16.0.13

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

rclcpp/CHANGELOG.rst

@@ -2,6 +2,22 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+16.0.13 (2025-06-23)
+--------------------
+* Fix for memory leaks in rclcpp::SerializedMessage (`#2861 <https://github.com/ros2/rclcpp/issues/2861>`_) (`#2865 <https://github.com/ros2/rclcpp/issues/2865>`_)
+* Added missing chrono includes (backport `#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2857 <https://github.com/ros2/rclcpp/issues/2857>`_)
+* QoSInitialization::from_rmw does not validate invalid history policy … (backport `#2841 <https://github.com/ros2/rclcpp/issues/2841>`_) (`#2844 <https://github.com/ros2/rclcpp/issues/2844>`_)
+* throws std::invalid_argument if ParameterEvent is NULL. (`#2814 <https://github.com/ros2/rclcpp/issues/2814>`_) (`#2824 <https://github.com/ros2/rclcpp/issues/2824>`_)
+* remove redundant typesupport check in serialization module (`#2808 <https://github.com/ros2/rclcpp/issues/2808>`_) (`#2816 <https://github.com/ros2/rclcpp/issues/2816>`_)
+* Contributors: mergify[bot]
+
+16.0.12 (2025-03-25)
+--------------------
+* doc: Added warning to not instantiate Clock directly with RCL_ROS_TIME (`#2768 <https://github.com/ros2/rclcpp/issues/2768>`_) (`#2770 <https://github.com/ros2/rclcpp/issues/2770>`_)
+* apply actual QoS from rmw to the IPC publisher. (backport `#2707 <https://github.com/ros2/rclcpp/issues/2707>`_) (`#2711 <https://github.com/ros2/rclcpp/issues/2711>`_)
+* Adding in topic name to logging on IPC issues (`#2706 <https://github.com/ros2/rclcpp/issues/2706>`_) (`#2709 <https://github.com/ros2/rclcpp/issues/2709>`_)
+* Contributors: mergify[bot]
+
 16.0.11 (2024-11-25)
 --------------------
 * Fix subscription.is_serialized() for callbacks with message info (`#1950 <https://github.com/ros2/rclcpp/issues/1950>`_) (`#2622 <https://github.com/ros2/rclcpp/issues/2622>`_)

rclcpp/include/rclcpp/clock.hpp

@@ -60,6 +60,13 @@ public:
   /**
    * Initializes the clock instance with the given clock_type.
    *
+   * WARNING Don't instantiate a clock using RCL_ROS_TIME directly,
+   * unless you really know what you are doing. By default no TimeSource
+   * is attached to a new clock. This will lead to the unexpected behavior,
+   * that your RCL_ROS_TIME will run always on system time. If you want
+   * a RCL_ROS_TIME use Node::get_clock(), or make sure to attach a
+   * TimeSource yourself.
+   *
    * \param clock_type type of the clock.
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    */

rclcpp/include/rclcpp/parameter_events_filter.hpp

@@ -45,6 +45,7 @@ public:
    * \param[in] names A list of parameter names of interest.
    * \param[in] types A list of the types of parameter events of iterest.
    *    EventType NEW, DELETED, or CHANGED
+   * \throws std::invalid_argument if event is NULL.
    *
    * Example Usage:
    *

rclcpp/include/rclcpp/publisher.hpp

@@ -177,8 +177,7 @@ public:
     const rclcpp::QoS & qos,
     const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
   {
-    // Topic is unused for now.
-    (void)topic;
+    (void)qos;
     (void)options;
 
     // If needed, setup intra process communication.
@@ -186,19 +185,23 @@ public:
       auto context = node_base->get_context();
       // Get the intra process manager instance for this context.
       auto ipm = context->get_sub_context<rclcpp::experimental::IntraProcessManager>();
-      // Register the publisher with the intra process manager.
-      if (qos.history() != rclcpp::HistoryPolicy::KeepLast) {
+      // Check if the QoS is compatible with intra-process.
+      auto qos_profile = get_actual_qos();
+      if (qos_profile.history() != rclcpp::HistoryPolicy::KeepLast) {
         throw std::invalid_argument(
-                "intraprocess communication allowed only with keep last history qos policy");
+                "intraprocess communication on topic '" + topic +
+                "' allowed only with keep last history qos policy");
       }
-      if (qos.depth() == 0) {
+      if (qos_profile.depth() == 0) {
         throw std::invalid_argument(
-                "intraprocess communication is not allowed with a zero qos history depth value");
+                "intraprocess communication on topic '" + topic +
+                "' is not allowed with a zero qos history depth value");
       }
-      if (qos.durability() != rclcpp::DurabilityPolicy::Volatile) {
+      if (qos_profile.durability() != rclcpp::DurabilityPolicy::Volatile) {
         throw std::invalid_argument(
                 "intraprocess communication allowed only with volatile durability");
       }
+      // Register the publisher with the intra process manager.
       uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this());
       this->setup_intra_process(
         intra_process_publisher_id,

