Extended Lifecycle Sample Clauses

Extended Lifecycle. ‌ In micro-ROS, we extend the ROS 2 lifecycle by allowing to specify modes, i.e. substates, specializing the active *state based on the standard ROS 2 parameters mechanism. We implemented this concept based on rcl and rclcpp for ROS 2 and micro-ROS. Documentation and code can be found at: ▇▇▇▇▇▇.▇▇▇:system_modes/README.md#lifecycle