Source code on Github.
The Lifecycle Manager module implements the method for handling the lifecycle transition states for the stack in a deterministic way. It will take in a set of ordered nodes to transition one-by-one into the configurating and activate states to run the stack. It will then bring down the stack into the finalized state in the opposite order. It will also create bond connections with the servrs to ensure they are still up and transition down all nodes if any are non-responsive or crashed.
lifecycle_manager: ros__parameters: autostart: true node_names: ['controller_server', 'planner_server', 'recoveries_server', 'bt_navigator', 'waypoint_follower'] bond_timeout_ms: 4000