LifeCycleManager

class rosa_bringup.lifecycle_manager.LifeCycleManager(node_name, **kwargs)

Create a Node.

Parameters:

node_name – A name to give to this node. Validated by validate_node_name().
context – The context to be associated with, or None for the default global context.
cli_args – A list of strings of command line args to be used only by this node. These arguments are used to extract remappings used by the node and other ROS specific settings, as well as user defined non-ROS arguments.
namespace – The namespace to which relative topic and service names will be prefixed. Validated by validate_namespace().
use_global_arguments – False if the node should ignore process-wide command line args.
enable_rosout – False if the node should ignore rosout logging.
start_parameter_services – False if the node should not create parameter services.
parameter_overrides – A list of overrides for initial values for parameters declared on the node.
allow_undeclared_parameters – True if undeclared parameters are allowed. This flag affects the behavior of parameter-related operations.
automatically_declare_parameters_from_overrides – If True, the “parameter overrides” will be used to implicitly declare parameters on the node during creation.

Methods

`__init__`(node_name, **kwargs)	Create a Node.
`activate_lc_node`(node_name)
`activate_managed_nodes`()
`call_service`(cli, request)
`change_lc_node_state`(node_name, transition_id)
`get_lc_node_state`(node_name)
`manage_lc_nodes_cb`()

Attributes

__init__(node_name, **kwargs)

Create a Node.

Parameters:

node_name – A name to give to this node. Validated by validate_node_name().
context – The context to be associated with, or None for the default global context.
cli_args – A list of strings of command line args to be used only by this node. These arguments are used to extract remappings used by the node and other ROS specific settings, as well as user defined non-ROS arguments.
namespace – The namespace to which relative topic and service names will be prefixed. Validated by validate_namespace().
use_global_arguments – False if the node should ignore process-wide command line args.
enable_rosout – False if the node should ignore rosout logging.
start_parameter_services – False if the node should not create parameter services.
parameter_overrides – A list of overrides for initial values for parameters declared on the node.
allow_undeclared_parameters – True if undeclared parameters are allowed. This flag affects the behavior of parameter-related operations.
automatically_declare_parameters_from_overrides – If True, the “parameter overrides” will be used to implicitly declare parameters on the node during creation.