@yechun what about the support to Lifecycle managed nodes in `image_common` (and eventually other stacks)? For example, to use `image_transport` with my node based on Lifecycle I had to write another "normal" node subscribing to image topics published by the "main" node and republishing them using `image_transport`. There is an open issue: https://github.com/ros-perception/image_common/issues/108 I do not know if there are other stacks (other than `tf2_ros` that is outside "perception") that lack the support to LifeCyleNode --- [Visit Topic](https://discourse.ros.org/t/ros2-perception-porting-status/6231/20) 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: