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Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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‎.github/workflows/humble-devel.yaml

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fail-fast: false
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steps:
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- name: Setup ROS 2
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uses: ros-tooling/setup-ros@0.3.3
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uses: ros-tooling/setup-ros@0.7.1
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with:
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required-ros-distributions: humble
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- name: build and test
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uses: ros-tooling/action-ros-ci@0.2.5
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uses: ros-tooling/action-ros-ci@0.3.6
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with:
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package-name: rclcpp_cascade_lifecycle cascade_lifecycle_msgs
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target-ros2-distro: humble

‎.github/workflows/iron-devel.yaml

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name: humble-devel
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on:
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pull_request:
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branches:
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- humble-devel
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push:
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branches:
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- humble-devel
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jobs:
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build-and-test:
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runs-on: ${{ matrix.os }}
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strategy:
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matrix:
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os: [ubuntu-22.04]
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fail-fast: false
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steps:
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- name: Setup ROS 2
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uses: ros-tooling/setup-ros@0.3.3
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with:
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required-ros-distributions: humble
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- name: build and test
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uses: ros-tooling/action-ros-ci@0.2.5
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with:
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package-name: rclcpp_cascade_lifecycle cascade_lifecycle_msgs
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target-ros2-distro: humble
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vcs-repo-file-url: ""
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colcon-mixin-name: coverage-gcc
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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- name: Codecov
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uses: codecov/codecov-action@v1.2.1
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with:
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file: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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# yml: ./codecov.yml
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fail_ci_if_error: false

‎.github/workflows/rolling-devel.yaml

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fail-fast: false
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steps:
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- name: Setup ROS 2
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uses: ros-tooling/setup-ros@0.4.1
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uses: ros-tooling/setup-ros@0.7.1
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with:
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required-ros-distributions: rolling
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required-ros-distributions: humble
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- name: build and test
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uses: ros-tooling/action-ros-ci@0.2.7
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uses: ros-tooling/action-ros-ci@0.3.6
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with:
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package-name: rclcpp_cascade_lifecycle cascade_lifecycle_msgs
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target-ros2-distro: rolling

‎.github/workflows/master.yaml renamed to ‎.github/workflows/rolling.yaml

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name: master
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name: rolling
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on:
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pull_request:
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branches:
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- master
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- rolling
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push:
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branches:
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- master
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- rolling
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workflow_dispatch:
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schedule:
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- cron: '0 0 * * 0'
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fail-fast: false
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steps:
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- name: Setup ROS 2
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uses: ros-tooling/setup-ros@0.4.1
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uses: ros-tooling/setup-ros@0.7.1
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with:
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required-ros-distributions: rolling
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- name: build and test
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uses: ros-tooling/action-ros-ci@0.2.7
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uses: ros-tooling/action-ros-ci@0.3.6
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with:
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package-name: rclcpp_cascade_lifecycle cascade_lifecycle_msgs
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target-ros2-distro: rolling

‎README.md

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# cascade_lifecycle
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[![master](https://github.com/fmrico/cascade_lifecycle/actions/workflows/master.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/master.yaml)
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[![rolling](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling.yaml)
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[![foxy-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/foxy-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/foxy-devel.yaml)
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[![galactic-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/galactic-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/galactic-devel.yaml)
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[![humble-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/humble-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/humble-devel.yaml)
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[![iron-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/iron-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/iron-devel.yaml)
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[![rolling-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling-devel.yaml)
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[Managed nodes](https://design.ros2.org/articles/node_lifecycle.html) (or lifecycle nodes, LN) are an extremely useful concept in ROS2. It provides a mechanism to define states in a node so that its life cycle can be better controlled.
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When an application is made up of multiple LNs, it is common to use a node to orchestrate the transitions of each one. This occurs, for example, in [Navigation2](https://github.com/ros-planning/navigation2/tree/master/nav2_lifecycle_manager) or in [ROS2 Planning System](https://github.com/IntelligentRoboticsLabs/ros2_planning_system/tree/master/plansys2_lifecycle_manager).
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When an application is made up of multiple LNs, it is common to use a node to orchestrate the transitions of each one. This occurs, for example, in [Navigation2](https://github.com/ros-planning/navigation2/tree/master/nav2_lifecycle_manager) or in [ROS2 Planning System](https://github.com/IntelligentRoboticsLabs/ros2_planning_system/tree/rolling/plansys2_lifecycle).
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`cascade_lifecycle` provides a mechanism that can make managing LNs easier. This idea is based on my developments with [BICA](https://github.com/IntelligentRoboticsLabs/BICA/tree/ros2). This mechanism allows defining dependencies between LNs. When an LN A establishes an LN B as a dependency, when an A enters a state, B automatically enters this state. This allows creating configuration/activation/deactivation trees.
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‎cascade_lifecycle_msgs/CHANGELOG.rst

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Changelog for package cascade_lifecycle_msgs
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.0.3 (2022-12-31)
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2.0.0 (2024-04-04)
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------------------
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1.0.2 (2022-12-31)

‎cascade_lifecycle_msgs/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>cascade_lifecycle_msgs</name>
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<version>1.0.3</version>
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<version>2.0.0</version>
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<description>Messages for rclcpp_cascade_lifecycle package</description>
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‎rclcpp_cascade_lifecycle/CHANGELOG.rst

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Changelog for package rclcpp_cascade_lifecycle
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.0.3 (2022-12-31)
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2.0.0 (2024-04-04)
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------------------
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* Update to Rolling
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* Fix clear_activation
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* Contributors: Francisco Martín Rico
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1.0.2 (2022-12-31)

‎rclcpp_cascade_lifecycle/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>rclcpp_cascade_lifecycle</name>
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<version>1.0.3</version>
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<version>2.0.0</version>
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<description>Provides a mechanism to make trees of lifecycle nodes to propagate state changes</description>
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<maintainer email="fmrico@gmail.com">fmrico</maintainer>
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<license>Apache License, Version 2.0</license>

‎rclcpp_cascade_lifecycle/src/rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.cpp

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void
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CascadeLifecycleNode::clear_activation()
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{
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for (const auto & activation : activations_) {
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remove_activation(activation);
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while (!activations_.empty()) {
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remove_activation(*activations_.begin());
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}
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}
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