2.3.1

Signed-off-by: Simon Honigmann <shonigmann@blueorigin.com>

Co-authored-by: Simon Honigmann <shonigmann@blueorigin.com>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.1 (2021-04-14)
+------------------
+* Update quality declaration links (re: `ros2/docs.ros2.org#52 <https://github.com/ros2/docs.ros2.org/issues/52>`_) (`#1616 <https://github.com/ros2/rclcpp/issues/1616>`_)
+* Fix documented example in create_publisher (`#1558 <https://github.com/ros2/rclcpp/issues/1558>`_) (`#1559 <https://github.com/ros2/rclcpp/issues/1559>`_)
+* Fix runtime error: reference binding to null pointer of type (`#1547 <https://github.com/ros2/rclcpp/issues/1547>`_) (`#1548 <https://github.com/ros2/rclcpp/issues/1548>`_)
+* Contributors: Jacob Perron, Simon Honigmann, Tomoya Fujita
+
 2.3.0 (2020-12-09)
 ------------------
 * Update QD to QL 1 (`#1480 <https://github.com/ros2/rclcpp/issues/1480>`_)

rclcpp/QUALITY_DECLARATION.md

@@ -4,13 +4,13 @@ This document is a declaration of software quality for the `rclcpp` package, bas
 
 The package `rclcpp` claims to be in the **Quality Level 1** category when it is used with a **Quality Level 1** middleware.
 
-Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories) of the ROS2 developer guide.
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://www.ros.org/reps/rep-2004.html) of the ROS2 developer guide.
 
 ## Version Policy [1]
 
 ### Version Scheme [1.i]
 
-`rclcpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+`rclcpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#versioning).
 
 ### Version Stability [1.ii]
 
@@ -39,11 +39,11 @@ Headers under the folder `detail` are not considered part of the public API and
 
 ## Change Control Process [2]
 
-`rclcpp` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process).
+`rclcpp` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process).
 
 ### Change Requests [2.i]
 
-All changes will occur through a pull request, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All changes will occur through a pull request, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Contributor Origin [2.ii]
 
@@ -51,7 +51,7 @@ This package uses DCO as its confirmation of contributor origin policy. More inf
 
 ### Peer Review Policy [2.iii]
 
-All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Continuous Integration [2.iv]
 
@@ -109,7 +109,7 @@ The tests aim to cover both typical usage and corner cases, but are quantified b
 
 ### Coverage [4.iii]
 
-`rclcpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#code-coverage), and opts to use line coverage instead of branch coverage.
+`rclcpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#code-coverage), and opts to use line coverage instead of branch coverage.
 
 This includes:
 
@@ -119,13 +119,13 @@ This includes:
 
 Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers.
 
-Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_foxy_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_src_rclcpp/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://index.ros.org/doc/ros2/Contributing/ROS-2-On-boarding-Guide/#note-on-coverage-runs).
+Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_foxy_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_src_rclcpp/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#note-on-coverage-runs).
 
 `rclcpp` has a line coverage `>= 95%`, which is calculated over all directories within `rclcpp` with the exception of the `experimental` directory.
 
 ### Performance [4.iv]
 
-`rclcpp` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#performance), and opts to do performance analysis on each release rather than each change.
+`rclcpp` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#performance), and opts to do performance analysis on each release rather than each change.
 
 The performance tests of `rclcpp` are located in the [test/benchmark directory](https://github.com/ros2/rclcpp/tree/foxy/rclcpp/test/benchmark).
 
