28.1.15

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

rclcpp/CHANGELOG.rst

@@ -2,6 +2,86 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+28.1.15 (2025-12-23)
+--------------------
+* Unified Node Interfaces: Add const version of get_node_x_interface() (`#3006 <https://github.com/ros2/rclcpp/issues/3006>`_) (`#3009 <https://github.com/ros2/rclcpp/issues/3009>`_)
+* remove I/O from signal handler. (`#3000 <https://github.com/ros2/rclcpp/issues/3000>`_) (`#3004 <https://github.com/ros2/rclcpp/issues/3004>`_)
+* correct test function descriptions (`#2970 <https://github.com/ros2/rclcpp/issues/2970>`_) (`#2993 <https://github.com/ros2/rclcpp/issues/2993>`_)
+* Contributors: mergify[bot]
+
+28.1.14 (2025-11-18)
+--------------------
+* Fix REP url locations (`#2987 <https://github.com/ros2/rclcpp/issues/2987>`_) (`#2990 <https://github.com/ros2/rclcpp/issues/2990>`_)
+* Contributors: mergify[bot]
+
+28.1.13 (2025-10-21)
+--------------------
+
+28.1.12 (2025-09-11)
+--------------------
+* Removed warning test_qos (`#2859 <https://github.com/ros2/rclcpp/issues/2859>`_) (`#2945 <https://github.com/ros2/rclcpp/issues/2945>`_)
+* Allow for implicitly convertable loggers as well (`#2922 <https://github.com/ros2/rclcpp/issues/2922>`_) (`#2936 <https://github.com/ros2/rclcpp/issues/2936>`_) (`#2937 <https://github.com/ros2/rclcpp/issues/2937>`_)
+* Fix: improve exception context for parameter_value_from (`#2917 <https://github.com/ros2/rclcpp/issues/2917>`_) (`#2920 <https://github.com/ros2/rclcpp/issues/2920>`_)
+* Contributors: mergify[bot]
+
+28.1.11 (2025-08-06)
+--------------------
+* Fix `start_type_description_service` param handling (`#2897 <https://github.com/ros2/rclcpp/issues/2897>`_) (`#2909 <https://github.com/ros2/rclcpp/issues/2909>`_)
+  * Fix `start_type_description_service` param handling
+  * Add test
+  * Demonstrate different exceptions depending on node options
+  * Same exact exception and `what()` message in both cases
+  * Uncrustify
+  ---------
+  (cherry picked from commit 4fb558ae7b2ce7ce9b546e103beaac4f99991e5c)
+  Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com>
+* Add qos parameter for wait_for_message function (`#2903 <https://github.com/ros2/rclcpp/issues/2903>`_) (`#2906 <https://github.com/ros2/rclcpp/issues/2906>`_)
+  (cherry picked from commit 2fcef70ea78c2c3a45391e59aebb265c05113050)
+  Co-authored-by: Sriharsha Ghanta <ghanta_sriharsha@mymail.sutd.edu.sg>
+  Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
+* [jazzy] Expose `typesupport_helpers` API needed for the Rosbag2 (backport `#2858 <https://github.com/ros2/rclcpp/issues/2858>`_) (`#2902 <https://github.com/ros2/rclcpp/issues/2902>`_)
+  * Expose `typesupport_helpers` API needed for the Rosbag2 (`#2858 <https://github.com/ros2/rclcpp/issues/2858>`_)
+  * Expose extract_type_identifier and get_typesupport_library_path API
+  - Rationale: We need to use this API in the Rosbag2
+  - Reference PR https://github.com/ros2/rosbag2/pull/2017 in the Rosbag2
+  * Use C++ style in doxygen documentation
+  ---------
+  (cherry picked from commit 448287b1090567181c809e59a3c72eed5ef4c69c)
+  # Conflicts:
+  #	rclcpp/include/rclcpp/typesupport_helpers.hpp
+  * Address merge conflicts
+  ---------
+  Co-authored-by: Michael Orlov <morlovmr@gmail.com>
+* Fujitatomoya/test append parameter override (`#2896 <https://github.com/ros2/rclcpp/issues/2896>`_) (`#2900 <https://github.com/ros2/rclcpp/issues/2900>`_)
+  (cherry picked from commit 84c6fb1cfc945521680a0e1fccf5b32237acbcc3)
+  Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
+* Add overload of `append_parameter_override` (`#2891 <https://github.com/ros2/rclcpp/issues/2891>`_) (`#2895 <https://github.com/ros2/rclcpp/issues/2895>`_)
+  (cherry picked from commit fa0cf2da31dfae7c83f185e3bf18cb8fd55f0f57)
+  Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com>
+* Event exec timer fix for https://github.com/ros2/rclcpp/issues/2889 (`#2890 <https://github.com/ros2/rclcpp/issues/2890>`_)
+  Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* Shutdown deadlock fix jazzy (`#2887 <https://github.com/ros2/rclcpp/issues/2887>`_)
+  * fix: Don't deadlock if removing shutdown callbacks in a shutdown callback
+  * refactor: Made fix API compatible
+  ---------
+  Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>
+* fix test_publisher_with_system_default_qos. (`#2881 <https://github.com/ros2/rclcpp/issues/2881>`_) (`#2883 <https://github.com/ros2/rclcpp/issues/2883>`_)
+  (cherry picked from commit e6577c6792f76a74e303cc0c061e89abeb8cb1a6)
+  Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
+* Contributors: Janosch Machowinski, mergify[bot]
+
+28.1.10 (2025-06-23)
+--------------------
+* Fix for memory leaks in rclcpp::SerializedMessage (`#2861 <https://github.com/ros2/rclcpp/issues/2861>`_) (`#2864 <https://github.com/ros2/rclcpp/issues/2864>`_)
+* Added missing chrono includes (`#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2856 <https://github.com/ros2/rclcpp/issues/2856>`_)
+* get_all_data_impl() does not handle null pointers properly, causing segmentation fault (backport `#2840 <https://github.com/ros2/rclcpp/issues/2840>`_) (`#2851 <https://github.com/ros2/rclcpp/issues/2851>`_)
+* QoSInitialization::from_rmw does not validate invalid history policy values, leading to silent failures (`#2841 <https://github.com/ros2/rclcpp/issues/2841>`_) (`#2845 <https://github.com/ros2/rclcpp/issues/2845>`_)
+* throws std::invalid_argument if ParameterEvent is NULL. (`#2814 <https://github.com/ros2/rclcpp/issues/2814>`_) (`#2825 <https://github.com/ros2/rclcpp/issues/2825>`_)
+* Merge pull request `#2821 <https://github.com/ros2/rclcpp/issues/2821>`_ from ros2/mergify/bp/jazzy/pr-2819
+* Fix race condition (`#2819 <https://github.com/ros2/rclcpp/issues/2819>`_)
+* Contributors: Michael Orlov, Pedro de Azeredo, mergify[bot]
+
 28.1.9 (2025-04-23)
 -------------------
 * remove redundant typesupport check in serialization module (`#2808 <https://github.com/ros2/rclcpp/issues/2808>`_) (`#2815 <https://github.com/ros2/rclcpp/issues/2815>`_)

rclcpp/QUALITY_DECLARATION.md

@@ -1,10 +1,10 @@
-This document is a declaration of software quality for the `rclcpp` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+This document is a declaration of software quality for the `rclcpp` package, based on the guidelines in [REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 # rclcpp Quality Declaration
 
 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 Requirements for Quality Level 1 in REP-2004](https://www.ros.org/reps/rep-2004.html).
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 1 in REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 ## Version Policy [1]
 
@@ -55,7 +55,7 @@ All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://d
 
 ### Continuous Integration [2.iv]
 
-All pull requests must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
+All pull requests must pass CI on all [tier 1 platforms](https://reps.openrobotics.org/rep-2000/#support-tiers)
 
 Currently nightly results can be seen here:
 
@@ -213,7 +213,7 @@ It is **Quality Level 1**, see its [Quality Declaration document](https://github
 
 ## Platform Support [6]
 
-`rclcpp` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
+`rclcpp` supports all of the tier 1 platforms as described in [REP-2000](https://reps.openrobotics.org/rep-2000/#support-tiers), and tests each change against all of them.
 
