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Activation trees for Managed Nodes

Dear ROS2 community,

I have been developing these days a package called rclcpp_cascade_lifecycle. This package provides a class that inherits from rclcpp_lifecycle::LifecycleNode and lets you create “activation trees”. A state change in a parent is propagated to its childs.

This could simplify the management of Managed Nodes.

I hope you find it interesting.