use Reader/Writer lock for Ring Buffer.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

rclcpp/CHANGELOG.rst

@@ -2,24 +2,11 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-29.5.2 (2025-07-07)
+29.6.0 (2025-04-25)
 -------------------
-* Shutdown deadlock fix jazzy (`#2887 <https://github.com/ros2/rclcpp/issues/2887>`_) (`#2888 <https://github.com/ros2/rclcpp/issues/2888>`_)
-* Fix test_publisher_with_system_default_qos (`#2881 <https://github.com/ros2/rclcpp/issues/2881>`_) (`#2884 <https://github.com/ros2/rclcpp/issues/2884>`_)
-* Contributors: Tomoya Fujita, Janosch Machowinski
-
-29.5.1 (2025-06-23)
--------------------
-* Removed warning test_qos (`#2859 <https://github.com/ros2/rclcpp/issues/2859>`_) (`#2873 <https://github.com/ros2/rclcpp/issues/2873>`_)
-* Fix for memory leaks in rclcpp::SerializedMessage (`#2861 <https://github.com/ros2/rclcpp/issues/2861>`_) (`#2863 <https://github.com/ros2/rclcpp/issues/2863>`_)
-* get_all_data_impl() does not handle null pointers properly, causing segmentation fault (backport `#2840 <https://github.com/ros2/rclcpp/issues/2840>`_) (`#2850 <https://github.com/ros2/rclcpp/issues/2850>`_)
-* Added missing chrono includes (`#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2855 <https://github.com/ros2/rclcpp/issues/2855>`_)
-* QoSInitialization::from_rmw does not validate invalid history policy values, leading to silent failures (`#2841 <https://github.com/ros2/rclcpp/issues/2841>`_) (`#2846 <https://github.com/ros2/rclcpp/issues/2846>`_)
-* Add missing 's' to 'NodeParametersInterface' in doc/comment (`#2831 <https://github.com/ros2/rclcpp/issues/2831>`_) (`#2833 <https://github.com/ros2/rclcpp/issues/2833>`_)
-* subordinate node consistent behavior and update docstring. (`#2822 <https://github.com/ros2/rclcpp/issues/2822>`_) (`#2830 <https://github.com/ros2/rclcpp/issues/2830>`_)
 * throws std::invalid_argument if ParameterEvent is NULL. (`#2814 <https://github.com/ros2/rclcpp/issues/2814>`_)
 * Removed clang warnings (`#2823 <https://github.com/ros2/rclcpp/issues/2823>`_)
-* Contributors: Alejandro Hernández Cordero, Tomoya Fujita, mergify[bot]
+* Contributors: Alejandro Hernández Cordero, Tomoya Fujita
 
 29.5.0 (2025-04-18)
 -------------------

rclcpp/include/rclcpp/clock.hpp

@@ -200,21 +200,6 @@ public:
   bool
   ros_time_is_active();
 
-  /**
-   * Deprecated. This API is broken, as there is no way to get a deep
-   * copy of a clock. Therefore one can experience spurious wakeups triggered
-   * by some other instance of a clock.
-   *
-   * Cancels an ongoing or future sleep operation of one thread.
-   *
-   * This function can be used by one thread, to wakeup another thread that is
-   * blocked using any of the sleep_ or wait_ methods of this class.
-   */
-  [[deprecated("Use ClockConditionalVariable")]]
-  RCLCPP_PUBLIC
-  void
-  cancel_sleep_or_wait();
-
   /// Return the rcl_clock_t clock handle
   RCLCPP_PUBLIC
   rcl_clock_t *

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

@@ -17,6 +17,7 @@
 
 #include <memory>
 #include <mutex>
+#include <shared_mutex>
 #include <stdexcept>
 #include <utility>
 #include <vector>
@@ -69,7 +70,7 @@ public:
    */
   void enqueue(BufferT request) override
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::unique_lock lock(mutex_);
 
     write_index_ = next_(write_index_);
     ring_buffer_[write_index_] = std::move(request);
@@ -95,7 +96,7 @@ public:
    */
   BufferT dequeue() override
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::unique_lock lock(mutex_);
 
     if (!has_data_()) {
       return BufferT();
@@ -134,7 +135,7 @@ public:
    */
   inline size_t next(size_t val)
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::unique_lock lock(mutex_);
     return next_(val);
   }
 
@@ -146,7 +147,7 @@ public:
    */
   inline bool has_data() const override
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::shared_lock lock(mutex_);
     return has_data_();
   }
 
@@ -159,7 +160,7 @@ public:
    */
   inline bool is_full() const
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::shared_lock lock(mutex_);
     return is_full_();
   }
 
