rcl_lifecycle  master
C API providing common functionality for ROS lifecycle.
rcl: Common functionality ROS lifecycle

rcl_lifecycle provides a pure C implementation of the ROS concept of lifecycle. It builds on top of the implementation of topics and services in rcl.

rcl_lifecycle consists of functions and structs for the following ROS lifecycle entities:

  • Lifecycle states
  • Lifecycle transitions
  • Lifecycle state machine
  • Lifecycle triggers

Some useful abstractions: