lifecycle_msgs

This package contains message and service definitions for managing lifecycle nodes. These messages and services form a standardized interface for transitioning these managed nodes through a known state-machine.

For more information about life cycle nodes see: design.ros2.org.

For more information about ROS 2 interfaces, see docs.ros.org.

Messages (.msg)

• State: A lifecycle node’s state-machine state.
• Transition: A state transition with specific id and label.
• TransitionDescription: A description of a transition from one state-machine state to another.
• TransitionEvent: A timestamped state transition.

Services (.srv)

• ChangeState: Request a node change states with a specific transition.
• GetAvailableStates: Request an array of states that this node can transition to.
• GetAvailableTransitions: Request an array of lifecycle state transitions available for this node.
• GetState: Request the current lifecycle state of this node.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package lifecycle_msgs

2.5.2 (2026-10-23)

• Remove ADD_LINTER_TESTS from generated-code lint on interface packages (#205)
• Use the SPDX identifier Apache-2.0 in package.xml license tags (#202)
• Contributors: Michael Carroll

2.5.1 (2026-07-15)

• use C++ 20 in default. (#200)
• Contributors: Tomoya Fujita

2.5.0 (2026-05-07)

2.4.3 (2026-02-09)

• Use builtin_interfaces/Time for TransitionEvent stamp (#185)
• Contributors: Jasper van Brakel

2.4.2 (2025-07-29)

• Fix cmake deprecation (#180)
• Contributors: mosfet80

2.4.1 (2025-07-01)

2.4.0 (2025-04-25)

2.3.0 (2025-04-18)

2.2.0 (2024-06-25)

2.1.0 (2024-04-26)

2.0.2 (2024-04-16)

2.0.1 (2023-10-04)

2.0.0 (2023-09-07)

1.7.0 (2023-04-27)

1.6.0 (2023-04-18)

1.5.0 (2023-04-11)

1.4.0 (2023-02-13)

• Update common_interfaces to C++17. (#215) (#151)
• [rolling] Update maintainers - 2022-11-07 (#150)
• lifecycle_msgs: remove non-ASCII chars from field comments (#147)
• Contributors: Audrow Nash, Chris Lalancette, G.A. vd. Hoorn

1.3.1 (2022-09-09)

1.3.0 (2022-04-29)

1.2.0 (2022-03-01)

• Update maintainers to Chris Lalancette (#130)
• Contributors: Audrow Nash

1.1.0 (2021-08-06)

1.0.3 (2021-04-06)

• Change index.ros.org -> docs.ros.org. (#122)
• Updating Quality Declaration (#120)
• Contributors: Chris Lalancette, shonigmann

1.0.2 (2021-02-22)

• Update quality declaration to QL 1. (#116)
• Update package maintainers. (#112)
• Contributors: Chris Lalancette, Michel Hidalgo, Stephen Brawner

1.0.1 (2020-06-29)

• Increase Quality level of packages to 3 (#108)
• Add Security Vulnerability Policy pointing to REP-2006. (#106)
• Updating QD to reflect package versions (#107)
• Contributors: Chris Lalancette, brawner

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