feat(lifecycle): implement ROS 2 managed node lifecycle#121
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YuanYuYuan wants to merge 13 commits intomainfrom
Open
feat(lifecycle): implement ROS 2 managed node lifecycle#121YuanYuYuan wants to merge 13 commits intomainfrom
YuanYuYuan wants to merge 13 commits intomainfrom
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… machine - ZLifecycleNode with full 4-state / 7-transition ROS 2 state machine - 5 lifecycle management services (change_state, get_state, get_available_states, get_available_transitions, get_transition_graph) - ~/transition_event publisher on every state change - ZLifecyclePublisher: gated publisher that silently drops when inactive, warns once per deactivation cycle - ManagedEntity trait for bulk activate/deactivate of publishers - Inline lifecycle wire types in lifecycle/msgs.rs to avoid circular dep with ros-z-msgs - create_publisher() immediately activates if node is already Active
Tests cover state machine transitions, callback return values (Success, Failure, Error), publisher gating, bulk activate/deactivate, and late publisher registration. Example demonstrates the full configure → activate → publish → deactivate → shutdown flow.
- New book chapter covering state machine diagram, all transitions, callbacks, lifecycle publishers, CLI interface, and all 5 services - Wired into SUMMARY.md under Core Concepts - check-local.nu: build now includes --examples to catch example compilation errors - check-local.nu: fix Nushell parse error in plural summary message
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Replace PID-derived port allocation with TcpListener::bind("0") so the
OS picks a guaranteed-free port. PID % 10000 caused collisions when
multiple test binaries ran in parallel on the same CI runner.
Async client wrapping the four lifecycle management services (change_state, get_state, get_available_states, get_available_transitions). Provides high-level helpers for configure/activate/deactivate/cleanup/shutdown transitions and a low-level trigger() for arbitrary TransitionId values.
…ook docs - 7 new integration tests for ZLifecycleClient (get_state, full cycle, shutdown, available states/transitions, invalid transition) - 1 new test for disable_communication_interface - lifecycle_bringup example showing orchestrator pattern - Book chapter section on ZLifecycleClient with code snippets
…lake The test was publishing only 10 messages at 100ms intervals (1s total) while schema discovery via create_dyn_sub_auto can take several seconds under CI load. Switch to a cancellable loop that publishes until the subscriber has received what it needs, matching the pattern used in the other type_description tests.
Replaces fixed 2s sleep with a 15s retry loop so the test does not fail when the server takes longer than expected to register its queryable (observed on kilted under CI load).
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Summary
Implements the ROS 2 managed node lifecycle as defined in REP-2006. Lifecycle nodes expose explicit state transitions (configure, activate, deactivate, cleanup, shutdown) so system orchestrators can safely sequence bringup and teardown of complex robot software.
Key Changes
ZLifecycleNode: full 4-state / 7-transition state machine with configurable callbacks (on_configure,on_activate,on_deactivate,on_cleanup,on_shutdown,on_error)ZLifecyclePublisher: gated publisher that silently drops messages when the node is not Active; registered publishers activate/deactivate in bulk with the node~/change_state,~/get_state,~/get_available_states,~/get_available_transitions,~/get_transition_graph) and~/transition_eventtopic — compatible withros2 lifecycleCLIlifecycle/msgs.rsto avoid circular dependency withros-z-msgslifecycle_msgs.msg/.srvassets added to codegen and always generated (alongsidebuiltin_interfaces)lifecycle_talkerexample and book chapter under Core Conceptscheck-local.nu: build step now includes--examplesto catch example compilation regressionsBreaking Changes
None