 Currently nightly build status can be seen here:
 * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/rclcpp/)
@@ -225,4 +225,4 @@ Currently nightly build status can be seen here:
 
 ### Vulnerability Disclosure Policy [7.i]
 
-This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html).
+This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://reps.openrobotics.org/rep-2006/).

rclcpp/include/rclcpp/experimental/buffers/ring_buffer_implementation.hpp

@@ -255,9 +255,13 @@ private:
     std::vector<BufferT> result_vtr;
     result_vtr.reserve(size_);
     for (size_t id = 0; id < size_; ++id) {
-      result_vtr.emplace_back(
-        new typename is_std_unique_ptr<T>::Ptr_type(
-          *(ring_buffer_[(read_index_ + id) % capacity_])));
+      const auto & elem(ring_buffer_[(read_index_ + id) % capacity_]);
+      if (elem != nullptr) {
+        result_vtr.emplace_back(new typename is_std_unique_ptr<T>::Ptr_type(
+          *elem));
+      } else {
+        result_vtr.emplace_back(nullptr);
+      }
     }
     return result_vtr;
   }

rclcpp/include/rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp

@@ -199,6 +199,12 @@ init_tuple(NodeT & n)
     { \
       return StorageClassT::template get<NodeInterfaceType>(); \
     } \
+ \
+    std::shared_ptr<const NodeInterfaceType> \
+    get_node_ ## NodeInterfaceName ## _interface() const \
+    { \
+      return StorageClassT::template get<NodeInterfaceType>(); \
+    } \
   }; \
   }  // namespace rclcpp::node_interfaces::detail
 // *INDENT-ON*

rclcpp/include/rclcpp/node_options.hpp

@@ -146,6 +146,14 @@ public:
     return *this;
   }
 
+  /// Append a single parameter override, parameter idiom style.
+  NodeOptions &
+  append_parameter_override(const rclcpp::Parameter & param)
+  {
+    this->parameter_overrides().push_back(param);
+    return *this;
+  }
+
   /// Return the use_global_arguments flag.
   RCLCPP_PUBLIC
   bool

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/typesupport_helpers.hpp

@@ -28,27 +28,48 @@
 
 namespace rclcpp
 {
-/// Load the type support library for the given type.
-/**
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \return A shared library
- */
+
+/// \brief Extract the package name, middle module, and type name from a full type string.
+/// \details This function takes a full type string (e.g., "std_msgs/msg/String") and extracts
+/// the package name, middle module (if any), and type name. The middle module is the part
+/// between the package name and the type name, which is typically used for message types.
+/// For example, for "std_msgs/msg/String", it returns ("std_msgs", "msg", "String").
+/// \param[in] full_type
+/// \throws std::runtime_error if the input full type string is malformed or does not follow the
+/// expected format.
+/// \return A tuple containing the package name, middle module (if any), and type name.
+RCLCPP_PUBLIC
+std::tuple<std::string, std::string, std::string>
+extract_type_identifier(const std::string & full_type);
+
+/// \brief Look for the library in the ament prefix paths and return the path to the type support
+/// library.
+/// \param[in] package_name The name of the package containing the type support library,
+/// e.g. "std_msgs".
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \throws std::runtime_error if the library is not found.
+/// \return The path to the type support library.
+RCLCPP_PUBLIC
+std::string get_typesupport_library_path(
+  const std::string & package_name, const std::string & typesupport_identifier);
+
+/// \brief Load the type support library for the given type.
+/// \param[in] type The topic type, e.g. "std_msgs/msg/String"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \throws std::runtime_error if the library is not found or cannot be loaded.
+/// \return A shared library
 RCLCPP_PUBLIC
 std::shared_ptr<rcpputils::SharedLibrary>
 get_typesupport_library(const std::string & type, const std::string & typesupport_identifier);
 
-/// Extract the type support handle from the library.
-/**
- * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
- *
- * \deprecated Use get_message_typesupport_handle() instead
- *
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \return A type support handle
- */
+/// \brief Extract the type support handle from the library.
+/// \note The library needs to match the topic type. The shared library must stay loaded for the
+/// lifetime of the result.
+/// \deprecated Use get_message_typesupport_handle() instead
+/// \param[in] type The topic type, e.g. "std_msgs/msg/String"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \param[in] library The shared type support library
+/// \return A type support handle
 [[deprecated("Use `get_message_typesupport_handle` instead")]]
 RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
@@ -57,16 +78,14 @@ get_typesupport_handle(
   const std::string & typesupport_identifier,
   rcpputils::SharedLibrary & library);
 
-/// Extract the message type support handle from the library.
-/**
- * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
- *
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \throws std::runtime_error if the symbol of type not found in the library.
- * \return A message type support handle
- */
+/// \brief Extracts the message type support handle from the library.
+/// \note The library needs to match the topic type. The shared library must stay loaded for the
+/// lifetime of the result.
+/// \param[in] type The topic type, e.g. "std_msgs/msg/String"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \param[in] library The shared type support library
+/// \throws std::runtime_error if the symbol of type not found in the library.
+/// \return A message type support handle
 RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
 get_message_typesupport_handle(
@@ -74,16 +93,14 @@ get_message_typesupport_handle(
   const std::string & typesupport_identifier,
   rcpputils::SharedLibrary & library);
 
-/// Extract the service type support handle from the library.
-/**
- * The library needs to match the service type. The shared library must stay loaded for the lifetime of the result.
- *
- * \param[in] type The service type, e.g. "std_srvs/srv/Empty"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \throws std::runtime_error if the symbol of type not found in the library.
- * \return A service type support handle
- */
+/// \brief Extracts the service type support handle from the library.
+/// \note The library needs to match the service type. The shared library must stay loaded for the
+/// lifetime of the result.
+/// \param[in] type The service type, e.g. "std_srvs/srv/Empty"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \param[in] library The shared type support library
+/// \throws std::runtime_error if the symbol of type not found in the library.
+/// \return A service type support handle
 RCLCPP_PUBLIC
 const rosidl_service_type_support_t *
 get_service_typesupport_handle(

rclcpp/include/rclcpp/wait_for_message.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__WAIT_FOR_MESSAGE_HPP_
 #define RCLCPP__WAIT_FOR_MESSAGE_HPP_
 
+#include <future>
 #include <memory>
 #include <string>
 
@@ -23,6 +24,7 @@
 #include "rclcpp/node.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/wait_set.hpp"
+#include "rclcpp/qos.hpp"
 
 namespace rclcpp
 {
@@ -79,10 +81,11 @@ bool wait_for_message(
 /**
  * Wait for the next incoming message to arrive on a specified topic before the specified timeout.
  *
- * \param[out] out is the message to be filled when a new message is arriving.
+ * \param[out] out is the message to be filled when a new message is arriving
  * \param[in] node the node pointer to initialize the subscription on.
  * \param[in] topic the topic to wait for messages.
  * \param[in] time_to_wait parameter specifying the timeout before returning.
+ * \param[in] qos parameter specifying QoS settings for the subscription.
  * \return true if a message was successfully received, false if message could not
  * be obtained or shutdown was triggered asynchronously on the context.
  */
@@ -91,9 +94,10 @@ bool wait_for_message(
   MsgT & out,
   rclcpp::Node::SharedPtr node,
   const std::string & topic,
-  std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1))
+  std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1),
+  const rclcpp::QoS & qos = rclcpp::SystemDefaultsQoS())
 {
-  auto sub = node->create_subscription<MsgT>(topic, 1, [](const std::shared_ptr<const MsgT>) {});
+  auto sub = node->create_subscription<MsgT>(topic, qos, [](const std::shared_ptr<const MsgT>) {});
   return wait_for_message<MsgT, Rep, Period>(
     out, sub, node->get_node_options().context(), time_to_wait);
 }