@@ -171,13 +172,15 @@ public:
    */
   size_t available_capacity() const override
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::shared_lock lock(mutex_);
     return available_capacity_();
   }
 
   void clear() override
   {
     TRACETOOLS_TRACEPOINT(rclcpp_ring_buffer_clear, static_cast<const void *>(this));
+    std::unique_lock lock(mutex_);
+    clear_();
   }
 
 private:
@@ -227,6 +230,14 @@ private:
     return capacity_ - size_;
   }
 
+  inline void clear_()
+  {
+    ring_buffer_.clear();
+    size_ = 0;
+    read_index_ = 0;
+    write_index_ = capacity_ - 1;
+  }
+
   /// Traits for checking if a type is std::unique_ptr
   template<typename ...>
   struct is_std_unique_ptr final : std::false_type {};
@@ -251,17 +262,13 @@ private:
     void> * = nullptr>
   std::vector<BufferT> get_all_data_impl()
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::unique_lock lock(mutex_);
     std::vector<BufferT> result_vtr;
     result_vtr.reserve(size_);
     for (size_t id = 0; id < size_; ++id) {
-      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);
-      }
+      result_vtr.emplace_back(
+        new typename is_std_unique_ptr<T>::Ptr_type(
+          *(ring_buffer_[(read_index_ + id) % capacity_])));
     }
     return result_vtr;
   }
@@ -270,7 +277,7 @@ private:
       std::is_copy_constructible<T>::value, void> * = nullptr>
   std::vector<BufferT> get_all_data_impl()
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::unique_lock lock(mutex_);
     std::vector<BufferT> result_vtr;
     result_vtr.reserve(size_);
     for (size_t id = 0; id < size_; ++id) {
@@ -296,7 +303,7 @@ private:
     return {};
   }
 
-  size_t capacity_;
+  const size_t capacity_;
 
   std::vector<BufferT> ring_buffer_;
 
@@ -304,7 +311,7 @@ private:
   size_t read_index_;
   size_t size_;
 
-  mutable std::mutex mutex_;
+  mutable std::shared_mutex mutex_;
 };
 
 }  // namespace buffers

rclcpp/include/rclcpp/logger.hpp

@@ -78,34 +78,6 @@ RCLCPP_PUBLIC
 Logger
 get_node_logger(const rcl_node_t * node);
 
-// TODO(ahcorde): Remove deprecated class on the next release (in Rolling after Kilted).
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-/// Get the current logging directory.
-/**
- * For more details of how the logging directory is determined,
- * see rcl_logging_get_logging_directory().
- *
- * \returns the logging directory being used.
- * \throws rclcpp::exceptions::RCLError if an unexpected error occurs.
- */
-[[deprecated("use rclcpp::get_log_directory instead of rclcpp::get_logging_directory")]]
-RCLCPP_PUBLIC
-rcpputils::fs::path
-get_logging_directory();
-
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
 /// Get the current logging directory.
 /**
  * For more details of how the logging directory is determined,

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>29.5.2</version>
+  <version>29.6.0</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp/src/rclcpp/clock.cpp

@@ -83,16 +83,6 @@ Clock::now() const
   return now;
 }
 
-void
-Clock::cancel_sleep_or_wait()
-{
-  {
-    std::unique_lock lock(impl_->wait_mutex_);
-    impl_->stop_sleeping_ = true;
-  }
-  impl_->cv_.notify_one();
-}
-
 bool
 Clock::sleep_until(
   Time until,

rclcpp/src/rclcpp/context.cpp

@@ -14,7 +14,6 @@
 
 #include "rclcpp/context.hpp"
 
-#include <map>
 #include <memory>
 #include <mutex>
 #include <sstream>
@@ -143,52 +142,11 @@ 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()
 {
@@ -207,9 +165,6 @@ Context::~Context()
   } catch (...) {
     RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "unhandled exception in ~Context()");
   }
-
-  // delete mutexes
-  mutexStorage.removeMutexes(this);
 }
 
 RCLCPP_LOCAL
@@ -355,17 +310,9 @@ Context::shutdown(const std::string & reason)
 
   // call each pre-shutdown 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)();
-      }
+    std::lock_guard<std::mutex> lock{pre_shutdown_callbacks_mutex_};
+    for (const auto & callback : pre_shutdown_callbacks_) {
+      (*callback)();
     }
   }
 
@@ -378,17 +325,9 @@ Context::shutdown(const std::string & reason)
   shutdown_reason_ = reason;
   // call each shutdown 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)();
-      }
+    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+    for (const auto & callback : on_shutdown_callbacks_) {
+      (*callback)();
     }
   }
 
@@ -459,12 +398,10 @@ 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::recursive_mutex> lock(mutexStorage.getMutexes(
-      this).pre_shutdown_callbacks_mutex_);
+    std::lock_guard<std::mutex> lock(pre_shutdown_callbacks_mutex_);
     pre_shutdown_callbacks_.emplace_back(callback_shared_ptr);
   } else {
-    std::lock_guard<std::recursive_mutex> lock(mutexStorage.getMutexes(
-      this).on_shutdown_callbacks_mutex_);
+    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
     on_shutdown_callbacks_.emplace_back(callback_shared_ptr);
   }
 
