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
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
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
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
Repository Summary
| Checkout URI | https://github.com/fmrico/cascade_lifecycle.git |
| VCS Type | git |
| VCS Version | foxy-devel |
| Last Updated | 2021-07-03 |
| 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!!!