README.md

autoware_test_node

This package contains a simple example of how to use autoware::Node.

Usage

ros2 launch autoware_test_node autoware_test_node.launch.xml

Lifecycle control

Information on Lifecycle nodes can be found here.

Output a list of nodes with lifecycle:

$ ros2 lifecycle nodes
/test_ns1/test_node1

Get the current state of a node:

$ ros2 lifecycle get /test_ns1/test_node1
unconfigured [1]

List the available transitions for the node:

$ ros2 lifecycle list /test_ns1/test_node1
- configure [1]
 Start: unconfigured
 Goal: configuring
- shutdown [5]
 Start: unconfigured
 Goal: shuttingdown

Shutdown the node:

$ ros2 lifecycle set /test_ns1/test_node1 shutdown
Transitioning successful

$ ros2 lifecycle get /test_ns1/test_node1
finalized [4]

The node will remain alive in the finalized state until it is killed by the user.