rclcpp/include/rclcpp/subscription.hpp

@@ -186,11 +186,13 @@ public:
       auto qos_profile = get_actual_qos();
       if (qos_profile.history() != rclcpp::HistoryPolicy::KeepLast) {
         throw std::invalid_argument(
-                "intraprocess communication allowed only with keep last history qos policy");
+                "intraprocess communication on topic '" + topic_name +
+                "' allowed only with keep last history qos policy");
       }
       if (qos_profile.depth() == 0) {
         throw std::invalid_argument(
-                "intraprocess communication is not allowed with 0 depth qos policy");
+                "intraprocess communication on topic '" + topic_name +
+                "' is not allowed with 0 depth qos policy");
       }
       if (qos_profile.durability() != rclcpp::DurabilityPolicy::Volatile) {
         throw std::invalid_argument(

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>16.0.11</version>
+  <version>16.0.13</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>

rclcpp/src/rclcpp/parameter_events_filter.cpp

@@ -28,6 +28,9 @@ ParameterEventsFilter::ParameterEventsFilter(
   const std::vector<EventType> & types)
 : event_(event)
 {
+  if (!event) {
+    throw std::invalid_argument("event cannot be null");
+  }
   if (std::find(types.begin(), types.end(), EventType::NEW) != types.end()) {
     for (auto & new_parameter : event->new_parameters) {
       if (std::find(names.begin(), names.end(), new_parameter.name) != names.end()) {

rclcpp/src/rclcpp/qos.cpp

@@ -56,8 +56,10 @@ QoSInitialization::from_rmw(const rmw_qos_profile_t & rmw_qos)
     case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
     case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
     case RMW_QOS_POLICY_HISTORY_UNKNOWN:
-    default:
       return KeepLast(rmw_qos.depth);
+    default:
+      throw std::invalid_argument(
+              "Invalid history policy enum value passed to QoSInitialization::from_rmw");
   }
 }
 

rclcpp/src/rclcpp/serialization.cpp

@@ -36,7 +36,6 @@ SerializationBase::SerializationBase(const rosidl_message_type_support_t * type_
 void SerializationBase::serialize_message(
   const void * ros_message, SerializedMessage * serialized_message) const
 {
-  rcpputils::check_true(nullptr != type_support_, "Typesupport is nullpointer.");
   rcpputils::check_true(nullptr != ros_message, "ROS message is nullpointer.");
   rcpputils::check_true(nullptr != serialized_message, "Serialized message is nullpointer.");
 
@@ -52,7 +51,6 @@ void SerializationBase::serialize_message(
 void SerializationBase::deserialize_message(
   const SerializedMessage * serialized_message, void * ros_message) const
 {
-  rcpputils::check_true(nullptr != type_support_, "Typesupport is nullpointer.");
   rcpputils::check_true(nullptr != serialized_message, "Serialized message is nullpointer.");
   rcpputils::check_true(
     0u != serialized_message->capacity(),

rclcpp/src/rclcpp/serialized_message.cpp

@@ -26,8 +26,13 @@ namespace rclcpp
 
 inline void copy_rcl_message(const rcl_serialized_message_t & from, rcl_serialized_message_t & to)
 {
-  const auto ret = rmw_serialized_message_init(
-    &to, from.buffer_capacity, &from.allocator);
+  auto ret = RCL_RET_ERROR;
+  if (nullptr == to.buffer) {
+    ret = rmw_serialized_message_init(&to, from.buffer_capacity, &from.allocator);
+  } else {
+    ret = rmw_serialized_message_resize(&to, from.buffer_capacity);
+  }
+
   if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
@@ -78,7 +83,6 @@ SerializedMessage::SerializedMessage(rcl_serialized_message_t && other)
 SerializedMessage & SerializedMessage::operator=(const SerializedMessage & other)
 {
   if (this != &other) {
-    serialized_message_ = rmw_get_zero_initialized_serialized_message();
     copy_rcl_message(other.serialized_message_, serialized_message_);
   }
 