@@ -484,7 +421,7 @@ Context::remove_shutdown_callback(
   }
 
   const auto remove_callback = [&callback_shared_ptr](auto & mutex, auto & callback_vector) {
-      const std::lock_guard<std::recursive_mutex> lock(mutex);
+      const std::lock_guard<std::mutex> lock(mutex);
       auto iter = callback_vector.begin();
       for (; iter != callback_vector.end(); iter++) {
         if ((*iter).get() == callback_shared_ptr.get()) {
@@ -495,7 +432,6 @@ Context::remove_shutdown_callback(
         return false;
       }
       callback_vector.erase(iter);
-
       return true;
     };
 
@@ -503,11 +439,9 @@ Context::remove_shutdown_callback(
     shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
 
   if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    return remove_callback(mutexStorage.getMutexes(this).pre_shutdown_callbacks_mutex_,
-      pre_shutdown_callbacks_);
+    return remove_callback(pre_shutdown_callbacks_mutex_, pre_shutdown_callbacks_);
   } else {
-    return remove_callback(mutexStorage.getMutexes(this).on_shutdown_callbacks_mutex_,
-      on_shutdown_callbacks_);
+    return remove_callback(on_shutdown_callbacks_mutex_, on_shutdown_callbacks_);
   }
 }
 
@@ -528,7 +462,7 @@ 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::recursive_mutex> lock(mutex);
+      const std::lock_guard<std::mutex> lock(mutex);
       std::vector<rclcpp::Context::ShutdownCallback> callbacks;
       for (auto & callback : callback_set) {
         callbacks.push_back(*callback);
@@ -540,11 +474,9 @@ 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(mutexStorage.getMutexes(this).pre_shutdown_callbacks_mutex_,
-      pre_shutdown_callbacks_);
+    return get_callback_vector(pre_shutdown_callbacks_mutex_, pre_shutdown_callbacks_);
   } else {
-    return get_callback_vector(mutexStorage.getMutexes(this).on_shutdown_callbacks_mutex_,
-      on_shutdown_callbacks_);
+    return get_callback_vector(on_shutdown_callbacks_mutex_, on_shutdown_callbacks_);
   }
 }
 

rclcpp/src/rclcpp/logger.cpp

@@ -55,34 +55,6 @@ get_node_logger(const rcl_node_t * node)
   return rclcpp::get_logger(logger_name);
 }
 
-// TODO(ahcorde): Remove deprecated class on the next release (in Rolling after Kilted).
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-rcpputils::fs::path
-get_logging_directory()
-{
-  char * log_dir = NULL;
-  auto allocator = rcutils_get_default_allocator();
-  rcl_logging_ret_t ret = rcl_logging_get_logging_directory(allocator, &log_dir);
-  if (RCL_LOGGING_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret);
-  }
-  std::string path{log_dir};
-  allocator.deallocate(log_dir, allocator.state);
-  return path;
-}
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
 std::filesystem::path
 get_log_directory()
 {

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -192,6 +192,65 @@ format_range_reason(const std::string & name, const char * range_type)
   return ss.str();
 }
 
+RCLCPP_LOCAL
+rcl_interfaces::msg::SetParametersResult
+__check_integer_range(
+  const rcl_interfaces::msg::ParameterDescriptor & descriptor,
+  const int64_t value)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+  auto integer_range = descriptor.integer_range.at(0);
+  if (value == integer_range.from_value || value == integer_range.to_value) {
+    return result;
+  }
+  if ((value < integer_range.from_value) || (value > integer_range.to_value)) {
+    result.successful = false;
+    result.reason = format_range_reason(descriptor.name, "integer");
+    return result;
+  }
+  if (integer_range.step == 0) {
+    return result;
+  }
+  if (((value - integer_range.from_value) % integer_range.step) == 0) {
+    return result;
+  }
+  result.successful = false;
+  result.reason = format_range_reason(descriptor.name, "integer");
+  return result;
+}
+
+RCLCPP_LOCAL
+rcl_interfaces::msg::SetParametersResult
+__check_double_range(
+  const rcl_interfaces::msg::ParameterDescriptor & descriptor,
+  const double value)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+  auto fp_range = descriptor.floating_point_range.at(0);
+  if (__are_doubles_equal(value, fp_range.from_value) || __are_doubles_equal(value,
+    fp_range.to_value))
+  {
+    return result;
+  }
+  if ((value < fp_range.from_value) || (value > fp_range.to_value)) {
+    result.successful = false;
+    result.reason = format_range_reason(descriptor.name, "floating point");
+    return result;
+  }
+  if (fp_range.step == 0.0) {
+    return result;
+  }
+  double rounded_div = std::round((value - fp_range.from_value) / fp_range.step);
+  if (__are_doubles_equal(value, fp_range.from_value + rounded_div * fp_range.step)) {
+    return result;
+  }
+  result.successful = false;
+  result.reason = format_range_reason(descriptor.name, "floating point");
+  return result;
+}
+
 RCLCPP_LOCAL
 rcl_interfaces::msg::SetParametersResult
 __check_parameter_value_in_range(
@@ -201,49 +260,39 @@ __check_parameter_value_in_range(
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
   if (!descriptor.integer_range.empty() && value.get_type() == rclcpp::PARAMETER_INTEGER) {
-    int64_t v = value.get<int64_t>();
-    auto integer_range = descriptor.integer_range.at(0);
-    if (v == integer_range.from_value || v == integer_range.to_value) {
-      return result;
+    result = __check_integer_range(descriptor, value.get<int64_t>());
+    return result;
+  }
+
+  if (!descriptor.integer_range.empty() && value.get_type() == rclcpp::PARAMETER_INTEGER_ARRAY) {
+    std::vector<int64_t> val_array = value.get<std::vector<int64_t>>();
+    for (const int64_t & val : val_array) {
+      result = __check_integer_range(descriptor, val);
+      if (!result.successful) {
+        return result;
+      }
     }
-    if ((v < integer_range.from_value) || (v > integer_range.to_value)) {
-      result.successful = false;
-      result.reason = format_range_reason(descriptor.name, "integer");
-      return result;
-    }
-    if (integer_range.step == 0) {
-      return result;
-    }
-    if (((v - integer_range.from_value) % integer_range.step) == 0) {
-      return result;
-    }
-    result.successful = false;
-    result.reason = format_range_reason(descriptor.name, "integer");
     return result;
   }
 
