You might want to consider to use a managed node. The current implement matches the design document which describes how the life cycle of managed nodes works: http://design.ros2.org/articles/node_lifecycle.html There are currently no plans for changing anything in the life cycle itself. The configure step might be the right callback to perform your initialization. --- [Visit Topic](https://discourse.ros.org/t/ros2-composition/2469/4) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: