@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
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