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Make the lifecycle services optional #1506

@Karsten1987

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@Karsten1987

There is currently no way to not have services attached to the lifecycle node. That prevents an easy setup of a lifecycle management system as each loaded lifecycle node can be individually controlled and thus does not have to go through the management system.
This is a precise use case we see at ros control, where each controller is a lifecycle node but should solely be controlled via the controller manager - not the controller itself - in order to guarantee a proper cleanup and resource management.

see ros-controls/ros2_control#266

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