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宋康帅
2026-08-05 18:17:25 +08:00
parent 61796dfa9f
commit b52cee9e39
34 changed files with 866 additions and 309 deletions
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doc/17-lifecycle.md
+5 -4
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@@ -128,6 +128,7 @@ class MyLifecycleNode(LifecycleNode):
ros2 service call /lifecycle_demo_node/get_state lifecycle_msgs/srv/GetState
# 触发 configure (transition id = 1)
# (Humble+ 推荐用 `ros2 lifecycle set`,见 §8)
ros2 service call /lifecycle_demo_node/change_state \
lifecycle_msgs/srv/ChangeState "{transition: {id: 1}}"
```
@@ -187,15 +188,15 @@ public:
## 8. CLI 控制
```bash
# 1. 启 Lifecycle Node
ros2 launch my_pkg lifecycle_demo.py
# 1. 启 Lifecycle Node(本仓库 launch 文件叫 lifecycle_launch.py,节点默认名 lifecycle_demo_node)
ros2 launch py_lifecycle_composable lifecycle_launch.py
# 2. 触发 configure
ros2 lifecycle set /lifecycle_node configure
ros2 lifecycle set /lifecycle_demo_node configure
# (Humble 后 ros2 lifecycle set 直接用,而不是 service call)
# 3. 触发 activate
ros2 lifecycle set /lifecycle_node activate
ros2 lifecycle set /lifecycle_demo_node activate
# 4. 看状态
ros2 lifecycle get /lifecycle_node