0.7.14

Signed-off-by: ahcorde <ahcorde@gmail.com>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,37 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.14 (2020-07-10)
+-------------------
+* Fixed doxygen warnings. (`#1208 <https://github.com/ros2/rclcpp/issues/1208>`_)
+* Check if context is valid when looping in spin_some. (`#1167 <https://github.com/ros2/rclcpp/issues/1167>`_)
+* Fix spin_until_future_complete: check spinning value. (`#1023 <https://github.com/ros2/rclcpp/issues/1023>`_)
+* Fix exception on rcl_clock_init. (`#1195 <https://github.com/ros2/rclcpp/issues/1195>`_)
+* Fix lock-order-inversion (potential deadlock). (`#1138 <https://github.com/ros2/rclcpp/issues/1138>`_)
+* Contributors: Alejandro Hernández Cordero, DongheeYe, Ivan Santiago Paunovic, tomoya
+
+0.7.13 (2020-03-12)
+-------------------
+* Don't specify calling convention in std::_Binder template. (`#1015 <https://github.com/ros2/rclcpp/issues/1015>`_)
+* Contributors: Jacob Perron, Sean Kelly
+
+0.7.12 (2019-12-05)
+-------------------
+
+0.7.11 (2019-10-11)
+-------------------
+* Fix `get_node_*_interface` functions taking a pointer (`#870 <https://github.com/ros2/rclcpp/pull/870>`_).
+* Fix hang with timers in `MultiThreadedExecutor` (`#869 <https://github.com/ros2/rclcpp/pull/869>`_).
+* Contributors: Todd Malsbary, ivanpauno
+
+0.7.10 (2019-09-23)
+-------------------
+
+0.7.9 (2019-09-20)
+------------------
+* add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy\_ (`#837 <https://github.com/ros2/rclcpp/issues/837>`_) (`#857 <https://github.com/ros2/rclcpp/issues/857>`_)
+* Contributors: Zachary Michaels
+
 0.7.8 (2019-09-06)
 ------------------
 

rclcpp/include/rclcpp/clock.hpp

@@ -105,9 +105,9 @@ public:
    *
    * Function is only applicable if the clock_type is `RCL_ROS_TIME`
    *
-   * \param pre_callback. Must be non-throwing
-   * \param post_callback. Must be non-throwing.
-   * \param threshold. Callbacks will be triggered if the time jump is greater
+   * \param pre_callback Must be non-throwing
+   * \param post_callback Must be non-throwing.
+   * \param threshold Callbacks will be triggered if the time jump is greater
    * then the threshold.
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    * \throws std::bad_alloc if the allocation of the JumpHandler fails.

rclcpp/include/rclcpp/executor.hpp

@@ -22,6 +22,7 @@
 #include <iostream>
 #include <list>
 #include <memory>
+#include <mutex>
 #include <string>
 #include <vector>
 
@@ -34,6 +35,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
@@ -242,9 +244,14 @@ public:
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
-    while (rclcpp::ok(this->context_)) {
+    if (spinning.exchange(true)) {
+      throw std::runtime_error("spin_until_future_complete() called while already spinning");
+    }
+    RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+    while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
-      spin_once(timeout_left);
+      spin_once_impl(timeout_left);
+
       // Check if the future is set, return SUCCESS if it is.
       status = future.wait_for(std::chrono::seconds(0));
       if (status == std::future_status::ready) {
@@ -355,6 +362,9 @@ protected:
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 
+  // Mutex to protect the subsequent memory_strategy_.
+  std::mutex memory_strategy_mutex_;
+
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
   memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 
@@ -364,6 +374,10 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(Executor)
 
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout);
+
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
   std::list<const rcl_guard_condition_t *> guard_conditions_;
 };

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -48,6 +48,7 @@ public:
    * \param number_of_threads number of threads to have in the thread pool,
    *   the default 0 will use the number of cpu cores found instead
    * \param yield_before_execute if true std::this_thread::yield() is called
+   * \param timeout maximum time to wait
    */
   RCLCPP_PUBLIC
   MultiThreadedExecutor(

