Lifecycle nodes

ICEY supports lifecycle nodes, for this you simply need to derive from a icey::LifecycleNode:

class ExampleLifecycleNode : public icey::LifecycleNode {
public:
  using Base = icey::LifecycleNode;

  ExampleLifecycleNode(std::string name) : Base(name) { timer_ = icey().create_timer(100ms); }

  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
      const rclcpp_lifecycle::State &state) {
    RCLCPP_INFO(get_logger(), "on_activate() was called");
  }
};

See also the lifecycle node example.

The API for creating Streams remains the same regardless of whether you use a regular node or an lifecycle node. This is because the underlying icey::Context-type is the same.

This means that if you want to create functions that are generic and work for both regular nodes and lifecycle nodes, you can take as icey::Context as an argument:

  void create_subscriptions(icey::Context &context) {
    context.create_subscription<sensor_msgs::msg::Image>("camera")
        .then(...);
    context.create_transform_subscription("map", "base_link")
        .then(...);
  }

This also means, you do need to use function templates that use the node as a template parameter.