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>28.1.9</version>
+  <version>28.1.15</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp/resource/logging.hpp.em

@@ -124,8 +124,7 @@ def get_rclcpp_suffix_from_features(features):
 ) \
   do { \
     static_assert( \
-      ::std::is_same<typename std::remove_cv_t<typename std::remove_reference_t<decltype(logger)>>, \
-      typename ::rclcpp::Logger>::value, \
+      ::std::is_convertible_v<decltype(logger), ::rclcpp::Logger>, \
       "First argument to logging macros must be an rclcpp::Logger"); \
 @[ if 'throttle' in feature_combination]@ \
     auto get_time_point = [&c=clock](rcutils_time_point_value_t * time_point) -> rcutils_ret_t { \

rclcpp/src/rclcpp/context.cpp

@@ -14,6 +14,7 @@
 
 #include "rclcpp/context.hpp"
 
+#include <map>
 #include <memory>
 #include <mutex>
 #include <sstream>
@@ -142,11 +143,52 @@ rclcpp_logging_output_handler(
 }
 }  // extern "C"
 
+/**
+ * Global storage for pre and post shutdown recursive mutexes.
+ * Note, this is a ABI compatibility hack.
+ */
+class MutexLookup
+{
+  std::mutex m;
+
+  struct MutexHolder
+  {
+    std::recursive_mutex on_shutdown_callbacks_mutex_;
+    std::recursive_mutex pre_shutdown_callbacks_mutex_;
+  };
+
+  std::map<const Context *, std::unique_ptr<MutexHolder>> mutexMap;
+
+public:
+  MutexHolder & getMutexes(const Context *forContext)
+  {
+    auto it = mutexMap.find(forContext);
+    if(it == mutexMap.end()) {
+      it = mutexMap.emplace(forContext, std::make_unique<MutexHolder>()).first;
+    }
+
+    return *(it->second);
+  }
+
+  /**
+   * Only supposed to be called on deletion of context
+   */
+  void removeMutexes(const Context *forContext)
+  {
+    mutexMap.erase(forContext);
+  }
+};
+
+MutexLookup mutexStorage;
+
 Context::Context()
 : rcl_context_(nullptr),
   shutdown_reason_(""),
   logging_mutex_(nullptr)
-{}
+{
+  // allocate mutexes
+  mutexStorage.getMutexes(this);
+}
 
 Context::~Context()
 {
@@ -165,6 +207,9 @@ Context::~Context()
   } catch (...) {
     RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "unhandled exception in ~Context()");
   }
+
+  // delete mutexes
+  mutexStorage.removeMutexes(this);
 }
 
 RCLCPP_LOCAL
@@ -311,9 +356,17 @@ Context::shutdown(const std::string & reason)
 
   // call each pre-shutdown callback
   {
-    std::lock_guard<std::mutex> lock{pre_shutdown_callbacks_mutex_};
-    for (const auto & callback : pre_shutdown_callbacks_) {
-      (*callback)();
+    std::lock_guard<std::recursive_mutex> lock{mutexStorage.getMutexes(
+        this).pre_shutdown_callbacks_mutex_};
+    // callbacks may delete other callbacks during the execution,
+    // therefore we need to save a copy and check before execution
+    // if the next callback is still present
+    auto cpy = pre_shutdown_callbacks_;
+    for (const auto & callback : cpy) {
+      auto it = std::find(pre_shutdown_callbacks_.begin(), pre_shutdown_callbacks_.end(), callback);
+      if(it != pre_shutdown_callbacks_.end()) {
+        (*callback)();
+      }
     }
   }
 
@@ -326,9 +379,17 @@ Context::shutdown(const std::string & reason)
   shutdown_reason_ = reason;
   // call each shutdown callback
   {
-    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
-    for (const auto & callback : on_shutdown_callbacks_) {
-      (*callback)();
+    std::lock_guard<std::recursive_mutex> lock(mutexStorage.getMutexes(
+      this).on_shutdown_callbacks_mutex_);
+    // callbacks may delete other callbacks during the execution,
+    // therefore we need to save a copy and check before execution
+    // if the next callback is still present
+    auto cpy = on_shutdown_callbacks_;
+    for (const auto & callback : cpy) {
+      auto it = std::find(on_shutdown_callbacks_.begin(), on_shutdown_callbacks_.end(), callback);
+      if(it != on_shutdown_callbacks_.end()) {
+        (*callback)();
+      }
     }
   }
 
@@ -399,10 +460,12 @@ Context::add_shutdown_callback(
     shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
 
   if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    std::lock_guard<std::mutex> lock(pre_shutdown_callbacks_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(mutexStorage.getMutexes(
+      this).pre_shutdown_callbacks_mutex_);
     pre_shutdown_callbacks_.emplace_back(callback_shared_ptr);
   } else {
-    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(mutexStorage.getMutexes(
+      this).on_shutdown_callbacks_mutex_);
     on_shutdown_callbacks_.emplace_back(callback_shared_ptr);
   }
 
@@ -422,7 +485,7 @@ Context::remove_shutdown_callback(
   }
 
   const auto remove_callback = [&callback_shared_ptr](auto & mutex, auto & callback_vector) {
-      const std::lock_guard<std::mutex> lock(mutex);
+      const std::lock_guard<std::recursive_mutex> lock(mutex);
       auto iter = callback_vector.begin();
       for (; iter != callback_vector.end(); iter++) {
         if ((*iter).get() == callback_shared_ptr.get()) {
@@ -433,6 +496,7 @@ Context::remove_shutdown_callback(
         return false;
       }
       callback_vector.erase(iter);
+
       return true;
     };
 
@@ -440,9 +504,11 @@ Context::remove_shutdown_callback(
     shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
 
   if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    return remove_callback(pre_shutdown_callbacks_mutex_, pre_shutdown_callbacks_);
+    return remove_callback(mutexStorage.getMutexes(this).pre_shutdown_callbacks_mutex_,
+      pre_shutdown_callbacks_);
   } else {
-    return remove_callback(on_shutdown_callbacks_mutex_, on_shutdown_callbacks_);
+    return remove_callback(mutexStorage.getMutexes(this).on_shutdown_callbacks_mutex_,
+      on_shutdown_callbacks_);
   }
 }
 
