/cascade_lifecycle.git
VCS Type	git
VCS Version	rolling-devel
Last Updated	2024-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
cascade_lifecycle_msgs	2.0.0
rclcpp_cascade_lifecycle	2.0.0

README

cascade_lifecycle

Managed nodes (or lifecycle nodes, LN) are an extremely useful concept in ROS2. It provides a mechanism to define states in a node so that its life cycle can be better controlled.

When an application is made up of multiple LNs, it is common to use a node to orchestrate the transitions of each one. This occurs, for example, in Navigation2 or in ROS2 Planning System.

cascade_lifecycle provides a mechanism that can make managing LNs easier. This idea is based on my developments with BICA. This mechanism allows defining dependencies between LNs. When an LN A establishes an LN B as a dependency, when an A enters a state, B automatically enters this state. This allows creating configuration/activation/deactivation trees.

The class rclcpp_cascade_lifecycle::CascadeLifecycleNode extends the rclcpp_lifecycle::LifecycleNode API with next operations:

void add_activation (const std::string & node_name);
void remove_activation (const std::string & node_name);
void clear_activation ();

Using rclcpp_cascade_lifecycle in the next example, node_b makes the same state transitions as node_a:

auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A");
auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node_a->get_node_base_interface());
executor.add_node(node_b->get_node_base_interface());

node_a->add_activation("node_B");
node_a->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
{
  rclcpp::Rate rate(10);
  auto start = node_a->now();
  while ((node_a->now() - start).seconds() < 0.5) {
    executor.spin_some();
    rate.sleep();
  }
}

ASSERT_EQ(node_a->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(node_b->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);

Hope it helps!!!

CONTRIBUTING

No CONTRIBUTING.md found.

No version for distro noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI	https://github.com/fmrico/cascade_lifecycle.git
VCS Type	git
VCS Version	galactic-devel
Last Updated	2022-05-27
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
cascade_lifecycle_msgs	1.0.0
rclcpp_cascade_lifecycle	1.0.0

README

cascade_lifecycle

Managed nodes (or lifecycle nodes, LN) are an extremely useful concept in ROS2. It provides a mechanism to define states in a node so that its life cycle can be better controlled.

When an application is made up of multiple LNs, it is common to use a node to orchestrate the transitions of each one. This occurs, for example, in Navigation2 or in ROS2 Planning System.

cascade_lifecycle provides a mechanism that can make managing LNs easier. This idea is based on my developments with BICA. This mechanism allows defining dependencies between LNs. When an LN A establishes an LN B as a dependency, when an A enters a state, B automatically enters this state. This allows creating configuration/activation/deactivation trees.

The class rclcpp_cascade_lifecycle::CascadeLifecycleNode extends the rclcpp_lifecycle::LifecycleNode API with next operations:

void add_activation (const std::string & node_name);
void remove_activation (const std::string & node_name);
void clear_activation ();

Using rclcpp_cascade_lifecycle in the next example, node_b makes the same state transitions as node_a:

auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A");
auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node_a->get_node_base_interface());
executor.add_node(node_b->get_node_base_interface());

node_a->add_activation("node_B");
node_a->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
{
  rclcpp::Rate rate(10);
  auto start = node_a->now();
  while ((node_a->now() - start).seconds() < 0.5) {
    executor.spin_some();
    rate.sleep();
  }
}

ASSERT_EQ(node_a->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(node_b->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);

Hope it helps!!!

CONTRIBUTING

No CONTRIBUTING.md found.

No version for distro melodic. Known supported distros are highlighted in the buttons above.