# Activation trees for Managed Nodes

**URL:** <https://discourse.openrobotics.org/t/activation-trees-for-managed-nodes/13222>\
**Category:** ROS General\
**Tags:** ros2, lifecycle, eloquent\
**Created:** [March 13, 2020, 1:23pm UTC](https://discourse.openrobotics.org/t/activation-trees-for-managed-nodes/13222 "2020-03-13T13:23:38Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![fmrico](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/fmrico/32/707_2.png) [@fmrico](https://discourse.openrobotics.org/u/fmrico)\
**Post date:** [March 13, 2020, 1:23pm UTC](https://discourse.openrobotics.org/t/activation-trees-for-managed-nodes/13222/1 "2020-03-13T13:23:38Z")

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Dear ROS2 community,

I have been developing these days a package called [rclcpp\_cascade\_lifecycle](https://github.com/fmrico/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.

Best!!