@@ -463,7 +529,7 @@ std::vector<rclcpp::Context::ShutdownCallback>
 Context::get_shutdown_callback() const
 {
   const auto get_callback_vector = [](auto & mutex, auto & callback_set) {
-      const std::lock_guard<std::mutex> lock(mutex);
+      const std::lock_guard<std::recursive_mutex> lock(mutex);
       std::vector<rclcpp::Context::ShutdownCallback> callbacks;
       for (auto & callback : callback_set) {
         callbacks.push_back(*callback);
@@ -475,9 +541,11 @@ Context::get_shutdown_callback() const
     shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
 
   if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    return get_callback_vector(pre_shutdown_callbacks_mutex_, pre_shutdown_callbacks_);
+    return get_callback_vector(mutexStorage.getMutexes(this).pre_shutdown_callbacks_mutex_,
+      pre_shutdown_callbacks_);
   } else {
-    return get_callback_vector(on_shutdown_callbacks_mutex_, on_shutdown_callbacks_);
+    return get_callback_vector(mutexStorage.getMutexes(this).on_shutdown_callbacks_mutex_,
+      on_shutdown_callbacks_);
   }
 }
 

rclcpp/src/rclcpp/experimental/timers_manager.cpp

@@ -273,20 +273,22 @@ void TimersManager::run_timers()
     if (!time_to_sleep.has_value() || (time_to_sleep.value() == std::chrono::nanoseconds::max()) ) {
       // Wait until notification that timers have been updated
       timers_cv_.wait(lock, [this]() {return timers_updated_;});
-
-      // Re-heap in case ordering changed due to a cancelled timer
-      // re-activating.
-      TimersHeap locked_heap = weak_timers_heap_.validate_and_lock();
-      locked_heap.heapify();
-      weak_timers_heap_.store(locked_heap);
     } else if (time_to_sleep.value() != std::chrono::nanoseconds::zero()) {
       // If time_to_sleep is zero, we immediately execute. Otherwise, wait
       // until timeout or notification that timers have been updated
       timers_cv_.wait_for(lock, time_to_sleep.value(), [this]() {return timers_updated_;});
     }
 
-    // Reset timers updated flag
-    timers_updated_ = false;
+    if (timers_updated_) {
+      // Re-heap in case ordering changed due to a cancelled timer
+      // re-activating.
+      TimersHeap locked_heap = weak_timers_heap_.validate_and_lock();
+      locked_heap.heapify();
+      weak_timers_heap_.store(locked_heap);
+
+      // Reset timers updated flag
+      timers_updated_ = false;
+    }
 
     // Execute timers
     this->execute_ready_timers_unsafe();

rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp

@@ -65,11 +65,11 @@ public:
   : logger_(node_logging->get_logger()),
     node_base_(node_base)
   {
+    rclcpp::ParameterValue enable_param;
     const std::string enable_param_name = "start_type_description_service";
 
-    bool enabled = false;
-    try {
-      auto enable_param = node_parameters->declare_parameter(
+    if (!node_parameters->has_parameter(enable_param_name)) {
+      enable_param = node_parameters->declare_parameter(
         enable_param_name,
         rclcpp::ParameterValue(true),
         rcl_interfaces::msg::ParameterDescriptor()
@@ -77,13 +77,21 @@ public:
         .set__type(rclcpp::PARAMETER_BOOL)
         .set__description("Start the ~/get_type_description service for this node.")
         .set__read_only(true));
-      enabled = enable_param.get<bool>();
-    } catch (const rclcpp::exceptions::InvalidParameterTypeException & exc) {
-      RCLCPP_ERROR(logger_, "%s", exc.what());
-      throw;
+    } else {
+      enable_param = node_parameters->get_parameter(enable_param_name).get_parameter_value();
+    }
+    if (enable_param.get_type() != rclcpp::PARAMETER_BOOL) {
+      RCLCPP_ERROR(
+        logger_,
+            "Invalid type '%s' for parameter 'start_type_description_service', should be 'bool'",
+        rclcpp::to_string(enable_param.get_type()).c_str());
+      std::ostringstream ss;
+      ss << "Wrong parameter type, parameter {" << enable_param_name << "} is of type {bool}, "
+         << "setting it to {" << to_string(enable_param.get_type()) << "} is not allowed.";
+      throw rclcpp::exceptions::InvalidParameterTypeException(enable_param_name, ss.str());
     }
 
-    if (enabled) {
+    if (enable_param.get<bool>()) {
       auto * rcl_node = node_base->get_rcl_node_handle();
       std::shared_ptr<rcl_service_t> rcl_srv(
         new rcl_service_t,

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/parameter_map.cpp

@@ -81,7 +81,15 @@ rclcpp::parameter_map_from(const rcl_params_t * const c_params, const char * nod
         throw InvalidParametersException(message);
       }
       const rcl_variant_t * const c_param_value = &(c_params_node->parameter_values[p]);
-      params_node.emplace_back(c_param_name, parameter_value_from(c_param_value));
+      ParameterValue value;
+      try {
+        value = parameter_value_from(c_param_value);
+      } catch (const InvalidParameterValueException & e) {
+        throw InvalidParameterValueException(
+          std::string("parameter_value_from failed for parameter '") +
+          c_param_name + "': " + e.what());
+      }
+      params_node.emplace_back(c_param_name, value);
     }
   }
 

rclcpp/src/rclcpp/qos.cpp

@@ -69,8 +69,10 @@ QoSInitialization::from_rmw(const rmw_qos_profile_t & rmw_qos)
       return KeepLast(rmw_qos.depth, false);
     case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
     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/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/src/rclcpp/signal_handler.cpp

@@ -68,7 +68,6 @@ void
 SignalHandler::signal_handler(
   int signum, siginfo_t * siginfo, void * context)
 {
-  RCLCPP_INFO(SignalHandler::get_logger(), "signal_handler(signum=%d)", signum);
   auto & instance = SignalHandler::get_global_signal_handler();
 
   auto old_signal_handler = instance.get_old_signal_handler(signum);
@@ -91,7 +90,6 @@ SignalHandler::signal_handler(
 void
 SignalHandler::signal_handler(int signum)
 {
-  RCLCPP_INFO(SignalHandler::get_logger(), "signal_handler(signum=%d)", signum);
   auto & instance = SignalHandler::get_global_signal_handler();
   auto old_signal_handler = instance.get_old_signal_handler(signum);
   if (
@@ -249,9 +247,6 @@ SignalHandler::signal_handler_common()
 {
   auto & instance = SignalHandler::get_global_signal_handler();
   instance.signal_received_.store(true);
-  RCLCPP_DEBUG(
-    get_logger(),
-    "signal_handler(): notifying deferred signal handler");
   instance.notify_signal_handler();
 }
 
@@ -260,6 +255,7 @@ SignalHandler::deferred_signal_handler()
 {
   while (true) {
     if (signal_received_.exchange(false)) {
+      RCLCPP_INFO(SignalHandler::get_logger(), "signal_handler(SIGINT/SIGTERM)");
       RCLCPP_DEBUG(get_logger(), "deferred_signal_handler(): shutting down");
       for (auto context_ptr : rclcpp::get_contexts()) {
         if (context_ptr->get_init_options().shutdown_on_signal) {

rclcpp/src/rclcpp/typesupport_helpers.cpp

@@ -35,62 +35,6 @@ namespace rclcpp
 namespace
 {
 
-// Look for the library in the ament prefix paths.
-std::string get_typesupport_library_path(
-  const std::string & package_name, const std::string & typesupport_identifier)
-{
-  const char * dynamic_library_folder;
-#ifdef _WIN32
-  dynamic_library_folder = "/bin/";
-#elif __APPLE__
-  dynamic_library_folder = "/lib/";
-#else
-  dynamic_library_folder = "/lib/";
-#endif
-
-  std::string package_prefix;
-  try {
-    package_prefix = ament_index_cpp::get_package_prefix(package_name);
-  } catch (ament_index_cpp::PackageNotFoundError & e) {
-    throw std::runtime_error(e.what());
-  }
-
-  const std::string library_path = rcpputils::path_for_library(
-    package_prefix + dynamic_library_folder,
-    package_name + "__" + typesupport_identifier);
-  if (library_path.empty()) {
-    throw std::runtime_error(
-            "Typesupport library for " + package_name + " does not exist in '" + package_prefix +
-            "'.");
-  }
-  return library_path;
-}
-
-std::tuple<std::string, std::string, std::string>
-extract_type_identifier(const std::string & full_type)
-{
-  char type_separator = '/';
-  auto sep_position_back = full_type.find_last_of(type_separator);
-  auto sep_position_front = full_type.find_first_of(type_separator);
-  if (sep_position_back == std::string::npos ||
-    sep_position_back == 0 ||
-    sep_position_back == full_type.length() - 1)
-  {
-    throw std::runtime_error(
-            "Message type is not of the form package/type and cannot be processed");
-  }
-
-  std::string package_name = full_type.substr(0, sep_position_front);
-  std::string middle_module = "";
-  if (sep_position_back - sep_position_front > 0) {
-    middle_module =
-      full_type.substr(sep_position_front + 1, sep_position_back - sep_position_front - 1);
-  }
-  std::string type_name = full_type.substr(sep_position_back + 1);
-
-  return std::make_tuple(package_name, middle_module, type_name);
-}
-
 const void * get_typesupport_handle_impl(
   const std::string & type,
   const std::string & typesupport_identifier,
@@ -131,6 +75,61 @@ const void * get_typesupport_handle_impl(
 