   if (!descriptor.floating_point_range.empty() && value.get_type() == rclcpp::PARAMETER_DOUBLE) {
-    double v = value.get<double>();
-    auto fp_range = descriptor.floating_point_range.at(0);
-    if (__are_doubles_equal(v, fp_range.from_value) || __are_doubles_equal(v, fp_range.to_value)) {
-      return result;
-    }
-    if ((v < fp_range.from_value) || (v > fp_range.to_value)) {
-      result.successful = false;
-      result.reason = format_range_reason(descriptor.name, "floating point");
-      return result;
-    }
-    if (fp_range.step == 0.0) {
-      return result;
-    }
-    double rounded_div = std::round((v - fp_range.from_value) / fp_range.step);
-    if (__are_doubles_equal(v, fp_range.from_value + rounded_div * fp_range.step)) {
-      return result;
-    }
-    result.successful = false;
-    result.reason = format_range_reason(descriptor.name, "floating point");
+    result = __check_double_range(descriptor, value.get<double>());
     return result;
   }
+
+  if (!descriptor.floating_point_range.empty() &&
+    value.get_type() == rclcpp::PARAMETER_DOUBLE_ARRAY)
+  {
+    std::vector<double> val_array = value.get<std::vector<double>>();
+    for (const double & val : val_array) {
+      result = __check_double_range(descriptor, val);
+      if (!result.successful) {
+        return result;
+      }
+    }
+    return result;
+  }
+
   return result;
 }
 

rclcpp/src/rclcpp/qos.cpp

@@ -69,10 +69,8 @@ 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:
-      return KeepLast(rmw_qos.depth);
     default:
-      throw std::invalid_argument(
-        "Invalid history policy enum value passed to QoSInitialization::from_rmw");
+      return KeepLast(rmw_qos.depth);
   }
 }
 

rclcpp/src/rclcpp/serialized_message.cpp

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

rclcpp/test/benchmark/benchmark_executor.cpp

@@ -12,7 +12,6 @@
 // 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/CMakeLists.txt

@@ -57,11 +57,6 @@ ament_add_test_label(test_client mimick)
 if(TARGET test_client)
   target_link_libraries(test_client ${PROJECT_NAME} mimick ${rcl_interfaces_TARGETS} ${test_msgs_TARGETS})
 endif()
-ament_add_gtest(test_clock test_clock.cpp)
-ament_add_test_label(test_clock mimick)
-if(TARGET test_clock)
-  target_link_libraries(test_clock ${PROJECT_NAME} mimick ${rcl_interfaces_TARGETS} ${test_msgs_TARGETS})
-endif()
 ament_add_gtest(test_clock_conditional test_clock_conditional.cpp)
 ament_add_test_label(test_clock_conditional mimick)
 if(TARGET test_clock_conditional)

