ROS 2 Lifecycle support for current node executables.

[FelipeH92]

Hello.

Is there any plan on implementing lifecycle support for the current node executables? It would be useful to use lifecycle to control, reconfigure and restart the nodes on the fly.

[matlabbe]

Since ros1, rtabmap_ros has already ros services to provide that kind of workflow on runtime (reconfigure, reload a different database, restart, delete current map...), even controllable by rtabmap_viz UI interface, but there is indeed no output giving the current state of the node (e.g., initializing, loading database, running, shutting down...), as described in this doc: https://design.ros2.org/articles/node_lifecycle.html

Nav2 is using extensively lifecycle managed nodes, so it could be indeed useful to have rtabmap integrated in nav2 lifecyle loop. To answer your question, there is no short-term plan to implement it, but I am open to review a PR about that.