 }  // anonymous namespace
 
+std::tuple<std::string, std::string, std::string>
+extract_type_identifier(const std::string & full_type)
+{
+  char type_separator = '/';
+  auto sep_position_back = full_type.find_last_of(type_separator);
+  auto sep_position_front = full_type.find_first_of(type_separator);
+  if (sep_position_back == std::string::npos ||
+    sep_position_back == 0 ||
+    sep_position_back == full_type.length() - 1)
+  {
+    throw std::runtime_error(
+      "Message type is not of the form package/type and cannot be processed");
+  }
+
+  std::string package_name = full_type.substr(0, sep_position_front);
+  std::string middle_module = "";
+  if (sep_position_back - sep_position_front > 0) {
+    middle_module =
+      full_type.substr(sep_position_front + 1, sep_position_back - sep_position_front - 1);
+  }
+  std::string type_name = full_type.substr(sep_position_back + 1);
+
+  return std::make_tuple(package_name, middle_module, type_name);
+}
+
+std::string get_typesupport_library_path(
+  const std::string & package_name, const std::string & typesupport_identifier)
+{
+  const char * dynamic_library_folder;
+#ifdef _WIN32
+  dynamic_library_folder = "/bin/";
+#elif __APPLE__
+  dynamic_library_folder = "/lib/";
+#else
+  dynamic_library_folder = "/lib/";
+#endif
+
+  std::string package_prefix;
+  try {
+    package_prefix = ament_index_cpp::get_package_prefix(package_name);
+  } catch (ament_index_cpp::PackageNotFoundError & e) {
+    throw std::runtime_error(e.what());
+  }
+
+  const std::string library_path = rcpputils::path_for_library(
+    package_prefix + dynamic_library_folder,
+    package_name + "__" + typesupport_identifier);
+  if (library_path.empty()) {
+    throw std::runtime_error(
+      "Typesupport library for " + package_name + " does not exist in '" + package_prefix +
+        "'.");
+  }
+  return library_path;
+}
+
 std::shared_ptr<rcpputils::SharedLibrary>
 get_typesupport_library(const std::string & type, const std::string & typesupport_identifier)
 {

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/executors/test_events_queue.cpp

@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <chrono>
 #include <memory>
 
 #include "rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp"

rclcpp/test/rclcpp/executors/test_waitable.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <atomic>
+#include <chrono>
 #include <functional>
 #include <memory>
 #include <thread>

rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp

@@ -192,7 +192,7 @@ TEST_F(TestNodeInterfaces, ni_init) {
 /*
    Testing macro'ed getters.
  */
-TEST_F(TestNodeInterfaces, ni_all_init) {
+TEST_F(TestNodeInterfaces, ni_all_init_non_const) {
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
 
   using rclcpp::node_interfaces::NodeInterfaces;
@@ -252,3 +252,64 @@ TEST_F(TestNodeInterfaces, ni_all_init) {
     time_source = ni.get_node_time_source_interface();
   }
 }
+
+TEST_F(TestNodeInterfaces, ni_all_init_const) {
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+
+  using rclcpp::node_interfaces::NodeInterfaces;
+  using rclcpp::node_interfaces::NodeBaseInterface;
+  using rclcpp::node_interfaces::NodeClockInterface;
+  using rclcpp::node_interfaces::NodeGraphInterface;
+  using rclcpp::node_interfaces::NodeLoggingInterface;
+  using rclcpp::node_interfaces::NodeTimersInterface;
+  using rclcpp::node_interfaces::NodeTopicsInterface;
+  using rclcpp::node_interfaces::NodeServicesInterface;
+  using rclcpp::node_interfaces::NodeWaitablesInterface;
+  using rclcpp::node_interfaces::NodeParametersInterface;
+  using rclcpp::node_interfaces::NodeTimeSourceInterface;
+
+  const auto ni = rclcpp::node_interfaces::NodeInterfaces<ALL_RCLCPP_NODE_INTERFACES>(*node);
+
+  {
+    auto base = ni.get<NodeBaseInterface>();
+    base = ni.get_node_base_interface();
+    EXPECT_STREQ(base->get_name(), "my_node");  // Test for functionality
+  }
+  {
+    auto clock = ni.get<NodeClockInterface>();
+    clock = ni.get_node_clock_interface();
+    clock->get_clock();
+  }
+  {
+    auto graph = ni.get<NodeGraphInterface>();
+    graph = ni.get_node_graph_interface();
+  }
+  {
+    auto logging = ni.get<NodeLoggingInterface>();
+    logging = ni.get_node_logging_interface();
+  }
+  {
+    auto timers = ni.get<NodeTimersInterface>();
+    timers = ni.get_node_timers_interface();
+  }
+  {
+    auto topics = ni.get<NodeTopicsInterface>();
+    topics = ni.get_node_topics_interface();
+  }
+  {
+    auto services = ni.get<NodeServicesInterface>();
+    services = ni.get_node_services_interface();
+  }
+  {
+    auto waitables = ni.get<NodeWaitablesInterface>();
+    waitables = ni.get_node_waitables_interface();
+  }
+  {
+    auto parameters = ni.get<NodeParametersInterface>();
+    parameters = ni.get_node_parameters_interface();
+  }
+  {
+    auto time_source = ni.get<NodeTimeSourceInterface>();
+    time_source = ni.get_node_time_source_interface();
+  }
+}

rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp

@@ -125,7 +125,7 @@ TEST_F(TestNodeParameters, list_parameters)
     list_result5.names.end());
 }
 
-TEST_F(TestNodeParameters, parameter_overrides)
+TEST_F(TestNodeParameters, parameter_overrides_with_value)
 {
   rclcpp::NodeOptions node_options;
   node_options.automatically_declare_parameters_from_overrides(true);
@@ -143,6 +143,24 @@ TEST_F(TestNodeParameters, parameter_overrides)
   EXPECT_EQ(2u, parameter_overrides.size());
 }
 
+TEST_F(TestNodeParameters, parameter_overrides_with_parameter)
+{
+  rclcpp::NodeOptions node_options;
+  node_options.automatically_declare_parameters_from_overrides(true);
+  node_options.append_parameter_override(rclcpp::Parameter("param1", true));
+  node_options.append_parameter_override(rclcpp::Parameter("param2", 42));
+
+  std::shared_ptr<rclcpp::Node> node2 = std::make_shared<rclcpp::Node>("node2", "ns", node_options);
+
+  auto * node_parameters_interface =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node2->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters_interface);
+
+  const auto & parameter_overrides = node_parameters_interface->get_parameter_overrides();
+  EXPECT_EQ(2u, parameter_overrides.size());
+}
+
 TEST_F(TestNodeParameters, set_parameters) {
   rclcpp::NodeOptions node_options;
   node_options.allow_undeclared_parameters(true);

rclcpp/test/rclcpp/node_interfaces/test_node_type_descriptions.cpp

@@ -37,6 +37,38 @@ TEST_F(TestNodeTypeDescriptions, interface_created)
   ASSERT_NE(nullptr, node.get_node_type_descriptions_interface());
 }
 