@@ -137,7 +137,7 @@ Changes that introduce regressions in performance must be adequately justified i
 
 ### Linters and Static Analysis [4.v]
 
-`rclcpp` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
+`rclcpp` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
 
 Currently nightly test results can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp).
 

rclcpp/include/rclcpp/node.hpp

@@ -161,7 +161,7 @@ public:
    * pub = node->create_publisher<MsgT>("chatter", QoS(10));  // implicitly KeepLast
    * pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
    * pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
-   * pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().volatile());
+   * pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().durability_volatile());
    * {
    *   rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
    *   pub = node->create_publisher<MsgT>("chatter", custom_qos);

rclcpp/include/rclcpp/publisher_options.hpp

@@ -92,12 +92,7 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
   get_allocator() const
   {
     if (!this->allocator) {
-      // TODO(wjwwood): I would like to use the commented line instead, but
-      //   cppcheck 1.89 fails with:
-      //     Syntax Error: AST broken, binary operator '>' doesn't have two operands.
-      // return std::make_shared<Allocator>();
-      std::shared_ptr<Allocator> tmp(new Allocator());
-      return tmp;
+      return std::make_shared<Allocator>();
     }
     return this->allocator;
   }

rclcpp/include/rclcpp/subscription_options.hpp

@@ -101,7 +101,7 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
     rcl_subscription_options_t result = rcl_subscription_get_default_options();
     using AllocatorTraits = std::allocator_traits<Allocator>;
     using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
-    auto message_alloc = std::make_shared<MessageAllocatorT>(*allocator.get());
+    auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
     result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
     result.qos = qos.get_rmw_qos_profile();
     result.rmw_subscription_options.ignore_local_publications = this->ignore_local_publications;

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>2.3.0</version>
+  <version>2.3.1</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,13 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+2.3.1 (2021-04-14)
+------------------
+* Update quality declaration links (re: `ros2/docs.ros2.org#52 <https://github.com/ros2/docs.ros2.org/issues/52>`_) (`#1616 <https://github.com/ros2/rclcpp/issues/1616>`_)
+* node_handle must be destroyed after client_handle to prevent memory leak (`#1562 <https://github.com/ros2/rclcpp/issues/1562>`_) (`#1565 <https://github.com/ros2/rclcpp/issues/1565>`_)
+* Fix action server deadlock (`#1285 <https://github.com/ros2/rclcpp/issues/1285>`_) (`#1313 <https://github.com/ros2/rclcpp/issues/1313>`_)  (`#1518 <https://github.com/ros2/rclcpp/issues/1518>`_)
+* Contributors: Chris Lalancette, Daisuke Sato, Simon Honigmann, Tomoya Fujita
+
 2.3.0 (2020-12-09)
 ------------------
 * Update QD to QL 1 (`#1480 <https://github.com/ros2/rclcpp/issues/1480>`_)

rclcpp_action/QUALITY_DECLARATION.md

@@ -4,13 +4,13 @@ This document is a declaration of software quality for the `rclcpp_action` packa
 
 The package `rclcpp_action` claims to be in the **Quality Level 1** category when it is used with a **Quality Level 1** middleware.
 
-Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories) of the ROS2 developer guide.
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://www.ros.org/reps/rep-2004.html) of the ROS2 developer guide.
 
 ## Version Policy [1]
 
 ### Version Scheme [1.i]
 
-`rclcpp_action` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+`rclcpp_action` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#versioning).
 
 ### Version Stability [1.ii]
 
@@ -37,11 +37,11 @@ All installed headers are in the `include` directory of the package, headers in
 
 ## Change Control Process [2]
 
-`rclcpp_action` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process).
+`rclcpp_action` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process).
 
 ### Change Requests [2.i]
 
-All changes will occur through a pull request, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All changes will occur through a pull request, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Contributor Origin [2.ii]
 
@@ -49,7 +49,7 @@ This package uses DCO as its confirmation of contributor origin policy. More inf
 
 ### Peer Review Policy [2.iii]
 
-All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Continuous Integration [2.iv]
 
@@ -107,7 +107,7 @@ The tests aim to cover both typical usage and corner cases, but are quantified b
 
 ### Coverage [4.iii]
 
-`rclcpp_action` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#code-coverage), and opts to use line coverage instead of branch coverage.
+`rclcpp_action` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#code-coverage), and opts to use line coverage instead of branch coverage.
 
 This includes:
 
@@ -117,11 +117,11 @@ This includes:
 
 Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers.
 
-Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_foxy_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_action_src/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://index.ros.org/doc/ros2/Contributing/ROS-2-On-boarding-Guide/#note-on-coverage-runs).
+Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_foxy_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_action_src/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#note-on-coverage-runs).
 
 ### Performance [4.iv]
 
-`rclcpp_action` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#performance), and opts to do performance analysis on each release rather than each change.
+`rclcpp_action` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#performance), and opts to do performance analysis on each release rather than each change.
 
 The performance tests of `rclcpp_action` are located in the [test/benchmark directory](https://github.com/ros2/rclcpp/tree/foxy/rclcpp_action/test/benchmark).
 
@@ -133,7 +133,7 @@ Changes that introduce regressions in performance must be adequately justified i
 
 ### Linters and Static Analysis [4.v]
 
-`rclcpp_action` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
+`rclcpp_action` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
 
 Currently nightly test results can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp_action).
 

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>2.3.0</version>
+  <version>2.3.1</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

@@ -100,8 +100,9 @@ public:
 
   rclcpp::Context::SharedPtr context_;
   rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
-  std::shared_ptr<rcl_action_client_t> client_handle{nullptr};
+  // node_handle must be destroyed after client_handle to prevent memory leak
   std::shared_ptr<rcl_node_t> node_handle{nullptr};
+  std::shared_ptr<rcl_action_client_t> client_handle{nullptr};
   rclcpp::Logger logger;
 
   using ResponseCallback = std::function<void (std::shared_ptr<void> response)>;

rclcpp_action/src/server.cpp

@@ -43,8 +43,8 @@ public:
   {
   }
 
-  // Lock everything except user callbacks
-  std::recursive_mutex reentrant_mutex_;
+  // Lock for action_server_
+  std::recursive_mutex action_server_reentrant_mutex_;
 
   std::shared_ptr<rcl_action_server_t> action_server_;
 
@@ -56,10 +56,13 @@ public:
   size_t num_services_ = 0;
   size_t num_guard_conditions_ = 0;
 
-  bool goal_request_ready_ = false;
-  bool cancel_request_ready_ = false;
-  bool result_request_ready_ = false;
-  bool goal_expired_ = false;
+  std::atomic<bool> goal_request_ready_{false};
+  std::atomic<bool> cancel_request_ready_{false};
+  std::atomic<bool> result_request_ready_{false};
+  std::atomic<bool> goal_expired_{false};
+
+  // Lock for unordered_maps
+  std::recursive_mutex unordered_map_mutex_;
 
   // Results to be kept until the goal expires after reaching a terminal state
   std::unordered_map<GoalUUID, std::shared_ptr<void>> goal_results_;
@@ -88,12 +91,13 @@ ServerBase::ServerBase(
       if (nullptr != ptr) {
         rcl_node_t * rcl_node = node_base->get_rcl_node_handle();
         rcl_ret_t ret = rcl_action_server_fini(ptr, rcl_node);
-        (void)ret;
-        RCLCPP_DEBUG(
-          rclcpp::get_logger("rclcpp_action"),
-          "failed to fini rcl_action_server_t in deleter");
+        if (RCL_RET_OK != ret) {
+          RCLCPP_DEBUG(
+            rclcpp::get_logger("rclcpp_action"),
+            "failed to fini rcl_action_server_t in deleter");
+        }
+        delete ptr;
       }
-      delete ptr;
     };
 