rclcpp/test/rclcpp/executors/test_events_queue.cpp

@@ -14,7 +14,6 @@
 
 #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

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

rclcpp/test/rclcpp/test_clock.cpp

@@ -1,238 +0,0 @@
-// Copyright 2024 Cellumation GmbH
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include <chrono>
-#include <rcpputils/compile_warnings.hpp>
-
-#include "rcl/error_handling.h"
-#include "rcl/time.h"
-#include "rclcpp/clock.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp/time_source.hpp"
-
-#include "../utils/rclcpp_gtest_macros.hpp"
-
-using namespace std::chrono_literals;
-
-class TestClockWakeup : public ::testing::TestWithParam<rcl_clock_type_e>
-{
-public:
-  void test_wakeup_before_sleep(const rclcpp::Clock::SharedPtr & clock)
-  {
-    std::atomic_bool thread_finished = false;
-
-    std::thread wait_thread = std::thread(
-      [&clock, &thread_finished]()
-      {
-        // make sure the thread starts sleeping late
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-        clock->sleep_until(clock->now() + std::chrono::seconds(3));
-        thread_finished = true;
-      });
-    RCPPUTILS_DEPRECATION_WARNING_OFF_START
-    // notify the clock, that the sleep shall be interrupted
-    clock->cancel_sleep_or_wait();
-    RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
-
-    auto start_time = std::chrono::steady_clock::now();
-    auto cur_time = start_time;
-    while (!thread_finished && start_time + std::chrono::seconds(1) > cur_time) {
-      std::this_thread::sleep_for(std::chrono::milliseconds(10));
-      cur_time = std::chrono::steady_clock::now();
-    }
-
-    wait_thread.join();
-
-    EXPECT_TRUE(thread_finished);
-    EXPECT_LT(cur_time, start_time + std::chrono::seconds(1));
-  }
-
-  void test_wakeup_after_sleep(const rclcpp::Clock::SharedPtr & clock)
-  {
-    std::atomic_bool thread_finished = false;
-
-    std::thread wait_thread = std::thread(
-      [&clock, &thread_finished]()
-      {
-        clock->sleep_until(clock->now() + std::chrono::seconds(3));
-        thread_finished = true;
-      });
-
-    // make sure the thread is already sleeping before we send the cancel
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
-
-    RCPPUTILS_DEPRECATION_WARNING_OFF_START
-    // notify the clock, that the sleep shall be interrupted
-    clock->cancel_sleep_or_wait();
-    RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
-
-    auto start_time = std::chrono::steady_clock::now();
-    auto cur_time = start_time;
-    while (!thread_finished && start_time + std::chrono::seconds(1) > cur_time) {
-      std::this_thread::sleep_for(std::chrono::milliseconds(10));
-      cur_time = std::chrono::steady_clock::now();
-    }
-
-    wait_thread.join();
-
-    EXPECT_TRUE(thread_finished);
-    EXPECT_LT(cur_time, start_time + std::chrono::seconds(1));
-  }
-
-protected:
-  static void SetUpTestCase()
-  {
-    rclcpp::init(0, nullptr);
-  }
-
-  static void TearDownTestCase()
-  {
-    rclcpp::shutdown();
-  }
-
-  void SetUp()
-  {
-    node = std::make_shared<rclcpp::Node>("my_node");
-  }
-
-  void TearDown()
-  {
-    node.reset();
-  }
-
-  rclcpp::Node::SharedPtr node;
-};
-
-INSTANTIATE_TEST_SUITE_P(
-  Clocks,
-  TestClockWakeup,
-  ::testing::Values(
-    RCL_SYSTEM_TIME, RCL_ROS_TIME, RCL_STEADY_TIME
-));
-
-TEST_P(TestClockWakeup, wakeup_sleep) {
-  auto clock = std::make_shared<rclcpp::Clock>(GetParam());
-  test_wakeup_after_sleep(clock);
-  test_wakeup_before_sleep(clock);
-}
-
-TEST_F(TestClockWakeup, wakeup_sleep_ros_time_active) {
-  node->set_parameter({"use_sim_time", true});
-  auto clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
-  rclcpp::TimeSource time_source(node);
-  time_source.attachClock(clock);
-
-  EXPECT_TRUE(clock->ros_time_is_active());
-
-  test_wakeup_after_sleep(clock);
-  test_wakeup_before_sleep(clock);
-}
-
-TEST_F(TestClockWakeup, no_wakeup_on_sim_time) {
-  node->set_parameter({"use_sim_time", true});
-  auto clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
-  rclcpp::TimeSource time_source(node);
-  time_source.attachClock(clock);
-
-  EXPECT_TRUE(clock->ros_time_is_active());
-
-  std::atomic_bool thread_finished = false;
-
-  std::thread wait_thread = std::thread(
-    [&clock, &thread_finished]()
-    {
-      // make sure the thread starts sleeping late
-      clock->sleep_until(clock->now() + std::chrono::milliseconds(10));
-      thread_finished = true;
-    });
-
-  // make sure, that the sim time clock does not wakeup, as no clock is provided
-  std::this_thread::sleep_for(std::chrono::milliseconds(500));
-  EXPECT_FALSE(thread_finished);
-
-  RCPPUTILS_DEPRECATION_WARNING_OFF_START
-  // notify the clock, that the sleep shall be interrupted
-  clock->cancel_sleep_or_wait();
-  RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
-
-  auto start_time = std::chrono::steady_clock::now();
-  auto cur_time = start_time;
-  while (!thread_finished && start_time + std::chrono::seconds(1) > cur_time) {
-    std::this_thread::sleep_for(std::chrono::milliseconds(10));
-    cur_time = std::chrono::steady_clock::now();
-  }
-
-  wait_thread.join();
-
-  EXPECT_TRUE(thread_finished);
-  EXPECT_LT(cur_time, start_time + std::chrono::seconds(1));
-}
-
-TEST_F(TestClockWakeup, multiple_threads_wait_on_one_clock) {
-  auto clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
-
-  std::vector<std::atomic_bool> thread_finished(10);
-  for (std::atomic_bool & finished : thread_finished) {
-    finished = false;
-  }
-
-  std::vector<std::thread> threads;
-
-  for (size_t nr = 0; nr < thread_finished.size(); nr++) {
-    threads.push_back(
-      std::thread(
-        [&clock, &thread_finished, nr]()
-        {
-          // make sure the thread starts sleeping late
-          clock->sleep_until(clock->now() + std::chrono::seconds(10));
-          thread_finished[nr] = true;
-        }));
-  }
-
-  // wait a bit so all threads can execute the sleep_until
-  std::this_thread::sleep_for(std::chrono::milliseconds(500));
-
-  for (const std::atomic_bool & finished : thread_finished) {
-    EXPECT_FALSE(finished);
-  }
-
-  rclcpp::shutdown();
-
-  auto start_time = std::chrono::steady_clock::now();
-  auto cur_time = start_time;
-  bool threads_finished = false;
-  while (!threads_finished && start_time + std::chrono::seconds(1) > cur_time) {
-    threads_finished = true;
-    for (const std::atomic_bool & finished : thread_finished) {
-      if (!finished) {
-        threads_finished = false;
-      }
-    }
-
-    std::this_thread::sleep_for(std::chrono::milliseconds(10));
-    cur_time = std::chrono::steady_clock::now();
-  }
-
-  for (const std::atomic_bool & finished : thread_finished) {
-    EXPECT_TRUE(finished);
-  }
-
-  for (auto & thread : threads) {
-    thread.join();
-  }
-
-  EXPECT_LT(cur_time, start_time + std::chrono::seconds(1));
-}