+TEST_F(TestNodeTypeDescriptions, automatically_declare_parameters_from_overrides)
+{
+  rclcpp::NodeOptions node_options;
+  node_options.automatically_declare_parameters_from_overrides(true);
+  node_options.append_parameter_override("start_type_description_service", false);
+  ASSERT_NO_THROW(
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns", node_options);
+    (void) node;
+  });
+}
+
+TEST_F(TestNodeTypeDescriptions, bad_parameter_type)
+{
+  rclcpp::NodeOptions node_options;
+  node_options.append_parameter_override("start_type_description_service", "unexpected_type");
+
+  ASSERT_THROW(
+  {
+    node_options.automatically_declare_parameters_from_overrides(false);
+    auto node = std::make_shared<rclcpp::Node>("node", "ns", node_options);
+    (void) node;
+  }, rclcpp::exceptions::InvalidParameterTypeException);
+
+  ASSERT_THROW(
+  {
+    node_options.automatically_declare_parameters_from_overrides(true);
+    auto node = std::make_shared<rclcpp::Node>("node", "ns", node_options);
+    (void) node;
+  }, rclcpp::exceptions::InvalidParameterTypeException);
+}
+
 TEST_F(TestNodeTypeDescriptions, disabled_no_service)
 {
   rclcpp::NodeOptions node_options;

rclcpp/test/rclcpp/test_clock.cpp

@@ -178,7 +178,10 @@ TEST_F(TestClockWakeup, no_wakeup_on_sim_time) {
 TEST_F(TestClockWakeup, multiple_threads_wait_on_one_clock) {
   auto clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
 
-  std::vector<bool> thread_finished(10, false);
+  std::vector<std::atomic_bool> thread_finished(10);
+  for (std::atomic_bool & finished : thread_finished) {
+    finished = false;
+  }
 
   std::vector<std::thread> threads;
 
@@ -196,7 +199,7 @@ TEST_F(TestClockWakeup, multiple_threads_wait_on_one_clock) {
   // wait a bit so all threads can execute the sleep_until
   std::this_thread::sleep_for(std::chrono::milliseconds(500));
 
-  for (const bool & finished : thread_finished) {
+  for (const std::atomic_bool & finished : thread_finished) {
     EXPECT_FALSE(finished);
   }
 
@@ -207,7 +210,7 @@ TEST_F(TestClockWakeup, multiple_threads_wait_on_one_clock) {
   bool threads_finished = false;
   while (!threads_finished && start_time + std::chrono::seconds(1) > cur_time) {
     threads_finished = true;
-    for (const bool finished : thread_finished) {
+    for (const std::atomic_bool & finished : thread_finished) {
       if (!finished) {
         threads_finished = false;
       }
@@ -217,7 +220,7 @@ TEST_F(TestClockWakeup, multiple_threads_wait_on_one_clock) {
     cur_time = std::chrono::steady_clock::now();
   }
 
-  for (const bool finished : thread_finished) {
+  for (const std::atomic_bool & finished : thread_finished) {
     EXPECT_TRUE(finished);
   }
 

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_intra_process_manager.cpp

@@ -517,7 +517,7 @@ TEST(TestIntraProcessManager, add_pub_sub) {
  * - Remove the first subscription from ipm and add a new one.
  * - Publishes a unique_ptr message with a subscription not requesting ownership.
  * - The received message is expected to be the same, the first subscription do not receive it.
- * - Publishes a shared_ptr message with a subscription not requesting ownership.
+ * - Publishes a unique_ptr message with a subscription not requesting ownership.
  * - The received message is expected to be the same.
  */
 TEST(TestIntraProcessManager, single_subscription) {
@@ -569,9 +569,9 @@ TEST(TestIntraProcessManager, single_subscription) {
  * - One is expected to receive the published message, while the other will receive a copy.
  * - Publishes a unique_ptr message with 2 subscriptions not requesting ownership.
  * - Both received messages are expected to be the same as the published one.
- * - Publishes a shared_ptr message with 2 subscriptions requesting ownership.
+ * - Publishes a unique_ptr message with 2 subscriptions requesting ownership.
  * - Both received messages are expected to be a copy of the published one.
- * - Publishes a shared_ptr message with 2 subscriptions not requesting ownership.
+ * - Publishes a unique_ptr message with 2 subscriptions not requesting ownership.
  * - Both received messages are expected to be the same as the published one.
  */
 TEST(TestIntraProcessManager, multiple_subscriptions_same_type) {
@@ -676,9 +676,9 @@ TEST(TestIntraProcessManager, multiple_subscriptions_same_type) {
  * - The 2 subscriptions not requesting ownership are expected to both receive the same copy
  *   of the message, one of the subscription requesting ownership is expected to receive a
  *   different copy, while the last is expected to receive the published message.
- * - Publishes a shared_ptr message with 1 subscription requesting ownership and 1 not.
- * - The subscription requesting ownership is expected to receive a copy of the message, while
- *   the other is expected to receive the published message
+ * - Publishes a unique_ptr message with 1 subscription requesting ownership and 1 not.
+ * - The subscription requesting ownership is expected to receive the published message, while
+ *   the other is expected to receive a copy of the message
  */
 TEST(TestIntraProcessManager, multiple_subscriptions_different_type) {
   using IntraProcessManagerT = rclcpp::experimental::IntraProcessManager;

rclcpp/test/rclcpp/test_logger_service.cpp

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

rclcpp/test/rclcpp/test_logging.cpp

@@ -253,9 +253,19 @@ bool log_function_const_ref(const rclcpp::Logger & logger)
   return true;
 }
 
+class DerivedLogger : public rclcpp::Logger
+{
+public:
+  explicit DerivedLogger(const rclcpp::Logger & logger)
+  : rclcpp::Logger(logger) {}
+};
+
 TEST_F(TestLoggingMacros, test_log_from_node) {
   auto logger = rclcpp::get_logger("test_logging_logger");
   EXPECT_TRUE(log_function(logger));
   EXPECT_TRUE(log_function_const(logger));
   EXPECT_TRUE(log_function_const_ref(logger));
+
+  DerivedLogger derived_logger(logger);
+  RCLCPP_INFO(derived_logger, "successful log from derived logger");
 }

rclcpp/test/rclcpp/test_node_options.cpp

@@ -258,8 +258,10 @@ TEST(TestNodeOptions, append_parameter_override) {
   auto options = rclcpp::NodeOptions().arguments(expected_args).use_global_arguments(false);
   rclcpp::Parameter parameter("some_parameter", 10);
   options.append_parameter_override("some_parameter", 10);
-  EXPECT_EQ(1u, options.parameter_overrides().size());
+  options.append_parameter_override(parameter);
+  EXPECT_EQ(2u, options.parameter_overrides().size());
   EXPECT_EQ(std::string("some_parameter"), options.parameter_overrides()[0].get_name());
+  EXPECT_EQ(std::string("some_parameter"), options.parameter_overrides()[1].get_name());
 }
 