@@ -88,7 +92,6 @@ SerializedMessage & SerializedMessage::operator=(const SerializedMessage & other
 SerializedMessage & SerializedMessage::operator=(const rcl_serialized_message_t & other)
 {
   if (&serialized_message_ != &other) {
-    serialized_message_ = rmw_get_zero_initialized_serialized_message();
     copy_rcl_message(other, serialized_message_);
   }
 
@@ -98,6 +101,14 @@ SerializedMessage & SerializedMessage::operator=(const rcl_serialized_message_t
 SerializedMessage & SerializedMessage::operator=(SerializedMessage && other)
 {
   if (this != &other) {
+    if (nullptr != serialized_message_.buffer) {
+      const auto fini_ret = rmw_serialized_message_fini(&serialized_message_);
+      if (RCL_RET_OK != fini_ret) {
+        RCLCPP_ERROR(
+          get_logger("rclcpp"),
+          "Failed to destroy serialized message: %s", rcl_get_error_string().str);
+      }
+    }
     serialized_message_ =
       std::exchange(other.serialized_message_, rmw_get_zero_initialized_serialized_message());
   }
@@ -108,6 +119,14 @@ SerializedMessage & SerializedMessage::operator=(SerializedMessage && other)
 SerializedMessage & SerializedMessage::operator=(rcl_serialized_message_t && other)
 {
   if (&serialized_message_ != &other) {
+    if (nullptr != serialized_message_.buffer) {
+      const auto fini_ret = rmw_serialized_message_fini(&serialized_message_);
+      if (RCL_RET_OK != fini_ret) {
+        RCLCPP_ERROR(
+          get_logger("rclcpp"),
+          "Failed to destroy serialized message: %s", rcl_get_error_string().str);
+      }
+    }
     serialized_message_ =
       std::exchange(other, rmw_get_zero_initialized_serialized_message());
   }

rclcpp/test/benchmark/benchmark_executor.cpp

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <chrono>
 #include <memory>
 #include <string>
 #include <utility>

rclcpp/test/rclcpp/test_create_subscription.cpp

@@ -93,3 +93,19 @@ TEST_F(TestCreateSubscription, create_with_statistics) {
   ASSERT_NE(nullptr, subscription);
   EXPECT_STREQ("/ns/topic_name", subscription->get_topic_name());
 }
+
+TEST_F(TestCreateSubscription, create_with_intra_process_com) {
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+  auto options = rclcpp::SubscriptionOptions();
+  options.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
+
+  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
+  rclcpp::Subscription<test_msgs::msg::Empty>::SharedPtr subscription;
+  ASSERT_NO_THROW(
+  {
+    subscription = rclcpp::create_subscription<test_msgs::msg::Empty>(
+      node, "topic_name", rclcpp::SystemDefaultsQoS(), callback, options);
+  });
+  ASSERT_NE(nullptr, subscription);
+  EXPECT_STREQ("/ns/topic_name", subscription->get_topic_name());
+}

rclcpp/test/rclcpp/test_generic_pubsub.cpp

@@ -15,6 +15,7 @@
 
 #include <gmock/gmock.h>
 
+#include <chrono>
 #include <future>
 #include <memory>
 #include <string>

rclcpp/test/rclcpp/test_parameter_events_filter.cpp

@@ -72,6 +72,13 @@ protected:
 /*
    Testing filters.
  */
+TEST_F(TestParameterEventFilter, invalide_arguments) {
+  EXPECT_THROW(
+    rclcpp::ParameterEventsFilter(nullptr, {"new"}, {nt}),
+    std::invalid_argument
+  );
+}
+
 TEST_F(TestParameterEventFilter, full_by_type) {
   auto res = rclcpp::ParameterEventsFilter(
     full,

rclcpp/test/rclcpp/test_parameter_service.cpp

@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <chrono>
 #include <memory>
 #include <string>
 #include <utility>

rclcpp/test/rclcpp/test_publisher.cpp

@@ -176,6 +176,21 @@ TEST_F(TestPublisher, various_creation_signatures) {
   }
 }
 