rclcpp/test/rclcpp/test_generic_pubsub.cpp

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

rclcpp/test/rclcpp/test_intra_process_buffer.cpp

@@ -21,7 +21,7 @@
 #include "rclcpp/rclcpp.hpp"
 
 /*
-   Construtctor
+   Constructor
  */
 TEST(TestIntraProcessBuffer, constructor) {
   using MessageT = char;

rclcpp/test/rclcpp/test_logger_service.cpp

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

rclcpp/test/rclcpp/test_node.cpp

@@ -1365,6 +1365,203 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
       node->declare_parameter(name, 42, descriptor),
       rclcpp::exceptions::InvalidParameterValueException);
   }
+  {
+    // setting an array parameter with integer range descriptor
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.integer_range.resize(1);
+    auto & integer_range = descriptor.integer_range.at(0);
+    integer_range.from_value = 10;
+    integer_range.to_value = 18;
+    integer_range.step = 2;
+    node->declare_parameter(name, std::vector<int64_t>{10, 12, 14, 16, 18}, descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<int64_t>>(), std::vector<int64_t>({10, 12, 14, 16, 18}));
+
+    EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({12, 14, 10}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({12, 14, 10}));
+    EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({10, 10, 10}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({10, 10, 10}));
+    EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({18}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({15}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({20}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({8}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({12, 8, 18}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18}));
+  }
+  {
+    // setting an array parameter with integer range descriptor, from_value > to_value
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.integer_range.resize(1);
+    auto & integer_range = descriptor.integer_range.at(0);
+    integer_range.from_value = 20;
+    integer_range.to_value = 18;
+    integer_range.step = 1;
+    node->declare_parameter(name, std::vector<int64_t>({18, 20}), descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<int64_t>>(), std::vector<int64_t>({18, 20}));
+
+    EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({20, 18}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({20, 18}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({18, 19, 20}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({20, 18}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({10}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({20, 18}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({25}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({20, 18}));
+  }
+  {
+    // setting an array parameter with integer range descriptor, from_value = to_value
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.integer_range.resize(1);
+    auto & integer_range = descriptor.integer_range.at(0);
+    integer_range.from_value = 18;
+    integer_range.to_value = 18;
+    integer_range.step = 1;
+    node->declare_parameter(name, std::vector<int64_t>({18}), descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<int64_t>>(), std::vector<int64_t>({18}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({17}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({19}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18}));
+  }
+  {
+    // setting an array parameter with integer range descriptor,
+    // step > distance(from_value, to_value)
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.integer_range.resize(1);
+    auto & integer_range = descriptor.integer_range.at(0);
+    integer_range.from_value = 18;
+    integer_range.to_value = 25;
+    integer_range.step = 10;
+    node->declare_parameter(name, std::vector<int64_t>({18, 25}), descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<int64_t>>(), std::vector<int64_t>({18, 25}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({17}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18, 25}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({19}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18, 25}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({28}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18, 25}));
+  }
+  {
+    // setting an array parameter with integer range descriptor, distance not multiple of the step.
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.integer_range.resize(1);
+    auto & integer_range = descriptor.integer_range.at(0);
+    integer_range.from_value = 18;
+    integer_range.to_value = 28;
+    integer_range.step = 7;
+    node->declare_parameter(name, std::vector<int64_t>({18, 25, 28}), descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<int64_t>>(), std::vector<int64_t>({18, 25, 28}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({17}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18, 25, 28}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({19}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18, 25, 28}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({32}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({18, 25, 28}));
+  }
+  {
+    // setting an array parameter with integer range descriptor, step=0
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.integer_range.resize(1);
+    auto & integer_range = descriptor.integer_range.at(0);
+    integer_range.from_value = 10;
+    integer_range.to_value = 18;
+    integer_range.step = 0;
+    node->declare_parameter(name, std::vector<int64_t>({10, 11, 12, 13, 14, 15, 16, 17, 18}),
+      descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({10, 11, 12, 13, 14, 15, 16, 17, 18}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({9}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({10, 11, 12, 13, 14, 15, 16, 17, 18}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<int64_t>({19}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<int64_t>>(),
+      std::vector<int64_t>({10, 11, 12, 13, 14, 15, 16, 17, 18}));
+  }
+  {
+    // setting an array parameter with integer range descriptor and wrong default value will throw
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.integer_range.resize(1);
+    auto & integer_range = descriptor.integer_range.at(0);
+    integer_range.from_value = 10;
+    integer_range.to_value = 18;
+    integer_range.step = 2;
+    ASSERT_THROW(
+      node->declare_parameter(name, std::vector<int64_t>({10, 11, 12, 13, 14, 15, 16, 17, 18}),
+      descriptor),
+      rclcpp::exceptions::InvalidParameterValueException);
+  }
   {
     // setting a parameter with floating point range descriptor
     auto name = "parameter"_unq;
@@ -1535,6 +1732,201 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
     EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 9.999)).successful);
