What problem does it solve? Managing node startup, shutdown, and resource allocation in ROS2 systems is error-prone when nodes initialize hardware or connections at unpredictable times. This Skill provides templates and patterns for ROS2 Managed (Lifecycle) Nodes so resources are allocated and released through controlled state transitions. ## Core Features & Use Cases - Lifecycle State Machine Reference: Covers the full state diagram (UNCONFIGURED, INACTIVE, ACTIVE) and the transitions between them (configure, activate, deactivate, cleanup, shutdown). - C++ Managed Node Template: Provides a rclcpp_lifecycle::LifecycleNode subclass overriding on_configure, on_activate, on_deactivate, on_cleanup, and on_shutdown with lifecycle publishers. - Lifecycle Client: Shows how to control another node's state remotely using lifecycle_msgs ChangeState and GetState services. - Use Case: When building a robot sensor driver that must open a serial port only after configuration and start publishing only after activation, use this Skill to structure the node so launch files can orchestrate its state automatically. ## Quick Start Ask the AI to generate a ROS2 lifecycle node in C++ that allocates its publisher in on_configure and only publishes while in the ACTIVE state.