   pimpl_->action_server_.reset(new rcl_action_server_t, deleter);
@@ -159,7 +163,7 @@ ServerBase::get_number_of_ready_guard_conditions()
 bool
 ServerBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 {
-  std::lock_guard<std::recursive_mutex> lock(pimpl_->reentrant_mutex_);
+  std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
   rcl_ret_t ret = rcl_action_wait_set_add_action_server(
     wait_set, pimpl_->action_server_.get(), NULL);
   return RCL_RET_OK == ret;
@@ -168,35 +172,47 @@ ServerBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 bool
 ServerBase::is_ready(rcl_wait_set_t * wait_set)
 {
-  std::lock_guard<std::recursive_mutex> lock(pimpl_->reentrant_mutex_);
-  rcl_ret_t ret = rcl_action_server_wait_set_get_entities_ready(
-    wait_set,
-    pimpl_->action_server_.get(),
-    &pimpl_->goal_request_ready_,
-    &pimpl_->cancel_request_ready_,
-    &pimpl_->result_request_ready_,
-    &pimpl_->goal_expired_);
+  bool goal_request_ready;
+  bool cancel_request_ready;
+  bool result_request_ready;
+  bool goal_expired;
+  rcl_ret_t ret;
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+    ret = rcl_action_server_wait_set_get_entities_ready(
+      wait_set,
+      pimpl_->action_server_.get(),
+      &goal_request_ready,
+      &cancel_request_ready,
+      &result_request_ready,
+      &goal_expired);
+  }
+
+  pimpl_->goal_request_ready_ = goal_request_ready;
+  pimpl_->cancel_request_ready_ = cancel_request_ready;
+  pimpl_->result_request_ready_ = result_request_ready;
+  pimpl_->goal_expired_ = goal_expired;
 
   if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
 
-  return pimpl_->goal_request_ready_ ||
-         pimpl_->cancel_request_ready_ ||
-         pimpl_->result_request_ready_ ||
-         pimpl_->goal_expired_;
+  return pimpl_->goal_request_ready_.load() ||
+         pimpl_->cancel_request_ready_.load() ||
+         pimpl_->result_request_ready_.load() ||
+         pimpl_->goal_expired_.load();
 }
 
 void
 ServerBase::execute()
 {
-  if (pimpl_->goal_request_ready_) {
+  if (pimpl_->goal_request_ready_.load()) {
     execute_goal_request_received();
-  } else if (pimpl_->cancel_request_ready_) {
+  } else if (pimpl_->cancel_request_ready_.load()) {
     execute_cancel_request_received();
-  } else if (pimpl_->result_request_ready_) {
+  } else if (pimpl_->result_request_ready_.load()) {
     execute_result_request_received();
-  } else if (pimpl_->goal_expired_) {
+  } else if (pimpl_->goal_expired_.load()) {
     execute_check_expired_goals();
   } else {
     throw std::runtime_error("Executing action server but nothing is ready");
@@ -210,15 +226,19 @@ ServerBase::execute_goal_request_received()
   rcl_action_goal_info_t goal_info = rcl_action_get_zero_initialized_goal_info();
   rmw_request_id_t request_header;
 
-  std::lock_guard<std::recursive_mutex> lock(pimpl_->reentrant_mutex_);
-
   std::shared_ptr<void> message = create_goal_request();
-  ret = rcl_action_take_goal_request(
-    pimpl_->action_server_.get(),
-    &request_header,
-    message.get());
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+    ret = rcl_action_take_goal_request(
+      pimpl_->action_server_.get(),
+      &request_header,
+      message.get());
+  }
 
-  pimpl_->goal_request_ready_ = false;
+  bool expected = true;
+  if (!pimpl_->goal_request_ready_.compare_exchange_strong(expected, false)) {
+    return;
+  }
 
   if (RCL_RET_ACTION_SERVER_TAKE_FAILED == ret) {
     // Ignore take failure because connext fails if it receives a sample without valid data.
@@ -235,10 +255,13 @@ ServerBase::execute_goal_request_received()
   // Call user's callback, getting the user's response and a ros message to send back
   auto response_pair = call_handle_goal_callback(uuid, message);
 
