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System modes for ROS 2 and micro-ROS
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ROS 2 System Modes

This repository explores a system modes concept that is implemented for ROS 2 in two packages:

For further information, please contact Arne Nordmann or Ralph Lange.

Purpose of the Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

How to Build, Test, Install, and Use

After you cloned this repository into your ROS 2 workspace folder, you may build and install the system_modes package and the system_modes_examples package using colcon:
$ colcon build --packages-select-regex system_modes

Have a look at the system_modes_examples documentation to try your installation.


ROS 2 System Modes are open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open-source components included in ROS 2 system_modes, see the file 3rd-party-licenses.txt.

Known Issues/Limitations

Please notice the following issues/limitations:

  • Currently, (sub-)systems managed by the mode manager are not recognized by the ros2 lifecycle tool ("Node not found"). So to trigger lifecycle transitions in (sub-)systems, you have to go with the ros2 service call tool. Check the system_modes_examples documentation for example calls.


This activity has received funding from the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation programme (grant agreement n° 780785).

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