Lifecycle nodes and parameters
Goal: bring up a lifecycle node and tune a parameter, without a terminal.
Lifecycle
Tap + → Lifecycle and accept adding the lifecycle nodes found (in the demo:
/camera_driver).Each node shows its state. Tap Configure, then Activate (confirm each one). The state changes live, even when another program (like Nav2’s lifecycle manager) changes it.
Deactivate pauses the node; Cleanup takes it back to unconfigured; Shutdown finalizes it.
Parameters
Tap + → Nodes and tap a node (in the demo:
/demo_robot).The inspector lists its parameters with their type, value and description.
Tap one to change it. The node may reject a value (out of range, read-only…): the app shows the reason it gives.
In the demo, set max_linear_speed to 0.2 and drive: the robot is slower right away.