-  ret = rcl_action_send_goal_response(
-    pimpl_->action_server_.get(),
-    &request_header,
-    response_pair.second.get());
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+    ret = rcl_action_send_goal_response(
+      pimpl_->action_server_.get(),
+      &request_header,
+      response_pair.second.get());
+  }
 
   if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
@@ -254,15 +277,19 @@ ServerBase::execute_goal_request_received()
       {
         if (nullptr != ptr) {
           rcl_ret_t fail_ret = rcl_action_goal_handle_fini(ptr);
-          (void)fail_ret;
-          RCLCPP_DEBUG(
-            rclcpp::get_logger("rclcpp_action"),
-            "failed to fini rcl_action_goal_handle_t in deleter");
+          if (RCL_RET_OK != fail_ret) {
+            RCLCPP_DEBUG(
+              rclcpp::get_logger("rclcpp_action"),
+              "failed to fini rcl_action_goal_handle_t in deleter");
+          }
           delete ptr;
         }
       };
     rcl_action_goal_handle_t * rcl_handle;
-    rcl_handle = rcl_action_accept_new_goal(pimpl_->action_server_.get(), &goal_info);
+    {
+      std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+      rcl_handle = rcl_action_accept_new_goal(pimpl_->action_server_.get(), &goal_info);
+    }
     if (!rcl_handle) {
       throw std::runtime_error("Failed to accept new goal\n");
     }
@@ -271,7 +298,11 @@ ServerBase::execute_goal_request_received()
     // Copy out goal handle since action server storage disappears when it is fini'd
     *handle = *rcl_handle;
 
-    pimpl_->goal_handles_[uuid] = handle;
+
+    {
+      std::lock_guard<std::recursive_mutex> lock(pimpl_->unordered_map_mutex_);
+      pimpl_->goal_handles_[uuid] = handle;
+    }
 
     if (GoalResponse::ACCEPT_AND_EXECUTE == status) {
       // Change status to executing
@@ -297,13 +328,18 @@ ServerBase::execute_cancel_request_received()
   // Initialize cancel request
   auto request = std::make_shared<action_msgs::srv::CancelGoal::Request>();
 
-  std::lock_guard<std::recursive_mutex> lock(pimpl_->reentrant_mutex_);
-  ret = rcl_action_take_cancel_request(
-    pimpl_->action_server_.get(),
-    &request_header,
-    request.get());
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+    ret = rcl_action_take_cancel_request(
+      pimpl_->action_server_.get(),
+      &request_header,
+      request.get());
+  }
 
-  pimpl_->cancel_request_ready_ = false;
+  bool expected = true;
+  if (!pimpl_->cancel_request_ready_.compare_exchange_strong(expected, false)) {
+    return;
+  }
 
   if (RCL_RET_ACTION_SERVER_TAKE_FAILED == ret) {
     // Ignore take failure because connext fails if it receives a sample without valid data.
@@ -323,10 +359,14 @@ ServerBase::execute_cancel_request_received()
   // Get a list of goal info that should be attempted to be cancelled
   rcl_action_cancel_response_t cancel_response = rcl_action_get_zero_initialized_cancel_response();
 
-  ret = rcl_action_process_cancel_request(
-    pimpl_->action_server_.get(),
-    &cancel_request,
-    &cancel_response);
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+    ret = rcl_action_process_cancel_request(
+      pimpl_->action_server_.get(),
+      &cancel_request,
+      &cancel_response);
+  }
+
   if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
@@ -369,8 +409,12 @@ ServerBase::execute_cancel_request_received()
     publish_status();
   }
 
-  ret = rcl_action_send_cancel_response(
-    pimpl_->action_server_.get(), &request_header, response.get());
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+    ret = rcl_action_send_cancel_response(
+      pimpl_->action_server_.get(), &request_header, response.get());
+  }
+
   if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
@@ -383,11 +427,16 @@ ServerBase::execute_result_request_received()
   // Get the result request message
   rmw_request_id_t request_header;
   std::shared_ptr<void> result_request = create_result_request();
-  std::lock_guard<std::recursive_mutex> lock(pimpl_->reentrant_mutex_);
-  ret = rcl_action_take_result_request(
-    pimpl_->action_server_.get(), &request_header, result_request.get());
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+    ret = rcl_action_take_result_request(
+      pimpl_->action_server_.get(), &request_header, result_request.get());
+  }
 