+/*
+   Testing publisher with intraprocess enabled and SystemDefaultQoS
+ */
+TEST_F(TestPublisher, test_publisher_with_system_default_qos) {
+  initialize(rclcpp::NodeOptions().use_intra_process_comms(false));
+  // explicitly enable intra-process comm with publisher option
+  auto options = rclcpp::PublisherOptions();
+  options.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
+  using test_msgs::msg::Empty;
+  ASSERT_NO_THROW(
+  {
+    auto publisher = node->create_publisher<Empty>("topic", rclcpp::SystemDefaultsQoS());
+  });
+}
+
 /*
    Testing publisher with intraprocess enabled and invalid QoS
  */
@@ -418,11 +433,10 @@ TEST_F(TestPublisher, intra_process_publish_failures) {
       publisher->publish(std::move(loaned_msg)),
       std::runtime_error("loaned message is not valid"));
   }
-  RCLCPP_EXPECT_THROW_EQ(
-    node->create_publisher<test_msgs::msg::Empty>(
-      "topic", rclcpp::QoS(0), options),
-    std::invalid_argument(
-      "intraprocess communication is not allowed with a zero qos history depth value"));
+  // a zero depth with KEEP_LAST doesn't make sense,
+  // this will be interpreted as SystemDefaultQoS by rclcpp.
+  EXPECT_NO_THROW(
+    node->create_publisher<test_msgs::msg::Empty>("topic", rclcpp::QoS(0), options));
 }
 
 TEST_F(TestPublisher, inter_process_publish_failures) {

rclcpp/test/rclcpp/test_qos.cpp

@@ -250,3 +250,15 @@ TEST(TestQoS, qos_check_compatible)
     EXPECT_FALSE(ret.reason.empty());
   }
 }
+
+TEST(TestQoS, from_rmw_validity)
+{
+  rmw_qos_profile_t invalid_qos;
+  memset(&invalid_qos, 0, sizeof(invalid_qos));
+  reinterpret_cast<uint32_t &>(invalid_qos.history) = 999;
+
+  EXPECT_THROW(
+  {
+    rclcpp::QoSInitialization::from_rmw(invalid_qos);
+  }, std::invalid_argument);
+}

rclcpp/test/rclcpp/test_service.cpp

@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <chrono>
 #include <string>
 #include <memory>
 #include <utility>

rclcpp/test/rclcpp/test_wait_for_message.cpp

@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <chrono>
 #include <memory>
 #include <string>
 #include <vector>

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,16 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+16.0.13 (2025-06-23)
+--------------------
+* Replace std::default_random_engine with std::mt19937 (humble) (`#2847 <https://github.com/ros2/rclcpp/issues/2847>`_)
+* Added missing chrono includes (backport `#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2857 <https://github.com/ros2/rclcpp/issues/2857>`_)
+* Harden rclcpp_action::convert(). (backport `#2786 <https://github.com/ros2/rclcpp/issues/2786>`_) (`#2788 <https://github.com/ros2/rclcpp/issues/2788>`_)
+* Contributors: keeponoiro, mergify[bot]
+
+16.0.12 (2025-03-25)
+--------------------
+
 16.0.11 (2024-11-25)
 --------------------
 * fix: Fixed race condition in action server between is_ready and take. Backport from iron `#2531 <https://github.com/ros2/rclcpp/issues/2531>`_ (`#2635 <https://github.com/ros2/rclcpp/issues/2635>`_)

rclcpp_action/include/rclcpp_action/types.hpp

@@ -39,12 +39,22 @@ RCLCPP_ACTION_PUBLIC
 std::string
 to_string(const GoalUUID & goal_id);
 
-// Convert C++ GoalID to rcl_action_goal_info_t
+/// Convert C++ GoalID to rcl_action_goal_info_t
+/**
+ * \param[in] goal_id C++ GoalUUID reference to be converted.
+ * \param[inout] info rcl_action_goal_info_t structure to be filled.
+ * \throws std::runtime_error if info is null.
+ */
 RCLCPP_ACTION_PUBLIC
 void
 convert(const GoalUUID & goal_id, rcl_action_goal_info_t * info);
 
-// Convert rcl_action_goal_info_t to C++ GoalID
+/// Convert rcl_action_goal_info_t to C++ GoalID
+/**
+ * \param[in] info rcl_action_goal_info_t reference to be converted.
+ * \param[inout] goal_id C++ GoalUUID structure to be filled.
+ * \throws std::runtime_error if goal_id is null.
+ */
 RCLCPP_ACTION_PUBLIC
 void
 convert(const rcl_action_goal_info_t & info, GoalUUID * goal_id);