rclcpp/include/rclcpp/function_traits.hpp

@@ -88,8 +88,7 @@ struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...)>>
 struct function_traits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args ...)>(FArgs ...)>>
 #elif defined _MSC_VER  // MS Visual Studio
 struct function_traits<
-  std::_Binder<std::_Unforced, ReturnTypeT(__cdecl ClassT::*)(Args ...), FArgs ...>
->
+  std::_Binder<std::_Unforced, ReturnTypeT (ClassT::*)(Args ...), FArgs ...>>
 #else
 #error "Unsupported C++ compiler / standard library"
 #endif
@@ -106,8 +105,7 @@ struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...) co
 struct function_traits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args ...) const>(FArgs ...)>>
 #elif defined _MSC_VER  // MS Visual Studio
 struct function_traits<
-  std::_Binder<std::_Unforced, ReturnTypeT(__cdecl ClassT::*)(Args ...) const, FArgs ...>
->
+  std::_Binder<std::_Unforced, ReturnTypeT (ClassT::*)(Args ...) const, FArgs ...>>
 #else
 #error "Unsupported C++ compiler / standard library"
 #endif
@@ -121,7 +119,7 @@ struct function_traits<std::__bind<ReturnTypeT( &)(Args ...), FArgs ...>>
 #elif defined __GLIBCXX__  // glibc++ (GNU C++)
 struct function_traits<std::_Bind<ReturnTypeT(*(FArgs ...))(Args ...)>>
 #elif defined _MSC_VER  // MS Visual Studio
-struct function_traits<std::_Binder<std::_Unforced, ReturnTypeT(__cdecl &)(Args ...), FArgs ...>>
+struct function_traits<std::_Binder<std::_Unforced, ReturnTypeT( &)(Args ...), FArgs ...>>
 #else
 #error "Unsupported C++ compiler / standard library"
 #endif

rclcpp/include/rclcpp/node.hpp

@@ -337,7 +337,13 @@ public:
     CallbackT callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  /* Create and return a Client. */
+  /// Create and return a Client.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] group Callback group to call the service.
+   * \return Shared pointer to the created client.
+   */
   template<typename ServiceT>
   typename rclcpp::Client<ServiceT>::SharedPtr
   create_client(
@@ -345,7 +351,14 @@ public:
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  /* Create and return a Service. */
+  /// Create and return a Service.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] callback User-defined callback function.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] group Callback group to call the service.
+   * \return Shared pointer to the created service.
+   */
   template<typename ServiceT, typename CallbackT>
   typename rclcpp::Service<ServiceT>::SharedPtr
   create_service(

rclcpp/include/rclcpp/node_interfaces/get_node_base_interface.hpp

@@ -123,16 +123,18 @@ template<
   typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
 >
 rclcpp::node_interfaces::NodeBaseInterface *
-get_node_base_interface(NodeType && node_pointer)
+get_node_base_interface(NodeType node_pointer)
 {
   // Forward pointers to detail implmentation directly.
-  return detail::get_node_base_interface_from_pointer(std::forward<NodeType>(node_pointer));
+  return detail::get_node_base_interface_from_pointer(node_pointer);
 }
 
 /// Get the NodeBaseInterface as a pointer from a "Node like" object.
 template<
   typename NodeType,
-  typename std::enable_if<!std::is_pointer<NodeType>::value, int>::type = 0
+  typename std::enable_if<
+    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
+  >::type = 0
 >
 rclcpp::node_interfaces::NodeBaseInterface *
 get_node_base_interface(NodeType && node_reference)

rclcpp/include/rclcpp/node_interfaces/get_node_timers_interface.hpp

@@ -123,16 +123,18 @@ template<
   typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
 >
 rclcpp::node_interfaces::NodeTimersInterface *
-get_node_timers_interface(NodeType && node_pointer)
+get_node_timers_interface(NodeType node_pointer)
 {
   // Forward pointers to detail implmentation directly.
-  return detail::get_node_timers_interface_from_pointer(std::forward<NodeType>(node_pointer));
+  return detail::get_node_timers_interface_from_pointer(node_pointer);
 }
 
 /// Get the NodeTimersInterface as a pointer from a "Node like" object.
 template<
   typename NodeType,
-  typename std::enable_if<!std::is_pointer<NodeType>::value, int>::type = 0
+  typename std::enable_if<
+    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
+  >::type = 0
 >
 rclcpp::node_interfaces::NodeTimersInterface *
 get_node_timers_interface(NodeType && node_reference)

rclcpp/include/rclcpp/node_interfaces/get_node_topics_interface.hpp

@@ -123,16 +123,18 @@ template<
   typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
 >
 rclcpp::node_interfaces::NodeTopicsInterface *
-get_node_topics_interface(NodeType && node_pointer)
+get_node_topics_interface(NodeType node_pointer)
 {
   // Forward pointers to detail implmentation directly.
-  return detail::get_node_topics_interface_from_pointer(std::forward<NodeType>(node_pointer));
+  return detail::get_node_topics_interface_from_pointer(node_pointer);
 }
 