-  pimpl_->result_request_ready_ = false;
+  bool expected = true;
+  if (!pimpl_->result_request_ready_.compare_exchange_strong(expected, false)) {
+    return;
+  }
 
   if (RCL_RET_ACTION_SERVER_TAKE_FAILED == ret) {
     // Ignore take failure because connext fails if it receives a sample without valid data.
@@ -405,7 +454,10 @@ ServerBase::execute_result_request_received()
   rcl_action_goal_info_t goal_info;
   convert(uuid, &goal_info);
   bool goal_exists;
-  goal_exists = rcl_action_server_goal_exists(pimpl_->action_server_.get(), &goal_info);
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+    goal_exists = rcl_action_server_goal_exists(pimpl_->action_server_.get(), &goal_info);
+  }
   if (!goal_exists) {
     // Goal does not exists
     result_response = create_result_response(action_msgs::msg::GoalStatus::STATUS_UNKNOWN);
@@ -419,6 +471,7 @@ ServerBase::execute_result_request_received()
 
   if (result_response) {
     // Send the result now
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
     ret = rcl_action_send_result_response(
       pimpl_->action_server_.get(), &request_header, result_response.get());
     if (RCL_RET_OK != ret) {
@@ -426,6 +479,7 @@ ServerBase::execute_result_request_received()
     }
   } else {
     // Store the request so it can be responded to later
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->unordered_map_mutex_);
     pimpl_->result_requests_[uuid].push_back(request_header);
   }
 }
@@ -439,9 +493,11 @@ ServerBase::execute_check_expired_goals()
 
   // Loop in case more than 1 goal expired
   while (num_expired > 0u) {
-    std::lock_guard<std::recursive_mutex> lock(pimpl_->reentrant_mutex_);
     rcl_ret_t ret;
-    ret = rcl_action_expire_goals(pimpl_->action_server_.get(), expired_goals, 1, &num_expired);
+    {
+      std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+      ret = rcl_action_expire_goals(pimpl_->action_server_.get(), expired_goals, 1, &num_expired);
+    }
     if (RCL_RET_OK != ret) {
       rclcpp::exceptions::throw_from_rcl_error(ret);
     } else if (num_expired) {
@@ -449,6 +505,7 @@ ServerBase::execute_check_expired_goals()
       GoalUUID uuid;
       convert(expired_goals[0], &uuid);
       RCLCPP_DEBUG(pimpl_->logger_, "Expired goal %s", to_string(uuid).c_str());
+      std::lock_guard<std::recursive_mutex> lock(pimpl_->unordered_map_mutex_);
       pimpl_->goal_results_.erase(uuid);
       pimpl_->result_requests_.erase(uuid);
       pimpl_->goal_handles_.erase(uuid);
@@ -461,6 +518,11 @@ ServerBase::publish_status()
 {
   rcl_ret_t ret;
 
+  // We need to hold the lock across this entire method because
+  // rcl_action_server_get_goal_handles() returns an internal pointer to the
+  // goal data.
+  std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+
   // Get all goal handles known to C action server
   rcl_action_goal_handle_t ** goal_handles = NULL;
   size_t num_goals = 0;
@@ -516,20 +578,26 @@ ServerBase::publish_result(const GoalUUID & uuid, std::shared_ptr<void> result_m
   // Check that the goal exists
   rcl_action_goal_info_t goal_info;
   convert(uuid, &goal_info);
-  std::lock_guard<std::recursive_mutex> lock(pimpl_->reentrant_mutex_);
   bool goal_exists;
-  goal_exists = rcl_action_server_goal_exists(pimpl_->action_server_.get(), &goal_info);
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+    goal_exists = rcl_action_server_goal_exists(pimpl_->action_server_.get(), &goal_info);
+  }
 
   if (!goal_exists) {
     throw std::runtime_error("Asked to publish result for goal that does not exist");
   }
 
