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ROS 2 System Modes package released
Mar 19, 2019 anordman
We just released the ROS 2 system modes package that implements our attempt to allow behavioral system composition for ROS 2. System modes assume that the system is built from components with a lifecycle (see ROS 2 managed nodes). It adds a notion of (sub-)systems, hierarchically grouping these nodes, as well as a notion of modes that determine the configuration of these nodes and (sub-)systems in terms of their parameter values.
Check the system_modes example package for a small step-by-step example. For more information, check the ROS wiki and the system_modes package on github.