 /// Get the NodeTopicsInterface as a pointer from a "Node like" object.
 template<
   typename NodeType,
-  typename std::enable_if<!std::is_pointer<NodeType>::value, int>::type = 0
+  typename std::enable_if<
+    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
+  >::type = 0
 >
 rclcpp::node_interfaces::NodeTopicsInterface *
 get_node_topics_interface(NodeType && node_reference)

rclcpp/include/rclcpp/parameter_client.hpp

@@ -46,6 +46,15 @@ class AsyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient)
 
+  /// Create an async parameters client.
+  /**
+   * \param[in] node_base_interface The node base interface of the corresponding node.
+   * \param[in] node_topics_interface Node topic base interface.
+   * \param[in] node_graph_interface The node graph interface of the corresponding node.
+   * \param[in] node_services_interface Node service interface.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   */
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
@@ -55,12 +64,24 @@ public:
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
+  /// Constructor
+  /**
+   * \param[in] node The async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   */
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
+  /// Constructor
+  /**
+   * \param[in] node The  async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   */
   RCLCPP_PUBLIC
   AsyncParametersClient(
     rclcpp::Node * node,

rclcpp/include/rclcpp/service.hpp

@@ -156,6 +156,16 @@ public:
     }
   }
 
+  /// Default constructor.
+  /**
+   * The constructor for a Service is almost never called directly.
+   * Instead, services should be instantiated through the function
+   * rclcpp::create_service().
+   *
+   * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
+   * \param[in] service_handle service handle.
+   * \param[in] any_callback User defined callback to call when a client request is received.
+   */
   Service(
     std::shared_ptr<rcl_node_t> node_handle,
     std::shared_ptr<rcl_service_t> service_handle,
@@ -174,6 +184,16 @@ public:
     service_handle_ = service_handle;
   }
 
+  /// Default constructor.
+  /**
+   * The constructor for a Service is almost never called directly.
+   * Instead, services should be instantiated through the function
+   * rclcpp::create_service().
+   *
+   * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
+   * \param[in] service_handle service handle.
+   * \param[in] any_callback User defined callback to call when a client request is received.
+   */
   Service(
     std::shared_ptr<rcl_node_t> node_handle,
     rcl_service_t * service_handle,

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -65,7 +65,12 @@ struct SubscriptionFactory
   SetupIntraProcessFunction setup_intra_process;
 };
 
-/// Return a SubscriptionFactory with functions for creating a SubscriptionT<MessageT, Alloc>.
+/// Return a SubscriptionFactory setup to create a SubscriptionT<MessageT, AllocatorT>.
+/**
+ * \param[in] callback The user-defined callback function to receive a message
+ * \param[in] options Additional options for the creation of the Subscription.
+ * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
+ */
 template<
   typename MessageT,
   typename CallbackT,

rclcpp/include/rclcpp/time.hpp

@@ -34,17 +34,32 @@ public:
   RCLCPP_PUBLIC
   Time(int32_t seconds, uint32_t nanoseconds, rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
 
+  /// Time constructor
+  /**
+   * \param nanoseconds since time epoch
+   * \param clock clock type
+   */
   RCLCPP_PUBLIC
   explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock = RCL_SYSTEM_TIME);
 
   RCLCPP_PUBLIC
   Time(const Time & rhs);
 
+  /// Time constructor
+  /**
+   * \param time_msg builtin_interfaces time message to copy
+   * \param ros_time clock type
+   * \throws std::runtime_error if seconds are negative
+   */
   RCLCPP_PUBLIC
   Time(
     const builtin_interfaces::msg::Time & time_msg,
     rcl_clock_type_t ros_time = RCL_ROS_TIME);
 
+  /// Time constructor
+  /**
+   * \param time_point rcl_time_point_t structure to copy
+   */
   RCLCPP_PUBLIC
   explicit Time(const rcl_time_point_t & time_point);
 

rclcpp/include/rclcpp/timer.hpp

@@ -126,6 +126,7 @@ public:
    * \param[in] clock The clock providing the current time.
    * \param[in] period The interval at which the timer fires.
    * \param[in] callback User-specified callback function.
+   * \param[in] context custom context to be used.
    */
   explicit GenericTimer(
     Clock::SharedPtr clock, std::chrono::nanoseconds period, FunctorT && callback,

rclcpp/include/rclcpp/waitable.hpp

@@ -119,7 +119,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   bool
-  is_ready(rcl_wait_set_t *) = 0;
+  is_ready(rcl_wait_set_t * wait_set) = 0;
 