-  pimpl_->goal_results_[uuid] = result_msg;
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->unordered_map_mutex_);
+    pimpl_->goal_results_[uuid] = result_msg;
+  }
 
   // if there are clients who already asked for the result, send it to them
   auto iter = pimpl_->result_requests_.find(uuid);
   if (iter != pimpl_->result_requests_.end()) {
     for (auto & request_header : iter->second) {
+      std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
       rcl_ret_t ret = rcl_action_send_result_response(
         pimpl_->action_server_.get(), &request_header, result_msg.get());
       if (RCL_RET_OK != ret) {
@@ -542,7 +610,7 @@ ServerBase::publish_result(const GoalUUID & uuid, std::shared_ptr<void> result_m
 void
 ServerBase::notify_goal_terminal_state()
 {
-  std::lock_guard<std::recursive_mutex> lock(pimpl_->reentrant_mutex_);
+  std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
   rcl_ret_t ret = rcl_action_notify_goal_done(pimpl_->action_server_.get());
   if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
@@ -552,7 +620,7 @@ ServerBase::notify_goal_terminal_state()
 void
 ServerBase::publish_feedback(std::shared_ptr<void> feedback_msg)
 {
-  std::lock_guard<std::recursive_mutex> lock(pimpl_->reentrant_mutex_);
+  std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
   rcl_ret_t ret = rcl_action_publish_feedback(pimpl_->action_server_.get(), feedback_msg.get());
   if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to publish feedback");

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.1 (2021-04-14)
+------------------
+* Update quality declaration links (re: `ros2/docs.ros2.org#52 <https://github.com/ros2/docs.ros2.org/issues/52>`_) (`#1616 <https://github.com/ros2/rclcpp/issues/1616>`_)
+* Contributors: Simon Honigmann
+
 2.3.0 (2020-12-09)
 ------------------
 * Update QD to QL 1 (`#1480 <https://github.com/ros2/rclcpp/issues/1480>`_)

rclcpp_components/QUALITY_DECLARATION.md

@@ -4,13 +4,13 @@ This document is a declaration of software quality for the `rclcpp_components` p
 
 The package `rclcpp_components` claims to be in the **Quality Level 1** category.
 
-Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories) of the ROS2 developer guide.
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://www.ros.org/reps/rep-2004.html) of the ROS2 developer guide.
 
 ## Version Policy [1]
 
 ### Version Scheme [1.i]
 
-`rclcpp_components` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+`rclcpp_components` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#versioning).
 
 ### Version Stability [1.ii]
 
@@ -37,11 +37,11 @@ All installed headers are in the `include` directory of the package, headers in
 
 ## Change Control Process [2]
 
-`rclcpp_components` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process).
+`rclcpp_components` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process).
 
 ### Change Requests [2.i]
 
-All changes will occur through a pull request, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All changes will occur through a pull request, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Contributor Origin [2.ii]
 
@@ -49,7 +49,7 @@ This package uses DCO as its confirmation of contributor origin policy. More inf
 
 ### Peer Review Policy [2.iii]
 
-All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Continuous Integration [2.iv]
 
@@ -107,7 +107,7 @@ The tests aim to cover both typical usage and corner cases, but are quantified b
 
 ### Coverage [4.iii]
 
-`rclcpp_components` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#code-coverage), and opts to use line coverage instead of branch coverage.
+`rclcpp_components` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#code-coverage), and opts to use line coverage instead of branch coverage.
 
 This includes:
 
@@ -117,11 +117,11 @@ This includes:
 
 Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers.
 
-Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_foxy_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_components_src/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://index.ros.org/doc/ros2/Contributing/ROS-2-On-boarding-Guide/#note-on-coverage-runs).
+Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_foxy_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_components_src/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#note-on-coverage-runs).
 
 ### Performance [4.iv]
 
-`rclcpp_components` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#performance), and opts to do performance analysis on each release rather than each change.
+`rclcpp_components` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#performance), and opts to do performance analysis on each release rather than each change.
 
