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Parallel state transitions #794

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5ec0f05
document parallel state transitions
jplapp Oct 16, 2025
48e4095
Update Kilted.rst
jplapp Oct 16, 2025
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11 changes: 11 additions & 0 deletions configuration/packages/configuring-lifecycle.rst
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Expand Up @@ -59,6 +59,17 @@ Parameters
Description
Whether to try to reconnect to servers that go down, presumably because respawn is set to ``true`` to re-create crashed nodes. While default to ``true``, reconnections will not be made unless respawn is set to true in your launch files or your watchdog systems will bring up the server externally.

:parallel_state_transitions:

==== =======
Type Default
---- -------
bool false
==== =======

Description
Whether to transition all nodes in parallel. This may speed up launch significantly. However, some nodes might depend on other nodes and thus require a sequential launch.

:bond_respawn_max_duration:

====== =======
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7 changes: 7 additions & 0 deletions migration/Kilted.rst
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Expand Up @@ -433,3 +433,10 @@ This server allows the robot to follow and maintain a determined distance from a
The information about Following Server parameters set-up could be found at :ref:`configuring_following_server` configuration guide.

The tutorial for the Following Server has been recently updated. For the latest instructions and examples, see :ref:`navigation2-dynamic-point-following`.



Lifecycle Manager
----------------
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@SteveMacenski SteveMacenski Oct 16, 2025

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The -- line has to match the length of the header. Also, make this more descriptive about the specific change made


`PR #5541 <https://github.com/ros-navigation/navigation2/pull/5541>`_ adds a new parallel_state_transitions parameter. This will process all state transitions in parallel which can speed up launch in systems with many lifecycle nodes. On a system with 14 lifecycle nodes, the time for activating them goes from 17 seconds to 2 seconds.
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@SteveMacenski SteveMacenski Oct 16, 2025

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Suggested change
`PR #5541 <https://github.com/ros-navigation/navigation2/pull/5541>`_ adds a new parallel_state_transitions parameter. This will process all state transitions in parallel which can speed up launch in systems with many lifecycle nodes. On a system with 14 lifecycle nodes, the time for activating them goes from 17 seconds to 2 seconds.
`PR #5541 <https://github.com/ros-navigation/navigation2/pull/5541>`_ adds a new parallel_state_transitions parameter. This will process all state transitions in parallel which can speed up launch in systems with many lifecycle nodes.

Given that's not what we see with Nav2 itself (a custom system), I'd prefer to keep that out since that makes people think Nav2 itself takes 17 seconds to load, which isn't the case I don't think?

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