   /// Execute any entities of the Waitable that are ready.
   /**

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>0.7.8</version>
+  <version>0.7.14</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp/src/rclcpp/clock.cpp

@@ -35,7 +35,7 @@ Clock::Clock(rcl_clock_type_t clock_type)
   allocator_ = rcl_get_default_allocator();
   auto ret = rcl_clock_init(clock_type, &rcl_clock_, &allocator_);
   if (ret != RCL_RET_OK) {
-    exceptions::throw_from_rcl_error(ret, "could not get current time stamp");
+    exceptions::throw_from_rcl_error(ret, "failed to initialize rcl clock");
   }
 }
 

rclcpp/src/rclcpp/executor.cpp

@@ -140,6 +140,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
     }
   }
   // Add the node's notify condition to the guard condition handles
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -178,6 +179,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
       }
     }
   }
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -232,7 +234,7 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
     throw std::runtime_error("spin_some() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  while (spinning.load() && max_duration_not_elapsed()) {
+  while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
     if (get_next_executable(any_exec, std::chrono::milliseconds::zero())) {
       execute_any_executable(any_exec);
@@ -242,6 +244,15 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
   }
 }
 
+void
+Executor::spin_once_impl(std::chrono::nanoseconds timeout)
+{
+  AnyExecutable any_exec;
+  if (get_next_executable(any_exec, timeout)) {
+    execute_any_executable(any_exec);
+  }
+}
+
 void
 Executor::spin_once(std::chrono::nanoseconds timeout)
 {
@@ -249,10 +260,7 @@ Executor::spin_once(std::chrono::nanoseconds timeout)
     throw std::runtime_error("spin_once() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  AnyExecutable any_exec;
-  if (get_next_executable(any_exec, timeout)) {
-    execute_any_executable(any_exec);
-  }
+  spin_once_impl(timeout);
 }
 
 void
@@ -423,43 +431,47 @@ Executor::execute_client(
 void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
-  // Collect the subscriptions and timers to be waited on
-  memory_strategy_->clear_handles();
-  bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+  {
+    std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
 
-  // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_nodes) {
-    auto node_it = weak_nodes_.begin();
-    auto gc_it = guard_conditions_.begin();
-    while (node_it != weak_nodes_.end()) {
-      if (node_it->expired()) {
-        node_it = weak_nodes_.erase(node_it);
-        memory_strategy_->remove_guard_condition(*gc_it);
-        gc_it = guard_conditions_.erase(gc_it);
-      } else {
-        ++node_it;
-        ++gc_it;
+    // Collect the subscriptions and timers to be waited on
+    memory_strategy_->clear_handles();
+    bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+
+    // Clean up any invalid nodes, if they were detected
+    if (has_invalid_weak_nodes) {
+      auto node_it = weak_nodes_.begin();
+      auto gc_it = guard_conditions_.begin();
+      while (node_it != weak_nodes_.end()) {
+        if (node_it->expired()) {
+          node_it = weak_nodes_.erase(node_it);
+          memory_strategy_->remove_guard_condition(*gc_it);
+          gc_it = guard_conditions_.erase(gc_it);
+        } else {
+          ++node_it;
+          ++gc_it;
+        }
       }
     }
-  }
-  // clear wait set
-  if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
-    throw std::runtime_error("Couldn't clear wait set");
-  }
+    // clear wait set
+    if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
+      throw std::runtime_error("Couldn't clear wait set");
+    }
 
-  // The size of waitables are accounted for in size of the other entities
-  rcl_ret_t ret = rcl_wait_set_resize(
-    &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
-    memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
-    memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
-    memory_strategy_->number_of_ready_events());
-  if (RCL_RET_OK != ret) {
-    throw std::runtime_error(
-            std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
-  }
+    // The size of waitables are accounted for in size of the other entities
+    rcl_ret_t ret = rcl_wait_set_resize(
+      &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
+      memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
+      memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
+      memory_strategy_->number_of_ready_events());
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error(
+              std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
+    }
 
