Cleanup the README.rst for the lifecycle demo. #508
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hidmic
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Apr 22, 2021
clalancette
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Apr 22, 2021
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I made the changes you suggested in 2528366 . Please take another look. |
hidmic
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Apr 22, 2021
mjeronimo
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Apr 22, 2021
| In the following tutorial, we explain the purpose of these nodes, what makes them different from regular nodes and how they comply to a lifecycle management. | ||
| Managed nodes are scoped within a state machine of a finite amount of states. | ||
| These states can be changed by invoking a transition id which indicates the succeeding consecutive state. | ||
| The state machine is implemented as described at the `ROS2 design page <http://design.ros2.org/articles/node_lifecycle.html>`__. | ||
| The state machine is implemented as described at the `ROS 2 design page <http://design.ros2.org/articles/node_lifecycle.html>`__. | ||
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| Our implementation differentiates between ``Primary States`` and ``Transition States``. | ||
| Primary States are supposed to be steady states in which any node can do the respected task. |
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I think this terminology is awkward. A state machine has states and transitions. I think it's potentially confusing to define a "transition state."
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While I agree with you in an abstract sense, we do indeed define "transition states" as part of the state machine: https://github.com/ros2/rcl_interfaces/blob/master/lifecycle_msgs/msg/State.msg . So this sentence matches the code, even though the terminology is a bit weird.
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Ok. Good that the docs are in sync.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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| In the following tutorial, we explain the purpose of these nodes, what makes them different from regular nodes and how they comply to a lifecycle management. | ||
| Managed nodes are scoped within a state machine of a finite amount of states. | ||
| These states can be changed by invoking a transition id which indicates the succeeding consecutive state. | ||
| The state machine is implemented as described at the `ROS2 design page <http://design.ros2.org/articles/node_lifecycle.html>`__. | ||
| The state machine is implemented as described at the `ROS 2 design page <http://design.ros2.org/articles/node_lifecycle.html>`__. | ||
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| Our implementation differentiates between ``Primary States`` and ``Transition States``. | ||
| Primary States are supposed to be steady states in which any node can do the respected task. |
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Ok. Good that the docs are in sync.
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Merging without CI as this is only in the README file. Thanks for the reviews! |
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@Mergifyio backport galactic |
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* Cleanup the README.rst for the lifecycle demo. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> (cherry picked from commit 6f1390b)
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Signed-off-by: Chris Lalancette clalancette@openrobotics.org
This should fix #505