cascade_lifecycle
- Software
- Middleware
- Library
A ROS 2 library that lets lifecycle nodes depend on one another, so a transition on one node is automatically applied to its dependents.
Source on GitHub: github.com/fmrico/cascade_lifecycle (opens in a new tab). Facts read at commit 67a5475 (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 67a5475 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Extends the rclcpp LifecycleNode API with CascadeLifecycleNode, which adds add_activation, remove_activation and clear_activation methods.
- When a node enters a state, the nodes it lists as dependencies automatically enter the same state.
- Makes it possible to build configuration, activation and deactivation trees across multiple lifecycle nodes.
- Includes an example where node_B follows the same configure transitions as node_A, shown with an events executor.
- Inspired by the author's earlier work on BICA and aimed at simplifying orchestration patterns used in Navigation2 and PlanSys2.
Written by Robotheca from the project's README (opens in a new tab) at commit 67a5475.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 14 Oct 2026 on rolling-devel
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.