# [ERROR] [lifecycle_node]: Transition 'configure' timed out after 10 seconds

- **ID:** `ros2/lifecycle-node-timeout-unconfigured`
- **Domain:** ros2
- **Category:** runtime_error
- **Error Code:** `LC-2001`
- **Verification:** ai_generated
- **Fix Rate:** 83%

## Root Cause

The lifecycle node's `on_configure` callback is blocking for longer than the default timeout (10 seconds), often due to infinite loops, deadlocks, or slow initialization of hardware or external services.

## Version Compatibility

| Version | Status | Introduced | Deprecated |
|---------|--------|------------|------------|
| ROS2 Humble Hawksbill | active | — | — |
| ROS2 Iron Irwini | active | — | — |
| ROS2 Rolling | active | — | — |

## Workarounds

1. **Add logging inside the `on_configure` callback to identify where it hangs. For example, insert `RCLCPP_INFO` statements at key points. If the callback waits for a hardware response, add a timeout mechanism.** (90% success)
   ```
   Add logging inside the `on_configure` callback to identify where it hangs. For example, insert `RCLCPP_INFO` statements at key points. If the callback waits for a hardware response, add a timeout mechanism.
   ```
2. **If the callback is waiting for a service or action, ensure the server is started before the lifecycle node attempts to configure. Use a launch file with dependencies or add a retry loop.** (85% success)
   ```
   If the callback is waiting for a service or action, ensure the server is started before the lifecycle node attempts to configure. Use a launch file with dependencies or add a retry loop.
   ```

## Dead Ends

- **** — Increasing the timeout in the launch file might allow the node to eventually proceed, but it masks the underlying performance issue and can lead to longer startup delays. (40% fail)
- **** — Removing the lifecycle management entirely by using a regular node may bypass the error, but it defeats the purpose of lifecycle management and can cause other issues. (60% fail)