# Lifecycle Management

> Lifecycle 节点管理 — 状态机转换、状态回调、生命周期管理器，适用于生产机器人控制

- Skill: `miuav/lifecycle-management` (Agent Skill)
- Install (CLI): `npx skillmds@latest add miuav/lifecycle-management`
- Raw SKILL.md: https://api.skillmd.com/api/skills/miuav/lifecycle-management/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Integrations & APIs
- Author: miuav (https://skillmd.com/u/miuav)
- Updated: 2026-09-17
- Page: https://skillmd.com/skills/miuav/lifecycle-management

---


# lifecycle-management — Lifecycle 状态机 SKILL

## 状态转换

```
UNCONFIGURED
     ↓ on_configure()
  INACTIVE
     ↓ on_activate()
   ACTIVE ←——— timer_callback()
     ↓ on_deactivate()
  INACTIVE
     ↓ on_cleanup()
 FINALIZED
     ↓ on_shutdown()
  FINALIZED
```

## 关键规则

- `on_configure()` 里只做资源分配（不阻塞）
- `on_activate()` 里启动定时器/发布者
- `on_deactivate()` 里停止定时器（防止发布）
- 订阅者在 INACTIVE 状态不接收数据

## 禁止

- ❌ `on_configure()` 里执行阻塞操作
- ❌ 生产环境用 `rclcpp::Node` 而非 `LifecycleNode`