-  if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
-    throw std::runtime_error("Couldn't fill wait set");
+    if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
+      throw std::runtime_error("Couldn't fill wait set");
+    }
   }
   rcl_ret_t status =
     rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -83,6 +83,11 @@ MultiThreadedExecutor::run(size_t)
       if (any_exec.timer) {
         // Guard against multiple threads getting the same timer.
         if (scheduled_timers_.count(any_exec.timer) != 0) {
+          // Make sure that any_exec's callback group is reset before
+          // the lock is released.
+          if (any_exec.callback_group) {
+            any_exec.callback_group->can_be_taken_from().store(true);
+          }
           continue;
         }
         scheduled_timers_.insert(any_exec.timer);

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

@@ -320,9 +320,11 @@ rclcpp::Event::SharedPtr
 NodeGraph::get_graph_event()
 {
   auto event = rclcpp::Event::make_shared();
-  std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
-  graph_events_.push_back(event);
-  graph_users_count_++;
+  {
+    std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
+    graph_events_.push_back(event);
+    graph_users_count_++;
+  }
   // on first call, add node to graph_listener_
   if (should_add_to_graph_listener_.exchange(false)) {
     graph_listener_->add_node(this);

rclcpp/test/node_interfaces/test_get_node_interfaces.cpp

@@ -85,6 +85,26 @@ TEST_F(TestGetNodeInterfaces, node_reference) {
     >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
 }
 
+TEST_F(TestGetNodeInterfaces, rclcpp_node_pointer) {
+  rclcpp::Node * node_pointer = this->node.get();
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(node_pointer);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
+TEST_F(TestGetNodeInterfaces, node_pointer) {
+  NodeWrapper * wrapped_node_pointer = this->wrapped_node.get();
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(wrapped_node_pointer);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
 TEST_F(TestGetNodeInterfaces, interface_shared_pointer) {
   std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> interface_shared_ptr =
     this->node->get_node_topics_interface();

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,29 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.7.14 (2020-07-10)
+-------------------
+* Fixed doxygen warnings. (`#1208 <https://github.com/ros2/rclcpp/issues/1208>`_)
+* Contributors: Alejandro Hernández Cordero
+
+0.7.13 (2020-03-12)
+-------------------
+
+0.7.12 (2019-12-05)
+-------------------
+* Fixed memory leak in action clients (`#934 <https://github.com/ros2/rclcpp/issues/934>`_)
+* Do not throw exception in action client if take fails (`#891 <https://github.com/ros2/rclcpp/issues/891>`_)
+* Contributors: Ivan Santiago Paunovic, Jacob Perron
+
+0.7.11 (2019-10-11)
+-------------------
+
+0.7.10 (2019-09-23)
+-------------------
+
+0.7.9 (2019-09-20)
+------------------
+
 0.7.8 (2019-09-06)
 ------------------
 

rclcpp_action/include/rclcpp_action/create_client.hpp

@@ -30,10 +30,10 @@ namespace rclcpp_action
  * This function is equivalent to \sa create_client()` however is using the individual
  * node interfaces to create the client.
  *
- * \param node_base_interface[in] The node base interface of the corresponding node.
- * \param node_graph_interface[in] The node graph interface of the corresponding node.
- * \param node_logging_interface[in] The node logging interface of the corresponding node.
- * \param node_waitables_interface[in] The node waitables interface of the corresponding node.
+ * \param[in] node_base_interface The node base interface of the corresponding node.
+ * \param[in] node_graph_interface The node graph interface of the corresponding node.
+ * \param[in] node_logging_interface The node logging interface of the corresponding node.
+ * \param[in] node_waitables_interface The node waitables interface of the corresponding node.
  * \param[in] name The action name.
  * \param[in] group The action client will be added to this callback group.
  *   If `nullptr`, then the action client is added to the default callback group.