 TEST(TestNodeOptions, rcl_node_options_fini_error) {

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

@@ -190,7 +190,7 @@ TEST_F(TestPublisher, test_publisher_with_system_default_qos) {
   using test_msgs::msg::Empty;
   ASSERT_NO_THROW(
   {
-    auto publisher = node->create_publisher<Empty>("topic", rclcpp::SystemDefaultsQoS());
+    auto publisher = node->create_publisher<Empty>("topic", rclcpp::SystemDefaultsQoS(), options);
   });
 }
 

rclcpp/test/rclcpp/test_qos.cpp

@@ -259,3 +259,15 @@ 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));
+  unsigned int n = 999;
+  memcpy(&invalid_qos.history, &n, sizeof(n));
+
+  EXPECT_THROW({
+    rclcpp::QoSInitialization::from_rmw(invalid_qos);
+  }, std::invalid_argument);
+}

rclcpp/test/rclcpp/test_ring_buffer_implementation.cpp

@@ -139,3 +139,15 @@ TEST(TestRingBufferImplementation, basic_usage_unique_ptr) {
   EXPECT_EQ(false, rb.has_data());
   EXPECT_EQ(false, rb.is_full());
 }
+
+TEST(TestRingBufferImplementation, handle_nullptr_deletion) {
+  rclcpp::experimental::buffers::RingBufferImplementation<std::unique_ptr<int>> rb(3);
+  rb.enqueue(std::make_unique<int>(42));
+  rb.enqueue(nullptr);  // intentionally enqueuing nullptr
+  rb.enqueue(std::make_unique<int>(84));
+  auto all_data = rb.get_all_data();
+  EXPECT_EQ(3u, all_data.size());
+  EXPECT_EQ(42, *(all_data[0]));
+  EXPECT_EQ(nullptr, all_data[1]);
+  EXPECT_EQ(84, *(all_data[2]));
+}

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_service_introspection.cpp

@@ -15,6 +15,7 @@
 #include <rcl/service_introspection.h>
 #include <rmw/rmw.h>
 
+#include <chrono>
 #include <map>
 #include <string>
 

rclcpp/test/rclcpp/test_wait_for_message.cpp

@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <chrono>
 #include <memory>
 #include <string>
 #include <vector>
@@ -107,3 +108,29 @@ TEST(TestUtilities, wait_for_message_twice_one_sub) {
 
   rclcpp::shutdown();
 }
+
+TEST(TestUtilities, wait_for_last_message) {
+  rclcpp::init(0, nullptr);
+
+  auto node = std::make_shared<rclcpp::Node>("wait_for_last_message_node");
+  auto qos = rclcpp::QoS(1).reliable().transient_local();
+
+  using MsgT = test_msgs::msg::Strings;
+  auto pub = node->create_publisher<MsgT>("wait_for_last_message_topic", qos);
+  pub->publish(*get_messages_strings()[0]);
+
+  MsgT out;
+  auto received = false;
+  auto wait = std::async(
+    [&]() {
+      auto ret = rclcpp::wait_for_message(out, node, "wait_for_last_message_topic", 5s, qos);
+      EXPECT_TRUE(ret);
+      received = true;
+    });
+
+  ASSERT_NO_THROW(wait.get());
+  ASSERT_TRUE(received);
+  EXPECT_EQ(out, *get_messages_strings()[0]);
+
+  rclcpp::shutdown();
+}

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,31 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+28.1.15 (2025-12-23)
+--------------------
+
+28.1.14 (2025-11-18)
+--------------------
+* Fix REP url locations (`#2987 <https://github.com/ros2/rclcpp/issues/2987>`_) (`#2990 <https://github.com/ros2/rclcpp/issues/2990>`_)
+* Contributors: mergify[bot]
+
+28.1.13 (2025-10-21)
+--------------------
+* it misses the iterator second to lock the weakptr. (`#2958 <https://github.com/ros2/rclcpp/issues/2958>`_) (`#2960 <https://github.com/ros2/rclcpp/issues/2960>`_)
+* Contributors: mergify[bot]
+
+28.1.12 (2025-09-11)
+--------------------
+
+28.1.11 (2025-08-06)
+--------------------
+
+28.1.10 (2025-06-23)
+--------------------
+* Replace std::default_random_engine with std::mt19937 (humble) (`#2847 <https://github.com/ros2/rclcpp/issues/2847>`_) (`#2867 <https://github.com/ros2/rclcpp/issues/2867>`_)
+* Added missing chrono includes (`#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2856 <https://github.com/ros2/rclcpp/issues/2856>`_)
+* Contributors: mergify[bot]
+
 28.1.9 (2025-04-23)
 -------------------
 * fix(rclcpp_action): Fix sleep of expire thread in case of canceled timer (`#2800 <https://github.com/ros2/rclcpp/issues/2800>`_)

rclcpp_action/QUALITY_DECLARATION.md

@@ -1,10 +1,10 @@
-This document is a declaration of software quality for the `rclcpp_action` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+This document is a declaration of software quality for the `rclcpp_action` package, based on the guidelines in [REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 # rclcpp_action Quality Declaration
 
 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 Requirements for Quality Level 1 in REP-2004](https://www.ros.org/reps/rep-2004.html).
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 1 in REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 ## Version Policy [1]
 
@@ -53,7 +53,7 @@ All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://d
 
 ### Continuous Integration [2.iv]
 
-All pull requests must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
+All pull requests must pass CI on all [tier 1 platforms](https://reps.openrobotics.org/rep-2000/#support-tiers)
 
 Currently nightly results can be seen here:
 
@@ -179,7 +179,7 @@ It is **Quality Level 1**, see its [Quality Declaration document](https://github
 
 ## Platform Support [6]
 
-`rclcpp_action` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
+`rclcpp_action` supports all of the tier 1 platforms as described in [REP-2000](https://reps.openrobotics.org/rep-2000/#support-tiers), and tests each change against all of them.
 
 Currently nightly build status can be seen here:
 * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/rclcpp_action/)
@@ -191,4 +191,4 @@ Currently nightly build status can be seen here:
 
 ### Vulnerability Disclosure Policy [7.i]
 
-This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html).
+This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://reps.openrobotics.org/rep-2006/).

rclcpp_action/include/rclcpp_action/client.hpp

@@ -621,7 +621,7 @@ public:
         return;
       }
 
-      goal_handle = it->lock();
+      goal_handle = it->second.lock();
     }
 
     if (goal_handle) {

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>28.1.9</version>
+  <version>28.1.15</version>
   <description>Adds action APIs for C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_action/src/client.cpp

@@ -181,7 +181,7 @@ 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/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_components/CHANGELOG.rst

@@ -2,6 +2,28 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+28.1.15 (2025-12-23)
+--------------------
+
+28.1.14 (2025-11-18)
+--------------------
+* Fix REP url locations (`#2987 <https://github.com/ros2/rclcpp/issues/2987>`_) (`#2990 <https://github.com/ros2/rclcpp/issues/2990>`_)
+* Contributors: mergify[bot]
+
+28.1.13 (2025-10-21)
+--------------------
+
+28.1.12 (2025-09-11)
+--------------------
+
+28.1.11 (2025-08-06)
+--------------------
+
+28.1.10 (2025-06-23)
+--------------------
+* Added missing chrono includes (`#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2856 <https://github.com/ros2/rclcpp/issues/2856>`_)
+* Contributors: mergify[bot]
+
 28.1.9 (2025-04-23)
 -------------------
 

rclcpp_components/QUALITY_DECLARATION.md

@@ -1,10 +1,10 @@
-This document is a declaration of software quality for the `rclcpp_components` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+This document is a declaration of software quality for the `rclcpp_components` package, based on the guidelines in [REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 # rclcpp_components Quality Declaration
 
 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 Requirements for Quality Level 1 in REP-2004](https://www.ros.org/reps/rep-2004.html).
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 1 in REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 ## Version Policy [1]
 
@@ -53,7 +53,7 @@ All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://d
 
 ### Continuous Integration [2.iv]
 
-All pull requests must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
+All pull requests must pass CI on all [tier 1 platforms](https://reps.openrobotics.org/rep-2000/#support-tiers)
 
 Currently nightly results can be seen here:
 
@@ -191,7 +191,7 @@ It is **Quality Level 1**, see its [Quality Declaration document](https://github
 
 ## Platform Support [6]
 
-`rclcpp_components` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
+`rclcpp_components` supports all of the tier 1 platforms as described in [REP-2000](https://reps.openrobotics.org/rep-2000/#support-tiers), and tests each change against all of them.
 
