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kscottz
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Sep 9, 2026
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I added a few comments. This is acceptable as is but I do feel like it could use more concrete descriptions. I added more context in a few spots.
One thing we should probably discuss is the "managed nodes" moniker. I get that the docs used "managed node" and "lifecycle node" interchangeably but I think we should shorten just pick one and stick with it.
@fujitatomoya @christophebedard thoughts?
| #. Nodes periodically advertise their presence so that connections can be made with new-found entities, even after the initial discovery period. | ||
| #. Nodes advertise to other nodes when they go offline. | ||
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| Nodes only establish connections with other nodes if they have compatible *quality of service* settings. |
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This is a bit of an advanced topic and mostly applies to topic subscriptions. We may want an info box around this.
| * Composable nodes | ||
| A composable node contains separate components with shared memory. | ||
| Learn more about how to write a composable node: :doc:`nodes/Working-with-nodes/Writing-a-Composable-Node` | ||
| * Managed nodes, also known as lifecycle nodes |
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I think this should be the other way around. I don't think "managed node" is used outside of the documentation.
| Connections between nodes are established through a distributed :doc:`discovery <nodes/About-Discovery>` process. | ||
| What is the difference between composable nodes and managed nodes? | ||
| Composable nodes are components that can share a process and memory. | ||
| Managed nodes, also called lifecycle nodes, move through defined states so resources are started and shut down in a controlled order. |
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Again, I think we should just use "lifecycle node" here for consistency.
ahcorde
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Sep 9, 2026
Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: 3di Information Solutions <openrobotics@3di-info.com>
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This update is part of #6826
Description
Created an About Nodes article based on information across multiple other articles.
Fixes #6826
Did you use Generative AI?
No
Additional Information
Documentation updates from 3di Information Solutions, agreed with Geoff and Tully.
Should be backported to Lyrical