     EXPECT_EQ(node->get_parameter(name).get_value<double>(), 11.0);
   }
+  {
+    // setting an array parameter with floating point range descriptor
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.floating_point_range.resize(1);
+    auto & floating_point_range = descriptor.floating_point_range.at(0);
+    floating_point_range.from_value = 10.0;
+    floating_point_range.to_value = 11.0;
+    floating_point_range.step = 0.2;
+    node->declare_parameter(name, std::vector<double>({10.0, 10.4, 11.0, 10.8, 10.2, 10.6}),
+      descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.4, 11.0, 10.8, 10.2, 10.6}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({10.3}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.4, 11.0, 10.8, 10.2, 10.6}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({12.0}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.4, 11.0, 10.8, 10.2, 10.6}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({9.4}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.4, 11.0, 10.8, 10.2, 10.6}));
+  }
+  {
+    // setting an array parameter with floating point range descriptor, negative step
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.floating_point_range.resize(1);
+    auto & floating_point_range = descriptor.floating_point_range.at(0);
+    floating_point_range.from_value = 10.0;
+    floating_point_range.to_value = 11.0;
+    floating_point_range.step = -0.2;
+    node->declare_parameter(name, std::vector<double>({10.0, 10.2, 10.4, 10.6, 10.8, 11.0}),
+      descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.2, 10.4, 10.6, 10.8, 11.0}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({10.3}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.2, 10.4, 10.6, 10.8, 11.0}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({12.0}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.2, 10.4, 10.6, 10.8, 11.0}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({9.4}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.2, 10.4, 10.6, 10.8, 11.0}));
+  }
+  {
+    // setting an array parameter with floating point range descriptor, from_value > to_value
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.floating_point_range.resize(1);
+    auto & floating_point_range = descriptor.floating_point_range.at(0);
+    floating_point_range.from_value = 11.0;
+    floating_point_range.to_value = 10.0;
+    floating_point_range.step = 0.2;
+    node->declare_parameter(name, std::vector<double>({10.0, 11.0}), descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<double>>(), std::vector<double>({10.0, 11.0}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({10.2}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 11.0}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({12.0}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 11.0}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({9.4}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 11.0}));
+  }
+  {
+    // setting an array parameter with floating point range descriptor, from_value = to_value
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.floating_point_range.resize(1);
+    auto & floating_point_range = descriptor.floating_point_range.at(0);
+    floating_point_range.from_value = 10.0;
+    floating_point_range.to_value = 10.0;
+    floating_point_range.step = 0.2;
+    node->declare_parameter(name, std::vector<double>({10.0}), descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<double>>(), std::vector<double>({10.0}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({11.2}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({12.0}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({9.4}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0}));
+  }
+  {
+    // setting an array parameter with floating point range descriptor, step > distance
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.floating_point_range.resize(1);
+    auto & floating_point_range = descriptor.floating_point_range.at(0);
+    floating_point_range.from_value = 10.0;
+    floating_point_range.to_value = 11.0;
+    floating_point_range.step = 2.2;
+    node->declare_parameter(name, std::vector<double>({10.0, 11.0}), descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<double>>(), std::vector<double>({10.0, 11.0}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({12.2}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 11.0}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({7.8}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 11.0}));
+  }
+  {
+    // setting an array parameter with floating point range descriptor,
+    // distance not multiple of the step.
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.floating_point_range.resize(1);
+    auto & floating_point_range = descriptor.floating_point_range.at(0);
+    floating_point_range.from_value = 10.0;
+    floating_point_range.to_value = 11.0;
+    floating_point_range.step = 0.7;
+    node->declare_parameter(name, std::vector<double>({10.0, 10.7, 11.0}), descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<double>>(), std::vector<double>({10.0, 10.7, 11.0}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({12.2}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.7, 11.0}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({11.4}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.7, 11.0}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({9.3}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.7, 11.0}));
+  }
+  {
+    // setting an array parameter with floating point range descriptor, step=0
+    auto name = "parameter"_unq;
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.floating_point_range.resize(1);
+    auto & floating_point_range = descriptor.floating_point_range.at(0);
+    floating_point_range.from_value = 10.0;
+    floating_point_range.to_value = 11.0;
+    floating_point_range.step = 0.0;
+    node->declare_parameter(name, std::vector<double>({10.0, 10.0001, 10.5479051, 11.0}),
+      descriptor);
+    EXPECT_TRUE(node->has_parameter(name));
+    auto value = node->get_parameter(name);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE_ARRAY);
+    EXPECT_EQ(value.get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.0001, 10.5479051, 11.0}));
+
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({11.001}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.0001, 10.5479051, 11.0}));
+    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name,
+      std::vector<double>({9.999}))).successful);
+    EXPECT_EQ(node->get_parameter(name).get_value<std::vector<double>>(),
+      std::vector<double>({10.0, 10.0001, 10.5479051, 11.0}));
+  }
   {
     // setting a parameter with a different type is still possible
     // when having a descriptor specifying a type (type is a status, not a constraint).

