Add a tutorial on Lifecycle nodes

[Yadunund]

Extend the Intermediate tutorials with a chapter on implementing Lifecycle nodes and designing APIs using NodeInterfaces such that the APIs work with both regular Nodes and LifecycleNodes. The tutorial could also include launch events to transition lifecycle states from launch files.

[kscottz]

Just for clarity here, you are asking for an example node that implements both the standard node interface and the lifecycle node interface.

Roughly this means that the standard node interface performs the primary state's / transitions when it is instantiated as a standard node? If this is the case, it might be helpful to have a paster template that people can re-use as a starting point.

Do you have a good example of NodeInterfaces being used with a lifecycle node out in the wild? Even tests might be helpful here.

[Yadunund]

I was alluding to following the pattern described by @methylDragon in his lightning talk.

This would encourage more users to use LifecycleNodes while keeping other APIs compatible with both Node and LifecycleNode.

[kscottz]

Perfect. Thanks. I can work with this! I may even be able to find a new contributor to do it.

[ros-discourse]

This issue has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-news-for-the-week-of-january-13th-2024/41608/1

[ros-discourse]

This issue has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-news-for-the-week-of-january-20th-2025/41719/1

[NickTziaros]

I may even be able to find a new contributor to do it.

Is there a way I can be of assistance? Im not an expert by any means but i would like to get my hands dirty with this one.

[kscottz]

@NickTziaros by all means! Give it a shot.

Make sure to take a look at the docs readme and the contributing guide. Make sure to put your editor into whitespace mode as the linter is really particular.