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>16.0.11</version>
+  <version>16.0.13</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>

rclcpp_action/src/client.cpp

@@ -183,7 +183,7 @@ public:
   std::mutex cancel_requests_mutex;
 
   std::independent_bits_engine<
-    std::default_random_engine, 8, unsigned int> random_bytes_generator;
+    std::mt19937, 8, unsigned int> random_bytes_generator;
 };
 
 ClientBase::ClientBase(

rclcpp_action/src/types.cpp

@@ -33,6 +33,9 @@ to_string(const GoalUUID & goal_id)
 void
 convert(const GoalUUID & goal_id, rcl_action_goal_info_t * info)
 {
+  if (info == nullptr) {
+    throw std::invalid_argument("info is nullptr");
+  }
   for (size_t i = 0; i < 16; ++i) {
     info->goal_id.uuid[i] = goal_id[i];
   }
@@ -41,6 +44,9 @@ convert(const GoalUUID & goal_id, rcl_action_goal_info_t * info)
 void
 convert(const rcl_action_goal_info_t & info, GoalUUID * goal_id)
 {
+  if (goal_id == nullptr) {
+    throw std::invalid_argument("goal_id is nullptr");
+  }
   for (size_t i = 0; i < 16; ++i) {
     (*goal_id)[i] = info.goal_id.uuid[i];
   }

rclcpp_action/test/test_client.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <chrono>
 #include <future>
 #include <map>
 #include <memory>
 #include <string>
 #include <utility>
 #include <thread>
-#include <chrono>
 
 #include "gtest/gtest.h"
 

rclcpp_action/test/test_types.cpp

@@ -40,6 +40,7 @@ TEST(TestActionTypes, goal_uuid_to_rcl_action_goal_info) {
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
     goal_id[i] = i;
   }
+  ASSERT_THROW(rclcpp_action::convert(goal_id, nullptr), std::invalid_argument);
   rcl_action_goal_info_t goal_info = rcl_action_get_zero_initialized_goal_info();
   rclcpp_action::convert(goal_id, &goal_info);
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
@@ -53,6 +54,7 @@ TEST(TestActionTypes, rcl_action_goal_info_to_goal_uuid) {
     goal_info.goal_id.uuid[i] = i;
   }
 
+  ASSERT_THROW(rclcpp_action::convert(goal_info, nullptr), std::invalid_argument);
   rclcpp_action::GoalUUID goal_id;
   rclcpp_action::convert(goal_id, &goal_info);
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+16.0.13 (2025-06-23)
+--------------------
+* Added missing chrono includes (backport `#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2857 <https://github.com/ros2/rclcpp/issues/2857>`_)
+* Contributors: mergify[bot]
+
+16.0.12 (2025-03-25)
+--------------------
+* Redundant .c_str() usage in rclcpp_components triggers ament_clang_tidy warning (`#2718 <https://github.com/ros2/rclcpp/issues/2718>`_)
+* Contributors: LihanChen2004
+
 16.0.11 (2024-11-25)
 --------------------
 

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>16.0.11</version>
+  <version>16.0.13</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>

rclcpp_components/src/node_main.cpp.in

@@ -40,8 +40,7 @@ int main(int argc, char * argv[])
   auto loader = new class_loader::ClassLoader(library_name);
   auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
   for (const auto & clazz : classes) {
-    std::string name = clazz.c_str();
-    if (name.compare(class_name) == 0) {
+    if (clazz.compare(class_name) == 0) {
       RCLCPP_DEBUG(logger, "Instantiate class %s", clazz.c_str());
       std::shared_ptr<rclcpp_components::NodeFactory> node_factory = nullptr;
       try {

rclcpp_components/test/test_component_manager_api.cpp

@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <chrono>
 #include <memory>
 #include <string>
 

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,15 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+16.0.13 (2025-06-23)
+--------------------
+* Added missing chrono includes (backport `#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2857 <https://github.com/ros2/rclcpp/issues/2857>`_)
+* should pull valid transition before trying to change the state. (backport `#2774 <https://github.com/ros2/rclcpp/issues/2774>`_) (`#2785 <https://github.com/ros2/rclcpp/issues/2785>`_)
+* Contributors: mergify[bot]
+
+16.0.12 (2025-03-25)
+--------------------
+
 16.0.11 (2024-11-25)
 --------------------
 

