Added note on new rclc_lifecycle package.

ralph-lange · ralph-lange · commit 06a3a1f74718 · 2020-07-16T10:30:23.000+02:00
diff --git a/_docs/overview/features/index.md b/_docs/overview/features/index.md
@@ -18,7 +18,7 @@ ROS 1 - ROS 2 communication bridge | Not applicable, but the standard ROS 1 - RO
 Quality of service settings for handling non-ideal networks | Reliable and best-effort semantics available. It can be set at compile-time. *Still under development.*
 Inter- and intra-process communication using the same API | No shared-memory interprocess communication on the MCU available, but all communication is performed via the micro-ROS-Agent running on a connected microprocessor. *Efficient shared-memory communication on the MCU is considered as an important feature for future releases.*
 Composition of node components at compile-, link- or dlopen-time | Composition at compile-time only. Composition at runtime would depend highly on the RTOS.
-Support for nodes with managed lifecycles | Very basic support provided by [rcl_lifecycle](https://github.com/ros2/rcl/tree/master/rcl_lifecycle/) out of the box for micro-ROS. *Further convenience functions are planned.*
+Support for nodes with managed lifecycles | The [rclc_lifecycle](https://github.com/micro-ROS/rclc/blob/master/rclc_lifecycle/) package provides an `rclc_lifecycle_node` type which bundles an rcl node with the lifecycle state machine as well as corresponding convenience functions.
 DDS-Security support | DDS security is supported at micro-ROS-Agent. *Security mechanisms in Micro XRCE-DDS are planned for future releases.*
 Command-line introspection tools using an extensible framework | From a remote microprocessor all standard ROS 2 tools can be used to introspect the micro-ROS nodes on an MCU. micro-ROS nodes appear as ROS 2 nodes (by the micro-ROS-Agent). Note, however, that the node graph API is currently *not* available on the MCU.
 Launch system for coordinating multiple nodes | No launch system for the micro-ROS nodes on an MCU available. Such a system would depend highly on the RTOS. The system-modes concept developed with micro-ROS allows runtime configuration/orchestration of ROS 2 and micro-ROS nodes together.
