Small rclc lifecycle tutorial#180
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Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
* Shows how to set up an rclc lifecycle node, transition through its lifecycle states, and assign callbacks to lifecycle transitions #179 Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
ralph-lange
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Jul 14, 2020
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ralph-lange
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Nice work. Some minor comments only.
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| An example, how to use the RCLC Lifecycle Node is given in the file `lifecycle_node.c` in the [rclc_examples](https://github.com/micro-ROS/rclc/tree/master/rclc_examples) package. | ||
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| The state machine publishes state changes, however, lifecycle services are not yet exposed via ROS 2 services (tbd). |
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I propose to open an issue on that at ros2/rcl and notify the original lifecycle developer on it.
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I think this is actually intended. The services need to be set in the context of the node, so our statemachine-node-bundle seems to be a good place for it. See micro-ROS/rclc#40
Thanks for the review, Ralph! Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
ralph-lange
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Jul 15, 2020
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Shows how to set up an rclc lifecycle node, transition through its lifecycle states, and assign callbacks to lifecycle transitions.
Fixes issue #179 as part of #143 .