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>16.0.11</version>
+  <version>16.0.13</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>

rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp

@@ -535,15 +535,22 @@ public:
   trigger_transition(uint8_t transition_id)
   {
     LifecycleNodeInterface::CallbackReturn error;
-    change_state(transition_id, error);
-    (void) error;
-    return get_current_state();
+    return trigger_transition(transition_id, error);
   }
 
   const State &
   trigger_transition(uint8_t transition_id, LifecycleNodeInterface::CallbackReturn & cb_return_code)
   {
-    change_state(transition_id, cb_return_code);
+    const rcl_lifecycle_transition_t * transition;
+    {
+      std::lock_guard<std::recursive_mutex> lock(state_machine_mutex_);
+
+      transition =
+        rcl_lifecycle_get_transition_by_id(state_machine_.current_state, transition_id);
+    }
+    if (transition) {
+      change_state(static_cast<uint8_t>(transition->id), cb_return_code);
+    }
     return get_current_state();
   }
 

rclcpp_lifecycle/test/benchmark/benchmark_lifecycle_client.cpp

@@ -14,6 +14,7 @@
 
 #include <benchmark/benchmark.h>
 
+#include <chrono>
 #include <memory>
 #include <string>
 #include <vector>

rclcpp_lifecycle/test/test_lifecycle_node.cpp

@@ -14,6 +14,7 @@
 
 
 #include <gtest/gtest.h>
+#include <chrono>
 #include <map>
 #include <memory>
 #include <set>
@@ -264,11 +265,146 @@ TEST_F(TestDefaultStateMachine, trigger_transition) {
   ASSERT_EQ(
     State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
       rclcpp_lifecycle::Transition(Transition::TRANSITION_CLEANUP)).id());
+  // supposed to fail because primary state is NOT active
+  ASSERT_EQ(
+    State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
+      rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVE_SHUTDOWN)).id());
+  // supposed to fail because primary state is NOT inactive
+  ASSERT_EQ(
+    State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
+      rclcpp_lifecycle::Transition(Transition::TRANSITION_INACTIVE_SHUTDOWN)).id());
   ASSERT_EQ(
     State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
       rclcpp_lifecycle::Transition(Transition::TRANSITION_UNCONFIGURED_SHUTDOWN)).id());
 }
 
+TEST_F(TestDefaultStateMachine, trigger_transition_shutdown_id) {
+  // test Transition::TRANSITION_ACTIVE_SHUTDOWN
+  {
+    auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
+
+    EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_ACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVE_SHUTDOWN)).id());
+  }
+
+  // test Transition::TRANSITION_INACTIVE_SHUTDOWN
+  {
+    auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
+
+    EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_ACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE)).id());
+    // supposed to fail because primary state is NOT active
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVE_SHUTDOWN)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_INACTIVE_SHUTDOWN)).id());
+  }
+
+  // test Transition::TRANSITION_UNCONFIGURED_SHUTDOWN
+  {
+    auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
+
+    EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_ACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_CLEANUP)).id());
+    // supposed to fail because primary state is NOT active
+    ASSERT_EQ(
+      State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVE_SHUTDOWN)).id());
+    // supposed to fail because primary state is NOT inactive
+    ASSERT_EQ(
+      State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_INACTIVE_SHUTDOWN)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_UNCONFIGURED_SHUTDOWN)).id());
+  }
+}
+
+TEST_F(TestDefaultStateMachine, trigger_transition_shutdown_label) {
+  // test Transition::TRANSITION_ACTIVE_SHUTDOWN
+  {
+    auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
+
+    EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_ACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_FINALIZED, test_node->shutdown().id());
+  }
+
+  // test Transition::TRANSITION_INACTIVE_SHUTDOWN
+  {
+    auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
+
+    EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_ACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_FINALIZED, test_node->shutdown().id());
+  }
+
+  // test Transition::TRANSITION_UNCONFIGURED_SHUTDOWN
+  {
+    auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
+
+    EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_ACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
+        rclcpp_lifecycle::Transition(Transition::TRANSITION_CLEANUP)).id());
+    ASSERT_EQ(
+      State::PRIMARY_STATE_FINALIZED, test_node->shutdown().id());
+  }
+}
+
 TEST_F(TestDefaultStateMachine, trigger_transition_rcl_errors) {
   auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");