Lifecycle Manager¶

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.

Parameters¶

node_names:

Type	Default
vector<string>	N/A

Description: Ordered list of node names to bringup through lifecycle transition.

autostart:

Type	Default
bool	false

Description: Whether to transition nodes to active state on startup.

bond_timeout_ms:

Type	Default
int	4000

Description: Timeout to transition down all lifecycle nodes of this manager if a server is non-responsive, in ms. Set to 0 to deactivate. Recommended to be always larger than 300ms for all-local node discovery. Note: if a server cleanly exits the manager will immediately be notified.

Example¶

lifecycle_manager:
  ros__parameters:
    autostart: true
    node_names: ['controller_server', 'planner_server', 'recoveries_server', 'bt_navigator', 'waypoint_follower']
    bond_timeout_ms: 4000