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Hey, I also want to see Lifecycle-Nodes supported. Depending on whether people still want to support the old API you could have a look at a branch I started a while ago. I did try to implement an Api for plugins that returns the required node interfaces, which could be skipped if we think we will not extend it beyond node interfaces. I tried to create additional constructors and templated functions with a different name of the same kind as the old API to still be able support the old API. If this is needed you may take inspiration from that. https://github.com/devrite/image_common/commits/feature/wip_api_playground |
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#352 is merged |
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Attempt to support
rclcpp::LifecycleNodeinfluenced by #167.