 Currently nightly build status can be seen here:
 * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/rclcpp_components/)
@@ -203,4 +203,4 @@ Currently nightly build status can be seen here:
 
 ### Vulnerability Disclosure Policy [7.i]
 
-This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html).
+This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://reps.openrobotics.org/rep-2006/).

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>28.1.9</version>
+  <version>28.1.15</version>
   <description>Package containing tools for dynamically loadable components</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

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 +3,31 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+28.1.15 (2025-12-23)
+--------------------
+
+28.1.14 (2025-11-18)
+--------------------
+* Fix REP url locations (`#2987 <https://github.com/ros2/rclcpp/issues/2987>`_) (`#2990 <https://github.com/ros2/rclcpp/issues/2990>`_)
+* Add get_parameter_or overload returning value or alternative (`#2973 <https://github.com/ros2/rclcpp/issues/2973>`_) (`#2977 <https://github.com/ros2/rclcpp/issues/2977>`_)
+* Contributors: mergify[bot]
+
+28.1.13 (2025-10-21)
+--------------------
+
+28.1.12 (2025-09-11)
+--------------------
+* Clearer warning message, the old one lacked information and was perhaps misleading (`#2927 <https://github.com/ros2/rclcpp/issues/2927>`_) (`#2932 <https://github.com/ros2/rclcpp/issues/2932>`_)
+* Contributors: mergify[bot]
+
+28.1.11 (2025-08-06)
+--------------------
+
+28.1.10 (2025-06-23)
+--------------------
+* Added missing chrono includes (`#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2856 <https://github.com/ros2/rclcpp/issues/2856>`_)
+* Contributors: mergify[bot]
+
 28.1.9 (2025-04-23)
 -------------------
 

rclcpp_lifecycle/QUALITY_DECLARATION.md

@@ -1,10 +1,10 @@
-This document is a declaration of software quality for the `rclcpp_lifecycle` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+This document is a declaration of software quality for the `rclcpp_lifecycle` package, based on the guidelines in [REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 # rclcpp_lifecycle Quality Declaration
 
 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 Requirements for Quality Level 1 in REP-2004](https://www.ros.org/reps/rep-2004.html).
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 1 in REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 ## Version Policy [1]
 
@@ -53,7 +53,7 @@ All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://d
 
 ### Continuous Integration [2.iv]
 
-All pull requests must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
+All pull requests must pass CI on all [tier 1 platforms](https://reps.openrobotics.org/rep-2000/#support-tiers)
 
 Currently nightly results can be seen here:
 
@@ -191,7 +191,7 @@ It is **Quality Level 1**, see its [Quality Declaration document](https://github
 
 ## Platform Support [6]
 
-`rclcpp_lifecycle` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
+`rclcpp_lifecycle` supports all of the tier 1 platforms as described in [REP-2000](https://reps.openrobotics.org/rep-2000/#support-tiers), and tests each change against all of them.
 
 Currently nightly build status can be seen here:
 * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/rclcpp_lifecycle/)
@@ -203,4 +203,4 @@ Currently nightly build status can be seen here:
 
 ### Vulnerability Disclosure Policy [7.i]
 
-This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html).
+This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://reps.openrobotics.org/rep-2006/).

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -513,6 +513,16 @@ public:
     ParameterT & value,
     const ParameterT & alternative_value) const;
 
+  /// Return the parameter value, or the "alternative_value" if not set.
+  /**
+   * \sa rclcpp::Node::get_parameter_or
+   */
+  template<typename ParameterT>
+  ParameterT
+  get_parameter_or(
+    const std::string & name,
+    const ParameterT & alternative_value) const;
+
   /// Return the parameters by the given parameter names.
   /**
    * \sa rclcpp::Node::get_parameters

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp

@@ -331,5 +331,16 @@ LifecycleNode::get_parameter_or(
   return got_parameter;
 }
 
+template<typename ParameterT>
+ParameterT
+LifecycleNode::get_parameter_or(
+  const std::string & name,
+  const ParameterT & alternative_value) const
+{
+  ParameterT parameter;
+  get_parameter_or(name, parameter, alternative_value);
+  return parameter;
+}
+
 }  // namespace rclcpp_lifecycle
 #endif  // RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_

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>28.1.9</version>
+  <version>28.1.15</version>
   <description>Package containing a prototype for lifecycle implementation</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_lifecycle/src/lifecycle_node_interface_impl.cpp

@@ -397,6 +397,7 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
   constexpr bool publish_update = true;
   State initial_state;
   unsigned int current_state_id;
+  const rcl_lifecycle_transition_t * original_transition{nullptr};
 
   {
     std::lock_guard<std::recursive_mutex> lock(state_machine_mutex_);
@@ -411,6 +412,10 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
     // keep the initial state to pass to a transition callback
     initial_state = State(state_machine_.current_state);
 
+    original_transition =
+      rcl_lifecycle_get_transition_by_id(state_machine_.current_state, transition_id);
+
+
     if (
       rcl_lifecycle_trigger_transition_by_id(
         &state_machine_, transition_id, publish_update) != RCL_RET_OK)
@@ -461,12 +466,15 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
   // Update the internal current_state_
   current_state_ = State(state_machine_.current_state);
 
-  // error handling ?!
+  // error handling
   // TODO(karsten1987): iterate over possible ret value
   if (cb_return_code == node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR) {
-    RCLCPP_WARN(
-      node_logging_interface_->get_logger(),
-      "Error occurred while doing error handling.");
+    if (original_transition) {
+      RCLCPP_WARN(
+        node_logging_interface_->get_logger(),
+        "Callback returned ERROR during the transition: %s", original_transition->label);
+    }
+
 
     auto error_cb_code = execute_callback(current_state_id, initial_state);
     auto error_cb_label = get_label_for_return_code(error_cb_code);

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>
@@ -790,6 +791,26 @@ TEST_F(TestDefaultStateMachine, check_parameters) {
   EXPECT_TRUE(parameter.as_bool());
 }
 
+TEST_F(TestDefaultStateMachine, test_get_parameter_or) {
+  auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
+
+  const std::string param_name = "test_param";
+  int param_int = -999;
+
+  // Parameter does not exist, should return "or" value
+  EXPECT_FALSE(test_node->get_parameter_or(param_name, param_int, 123));
+  EXPECT_EQ(param_int, 123);
+  EXPECT_EQ(test_node->get_parameter_or(param_name, 456), 456);
+
+  // Declare param_int
+  test_node->declare_parameter(param_name, rclcpp::ParameterValue(789));
+
+  // Parameter exists, should return existing value
+  EXPECT_TRUE(test_node->get_parameter_or(param_name, param_int, 123));
+  EXPECT_EQ(param_int, 789);
+  EXPECT_EQ(test_node->get_parameter_or(param_name, 456), 789);
+}
+
 TEST_F(TestDefaultStateMachine, test_getters) {
   auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
   auto options = test_node->get_node_options();

rclcpp_lifecycle/test/test_service.cpp

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