 The performance tests of `rclcpp_components` are located in the [test/benchmark directory](https://github.com/ros2/rclcpp/tree/foxy/rclcpp_components/test/benchmark).
 
@@ -133,7 +133,7 @@ Changes that introduce regressions in performance must be adequately justified i
 
 ### Linters and Static Analysis [4.v]
 
-`rclcpp_components` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
+`rclcpp_components` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
 
 Currently nightly test results can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp_components).
 

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>2.3.0</version>
+  <version>2.3.1</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_lifecycle/CHANGELOG.rst

@@ -3,6 +3,11 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+2.3.1 (2021-04-14)
+------------------
+* Update quality declaration links (re: `ros2/docs.ros2.org#52 <https://github.com/ros2/docs.ros2.org/issues/52>`_) (`#1616 <https://github.com/ros2/rclcpp/issues/1616>`_)
+* Contributors: Simon Honigmann
+
 2.3.0 (2020-12-09)
 ------------------
 * Reserve vector capacities and use emplace_back for constructing vectors (`#1464 <https://github.com/ros2/rclcpp/issues/1464>`_) (`#1489 <https://github.com/ros2/rclcpp/issues/1489>`_)

rclcpp_lifecycle/QUALITY_DECLARATION.md

@@ -4,13 +4,13 @@ This document is a declaration of software quality for the `rclcpp_lifecycle` pa
 
 The package `rclcpp_lifecycle` claims to be in the **Quality Level 1** category when used with a **Quality Level 1** middleware.
 
-Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories) of the ROS2 developer guide.
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://www.ros.org/reps/rep-2004.html) of the ROS2 developer guide.
 
 ## Version Policy [1]
 
 ### Version Scheme [1.i]
 
-`rclcpp_lifecycle` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+`rclcpp_lifecycle` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#versioning).
 
 ### Version Stability [1.ii]
 
@@ -37,11 +37,11 @@ All installed headers are in the `include` directory of the package, headers in
 
 ## Change Control Process [2]
 
-`rclcpp_lifecycle` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process).
+`rclcpp_lifecycle` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process).
 
 ### Change Requests [2.i]
 
-All changes will occur through a pull request, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All changes will occur through a pull request, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Contributor Origin [2.ii]
 
@@ -49,7 +49,7 @@ This package uses DCO as its confirmation of contributor origin policy. More inf
 
 ### Peer Review Policy [2.iii]
 
-All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Continuous Integration [2.iv]
 
@@ -107,7 +107,7 @@ The tests aim to cover both typical usage and corner cases, but are quantified b
 
 ### Coverage [4.iii]
 
-`rclcpp_lifecycle` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#code-coverage), and opts to use line coverage instead of branch coverage.
+`rclcpp_lifecycle` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#code-coverage), and opts to use line coverage instead of branch coverage.
 
 This includes:
 
@@ -117,11 +117,11 @@ This includes:
 
 Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers.
 
-Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_foxy_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_lifecycle_src/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://index.ros.org/doc/ros2/Contributing/ROS-2-On-boarding-Guide/#note-on-coverage-runs).
+Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_foxy_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_lifecycle_src/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#note-on-coverage-runs).
 
 ### Performance [4.iv]
 
-`rclcpp_lifecycle` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#performance), and opts to do performance analysis on each release rather than each change.
+`rclcpp_lifecycle` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#performance), and opts to do performance analysis on each release rather than each change.
 
 The performance tests of `rclcpp_lifecycle` are located in the [test/benchmark directory](https://github.com/ros2/rclcpp/tree/foxy/rclcpp_lifecycle/test/benchmark).
 
@@ -133,7 +133,7 @@ Changes that introduce regressions in performance must be adequately justified i
 
 ### Linters and Static Analysis [4.v]
 
-`rclcpp_lifecycle` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
+`rclcpp_lifecycle` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
 
 Currently nightly test results can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp_lifecycle/).
 

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>2.3.0</version>
+  <version>2.3.1</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>