rclcpp_action/include/rclcpp_action/create_server.hpp

@@ -39,18 +39,18 @@ namespace rclcpp_action
  *
  * \sa Server::Server() for more information.
  *
- * \param node_base_interface[in] The node base interface of the corresponding node.
- * \param node_clock_interface[in] The node clock interface of the corresponding node.
- * \param node_logging_interface[in] The node logging interface of the corresponding node.
- * \param node_waitables_interface[in] The node waitables interface of the corresponding node.
- * \param name[in] The action name.
+ * \param[in] node_base_interface The node base interface of the corresponding node.
+ * \param[in] node_clock_interface The node clock interface of the corresponding node.
+ * \param[in] node_logging_interface The node logging interface of the corresponding node.
+ * \param[in] node_waitables_interface The node waitables interface of the corresponding node.
+ * \param[in] name The action name.
  * \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
  * \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
  *  The return from this callback only indicates if the server will try to cancel a goal.
  *  It does not indicate if the goal was actually canceled.
  * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
  * \param[in] options options to pass to the underlying `rcl_action_server_t`.
- * \param group[in] The action server will be added to this callback group.
+ * \param[in] group The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */
 template<typename ActionT>
@@ -117,15 +117,15 @@ create_server(
  *
  * \sa Server::Server() for more information.
  *
- * \param node[in] The action server will be added to this node.
- * \param name[in] The action name.
+ * \param[in] node] The action server will be added to this node.
+ * \param[in] name The action name.
  * \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
  * \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
  *  The return from this callback only indicates if the server will try to cancel a goal.
  *  It does not indicate if the goal was actually canceled.
  * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
  * \param[in] options options to pass to the underlying `rcl_action_server_t`.
- * \param group[in] The action server will be added to this callback group.
+ * \param[in] group The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */
 template<typename ActionT>

rclcpp_action/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_action</name>
-  <version>0.7.8</version>
+  <version>0.7.14</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp_action/src/client.cpp

@@ -165,11 +165,11 @@ ClientBase::wait_for_action_server_nanoseconds(std::chrono::nanoseconds timeout)
   if (!node_ptr) {
     throw rclcpp::exceptions::InvalidNodeError();
   }
-  auto event = node_ptr->get_graph_event();
   // check to see if the server is ready immediately
   if (this->action_server_is_ready()) {
     return true;
   }
+  auto event = node_ptr->get_graph_event();
   if (timeout == std::chrono::nanoseconds(0)) {
     // check was non-blocking, return immediately
     return false;
@@ -388,20 +388,20 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_feedback(
       pimpl_->client_handle.get(), feedback_message.get());
     pimpl_->is_feedback_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_feedback_message(feedback_message);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
     }
   } else if (pimpl_->is_status_ready) {
     std::shared_ptr<void> status_message = this->create_status_message();
     rcl_ret_t ret = rcl_action_take_status(
       pimpl_->client_handle.get(), status_message.get());
     pimpl_->is_status_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_status_message(status_message);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
     }
   } else if (pimpl_->is_goal_response_ready) {
     rmw_request_id_t response_header;
@@ -409,10 +409,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_goal_response(
       pimpl_->client_handle.get(), &response_header, goal_response.get());
     pimpl_->is_goal_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_goal_response(response_header, goal_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
     }
   } else if (pimpl_->is_result_response_ready) {
     rmw_request_id_t response_header;
@@ -420,10 +420,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_result_response(
       pimpl_->client_handle.get(), &response_header, result_response.get());
     pimpl_->is_result_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_result_response(response_header, result_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
     }
   } else if (pimpl_->is_cancel_response_ready) {
     rmw_request_id_t response_header;
@@ -431,10 +431,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_cancel_response(
       pimpl_->client_handle.get(), &response_header, cancel_response.get());
     pimpl_->is_cancel_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_cancel_response(response_header, cancel_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
     }
   } else {
     throw std::runtime_error("Executing action client but nothing is ready");

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,30 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.14 (2020-07-10)
+-------------------
+* Added rclcpp_components Doxyfile. (`#1201 <https://github.com/ros2/rclcpp/issues/1201>`_)
+* Contributors: Alejandro Hernández Cordero
+
+0.7.13 (2020-03-12)
+-------------------
+* Remove absolute path from installed CMake code.  (`#949 <https://github.com/ros2/rclcpp/issues/949>`_)
+* Contributors: Jacob Perron
+
+0.7.12 (2019-12-05)
+-------------------
+* Backport rclcpp_components_register_node (`#935 <https://github.com/ros2/rclcpp/issues/935>`_)
+* Contributors: Shane Loretz
+
+0.7.11 (2019-10-11)
+-------------------
+
+0.7.10 (2019-09-23)
+-------------------
+
+0.7.9 (2019-09-20)
+------------------
+
 0.7.8 (2019-09-06)
 ------------------
 

rclcpp_components/CMakeLists.txt

@@ -41,6 +41,11 @@ ament_target_dependencies(component_container
   "rclcpp"
 )
 
