Package Summary

Tags No category tags.
Version 0.4.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/navigation2.git
VCS Type git
VCS Version foxy-devel
Last Updated 2020-07-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A controller/manager for the lifecycle nodes of the Navigation 2 system

Additional Links

No additional links.

Maintainers

  • Michael Jeronimo

Authors

No additional authors.

Background on lifecycle enabled nodes

Using ROS2’s managed/lifecycle nodes feature allows the system startup to ensure that all required nodes have been instantiated correctly before they begin their execution. Using lifecycle nodes also allows nodes to be restarted or replaced on-line. More details about managed nodes can be found on ROS2 Design website. Several nodes in the navigation2 stack, such as map_server, planner_server, and controller_server, are lifecycle enabled. These nodes provide the required overrides of the lifecycle functions: on_configure() , on_activate() , on_deactivate() , on_cleanup() , on_shutdown() , and on_error() .

Navigation2’s lifecycle manager is used to change the states of the lifecycle nodes in order to achieve a controlled startup, shutdown, reset, pause, or resume of the navigation stack. The lifecycle manager presents a lifecycle_manager/manage_nodes service, from which clients can invoke the startup, shutdown, reset, pause, or resume functions. Based on this service request, the lifecycle manager calls the necessary lifecycle services in the lifecycle managed nodes. Currently, the RVIZ panel uses this lifecycle_manager/manage_nodes service when user presses the buttons on the RVIZ panel (e.g.,startup, reset, shutdown, etc.).

In order to start the navigation stack and be able to navigate, the necessary nodes must be configured and activated. Thus, for example when startup is requested from the lifecycle manager's manage_nodes service, the lifecycle managers calls configure() and activate() on the lifecycle enabled nodes in the node list.

The lifecycle manager has a default nodes list for all the nodes that it manages. This list can be changed using the lifecycle manager’s “node_names” parameter.

The diagram below shows an example of a list of managed nodes, and how it interfaces with the lifecycle manager.

The UML diagram below shows the sequence of service calls once the startup is requested from the lifecycle manager.

CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged nav2_lifecycle_manager at answers.ros.org

Package Summary

Tags No category tags.
Version 0.3.5
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/navigation2.git
VCS Type git
VCS Version eloquent-devel
Last Updated 2020-06-29
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A controller/manager for the lifecycle nodes of the Navigation 2 system

Additional Links

No additional links.

Maintainers

  • Michael Jeronimo

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nav2_lifecycle_manager at answers.ros.org

Package Summary

Tags No category tags.
Version 0.2.6
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/navigation2.git
VCS Type git
VCS Version dashing-devel
Last Updated 2020-01-31
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A controller/manager for the lifecycle nodes of the Navigation 2 system

Additional Links

No additional links.

Maintainers

  • Michael Jeronimo

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nav2_lifecycle_manager at answers.ros.org

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