{"comment":{"url":"https://api.github.com/repos/ros2/design/comments/14013800","html_url":"https://github.com/ros2/design/commit/ce540c430c983a6d7d92e76b155aba6af1bdc1f6#commitcomment-14013800","id":14013800,"user":{"login":"BobDean","id":7926335,"avatar_url":"https://avatars.githubusercontent.com/u/7926335?v=3","gravatar_id":"","url":"https://api.github.com/users/BobDean","html_url":"https://github.com/BobDean","followers_url":"https://api.github.com/users/BobDean/followers","following_url":"https://api.github.com/users/BobDean/following{/other_user}","gists_url":"https://api.github.com/users/BobDean/gists{/gist_id}","starred_url":"https://api.github.com/users/BobDean/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/BobDean/subscriptions","organizations_url":"https://api.github.com/users/BobDean/orgs","repos_url":"https://api.github.com/users/BobDean/repos","events_url":"https://api.github.com/users/BobDean/events{/privacy}","received_events_url":"https://api.github.com/users/BobDean/received_events","type":"User","site_admin":false},"position":79,"line":77,"path":"articles/node_lifecycle.md","commit_id":"ce540c430c983a6d7d92e76b155aba6af1bdc1f6","created_at":"2015-10-27T15:20:34Z","updated_at":"2015-10-27T15:20:34Z","body":" \"allow a node to be (re-)configured... while it is running\"  ... as written could imply that a no parameters may be changed while the node is in the Active state.  Therefore, to change a parameter, the node must be transitioned to the inactive state, change the parameter(s), then transitioned back to the active state.  Depending on the node functionality this could be an expensive process (perhaps the vehicle needs to be brought to a safe stop). Does this conflict with the intent for atomic group parameter sets (https://github.com/ros2/design/pull/58)?   If the parameter set is atomic, and the node designed appropriately, then it should be safe to send the change and allow the node to plan accordingly and falls under \"node performs any processing\" statement in the Active State section below.  "}}