+set(node_main_template_install_dir "share/${PROJECT_NAME}")
+install(FILES
+  src/node_main.cpp.in
+  DESTINATION ${node_main_template_install_dir})
+
 add_executable(
   component_container_mt
   src/component_container_mt.cpp
@@ -119,4 +124,4 @@ install(
 ament_export_include_directories(include)
 ament_export_dependencies(class_loader)
 ament_export_dependencies(rclcpp)
-ament_package(CONFIG_EXTRAS rclcpp_components-extras.cmake)
+ament_package(CONFIG_EXTRAS rclcpp_components-extras.cmake.in)

rclcpp_components/Doxyfile

@@ -0,0 +1,33 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "rclcpp_components"
+PROJECT_NUMBER         = master
+PROJECT_BRIEF          = "Package containing tools for dynamically loadable components"
+
+# Use these lines to include the generated logging.hpp (update install path if needed)
+# Otherwise just generate for the local (non-generated header files)
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             = RCLCPP_COMPONENTS_PUBLIC=
+
+# Tag files that do not exist will produce a warning and cross-project linking will not work.
+TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
+# Consider changing "latest" to the version you want to reference (e.g. beta1 or 1.0.0)
+TAGFILES += "../../../../doxygen_tag_files/class_loader.tag=http://docs.ros2.org/latest/api/class_loader/"
+TAGFILES += "../../../../doxygen_tag_files/rclcpp.tag=http://docs.ros2.org/latest/api/rclcpp/"
+TAGFILES += "../../../../doxygen_tag_files/rcl.tag=http://docs.ros2.org/latest/api/rcl/"
+TAGFILES += "../../../../doxygen_tag_files/rcutils.tag=http://docs.ros2.org/latest/api/rcutils/"
+TAGFILES += "../../../../doxygen_tag_files/rmw.tag=http://docs.ros2.org/latest/api/rmw/"
+# Uncomment to generate tag files for cross-project linking.
+GENERATE_TAGFILE = "../../../../doxygen_tag_files/rclcpp_components.tag"

rclcpp_components/cmake/rclcpp_components_register_node.cmake

@@ -0,0 +1,52 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# usage: rclcpp_components_register_node(
+#        <target> PLUGIN <component> EXECUTABLE <node>)
+#
+# Register an rclcpp component with the ament
+# resource index and create an executable.
+#
+# :param target: the shared library target
+# :type target: string
+# :param PLUGIN: the plugin name
+# :type PLUGIN: string
+# :type EXECUTABLE: the node's executable name
+# :type EXECUTABLE: string
+#
+macro(rclcpp_components_register_node target)
+  cmake_parse_arguments(ARGS "" "PLUGIN;EXECUTABLE" "" ${ARGN})
+  set(component ${ARGS_PLUGIN})
+  set(node ${ARGS_EXECUTABLE})
+  _rclcpp_components_register_package_hook()
+  set(_path "lib")
+  set(library_name "$<TARGET_FILE_NAME:${target}>")
+  if(WIN32)
+    set(_path "bin")
+  endif()
+  set(_RCLCPP_COMPONENTS__NODES
+    "${_RCLCPP_COMPONENTS__NODES}${component};${_path}/$<TARGET_FILE_NAME:${target}>\n")
+  configure_file(${rclcpp_components_NODE_TEMPLATE}
+    ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_configured_${node}.cpp.in)
+  file(GENERATE OUTPUT ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp
+    INPUT ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_configured_${node}.cpp.in)
+  add_executable(${node} ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp)
+  ament_target_dependencies(${node}
+    "rclcpp"
+    "class_loader"
+    "rclcpp_components")
+  install(TARGETS
+    ${node}
+    DESTINATION lib/${PROJECT_NAME})
+endmacro()

rclcpp_components/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_components</name>
-  <version>0.7.8</version>
+  <version>0.7.14</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>

rclcpp_components/rclcpp_components-extras.cmake.in

@@ -25,5 +25,8 @@ macro(_rclcpp_components_register_package_hook)
   endif()
 endmacro()
 
-include("${rclcpp_components_DIR}/rclcpp_components_register_nodes.cmake")
+get_filename_component(@PROJECT_NAME@_SHARE_DIR "${@PROJECT_NAME@_DIR}" DIRECTORY)
+set(@PROJECT_NAME@_NODE_TEMPLATE "${@PROJECT_NAME@_SHARE_DIR}/node_main.cpp.in")
 
+include("${rclcpp_components_DIR}/rclcpp_components_register_nodes.cmake")
+include("${rclcpp_components_DIR}/rclcpp_components_register_node.cmake")

rclcpp_components/src/node_main.cpp.in

@@ -0,0 +1,66 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "class_loader/class_loader.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/node_factory.hpp"
+#include "rclcpp_components/node_factory_template.hpp"
+
+#define NODE_MAIN_LOGGER_NAME "@node@"
+
+int main(int argc, char * argv[])
+{
+  auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+  rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
+  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+  options.arguments(args);
+  std::vector<class_loader::ClassLoader * > loaders;
+  std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
+
+  std::string library_name = "@library_name@";
+  std::string class_name = "rclcpp_components::NodeFactoryTemplate<@component@>";
+
+  RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
+  auto loader = new class_loader::ClassLoader(library_name);
+  auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
+  for (auto clazz : classes) {
+    std::string name = clazz.c_str();
+    if (!(name.compare(class_name))) {
+      RCLCPP_DEBUG(logger, "Instantiate class %s", clazz.c_str());
+      auto node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz);
+      auto wrapper = node_factory->create_node_instance(options);
+      auto node = wrapper.get_node_base_interface();
+      node_wrappers.push_back(wrapper);
+      exec.add_node(node);
+    }
+  }
+  loaders.push_back(loader);
+
+
+  exec.spin();
+
+  for (auto wrapper : node_wrappers) {
+    exec.remove_node(wrapper.get_node_base_interface());
+  }
+  node_wrappers.clear();
+
+  rclcpp::shutdown();
+
+  return 0;
+}

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,28 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.7.14 (2020-07-10)
+-------------------
+* Fixed doxygen warnings. (`#1208 <https://github.com/ros2/rclcpp/issues/1208>`_)
+* Contributors: Alejandro Hernández Cordero
+
+0.7.13 (2020-03-12)
+-------------------
+
+0.7.12 (2019-12-05)
+-------------------
+
+0.7.11 (2019-10-11)
+-------------------
+
+0.7.10 (2019-09-23)
+-------------------
+* reset error message before setting a new one, embed the original one (`#854 <https://github.com/ros2/rclcpp/issues/854>`_) (`#866 <https://github.com/ros2/rclcpp/issues/866>`_)
+* Contributors: Dirk Thomas, Zachary Michaels
+
+0.7.9 (2019-09-20)
+------------------
+
 0.7.8 (2019-09-06)
 ------------------
 * Fixed error messages which were not printing to console. (`#777 <https://github.com/ros2/rclcpp/issues/777>`_) (`#847 <https://github.com/ros2/rclcpp/issues/847>`_)

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -103,7 +103,6 @@ public:
   /// Create a new lifecycle node with the specified name.
   /**
    * \param[in] node_name Name of the node.
-   * \param[in] namespace_ Namespace of the node.
    * \param[in] options Additional options to control creation of the node.
    */
   RCLCPP_LIFECYCLE_PUBLIC

rclcpp_lifecycle/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_lifecycle</name>
-  <version>0.7.8</version>
+  <version>0.7.14</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>

rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp

@@ -369,6 +369,7 @@ public:
     {
       RCUTILS_LOG_ERROR("Unable to start transition %u from current state %s: %s",
         transition_id, state_machine_.current_state->label, rcl_get_error_string().str);
+      rcutils_reset_error();
       return RCL_RET_ERROR;
     }
 
@@ -389,8 +390,10 @@ public:
     if (rcl_lifecycle_trigger_transition_by_label(
         &state_machine_, transition_label, publish_update) != RCL_RET_OK)
     {
-      RCUTILS_LOG_ERROR("Failed to finish transition %u. Current state is now: %s",
-        transition_id, state_machine_.current_state->label);
+      RCUTILS_LOG_ERROR(
+        "Failed to finish transition %u. Current state is now: %s (%s)",
+        transition_id, state_machine_.current_state->label, rcl_get_error_string().str);
+      rcutils_reset_error();
       return RCL_RET_ERROR;
     }
 
@@ -404,7 +407,8 @@ public:
       if (rcl_lifecycle_trigger_transition_by_label(
           &state_machine_, error_cb_label, publish_update) != RCL_RET_OK)
       {
-        RCUTILS_LOG_ERROR("Failed to call cleanup on error state");
+        RCUTILS_LOG_ERROR("Failed to call cleanup on error state: %s", rcl_get_error_string().str);
+        rcutils_reset_error();
         return RCL_RET_ERROR;
       }
     }