rclcpp/test/rclcpp/test_parameter_service.cpp

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

rclcpp/test/rclcpp/test_publisher.cpp

@@ -199,7 +199,7 @@ 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(), options);
+    auto publisher = node->create_publisher<Empty>("topic", rclcpp::SystemDefaultsQoS());
   });
 }
 

rclcpp/test/rclcpp/test_qos.cpp

@@ -272,15 +272,3 @@ TEST(TestQoS, qos_check_compatible)
     }
   }
 }
-
-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

@@ -22,7 +22,7 @@
 #include "rclcpp/experimental/buffers/ring_buffer_implementation.hpp"
 
 /*
- * Construtctor
+ * Constructor
  */
 TEST(TestRingBufferImplementation, constructor) {
   // Cannot create a buffer of size zero.
@@ -140,14 +140,27 @@ TEST(TestRingBufferImplementation, basic_usage_unique_ptr) {
   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]));
+TEST(TestRingBufferImplementation, test_buffer_clear) {
+  rclcpp::experimental::buffers::RingBufferImplementation<char> rb(2);
+  rb.enqueue('a');
+  rb.enqueue('b');
+
+  EXPECT_EQ(true, rb.has_data());
+  EXPECT_EQ(true, rb.is_full());
+  const auto all_data_vec = rb.get_all_data();
+  EXPECT_EQ(2u, all_data_vec.capacity());
+  EXPECT_EQ(2u, all_data_vec.size());
+  rb.clear();
+  EXPECT_EQ(false, rb.has_data());
+  EXPECT_EQ(false, rb.is_full());
+  const auto all_data_vec_empty = rb.get_all_data();
+  EXPECT_EQ(0u, all_data_vec_empty.capacity());
+  EXPECT_EQ(0u, all_data_vec_empty.size());
+  rb.enqueue('c');
+  rb.enqueue('d');
+  const auto c = rb.dequeue();
+  const auto d = rb.dequeue();
+
+  EXPECT_EQ('c', c);
+  EXPECT_EQ('d', d);
 }

rclcpp/test/rclcpp/test_service.cpp

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

rclcpp/test/rclcpp/test_service_introspection.cpp

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

rclcpp/test/rclcpp/test_wait_for_message.cpp

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

rclcpp_action/CHANGELOG.rst

@@ -3,15 +3,9 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-29.5.2 (2025-07-07)
+29.6.0 (2025-04-25)
 -------------------
 
-29.5.1 (2025-06-23)
--------------------
-* Replace std::default_random_engine with std::mt19937 (rolling) (`#2843 <https://github.com/ros2/rclcpp/issues/2843>`_) (`#2866 <https://github.com/ros2/rclcpp/issues/2866>`_)
-* Added missing chrono includes (`#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2855 <https://github.com/ros2/rclcpp/issues/2855>`_)
-* Contributors: mergify[bot]
-
 29.5.0 (2025-04-18)
 -------------------
 * Use std::recursive_mutex for action requests. (`#2798 <https://github.com/ros2/rclcpp/issues/2798>`_)

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>29.5.2</version>
+  <version>29.6.0</version>
   <description>Adds action APIs for C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_action/src/client_base.cpp

@@ -181,7 +181,7 @@ public:
   std::recursive_mutex cancel_requests_mutex;
 
   std::independent_bits_engine<
-    std::mt19937, 8, unsigned int> random_bytes_generator;
+    std::default_random_engine, 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_action/test/test_types.cpp

@@ -67,7 +67,7 @@ TEST(TestActionTypes, goal_uuid_to_hashed_uuid_random) {
   // Use std::random_device to seed the generator of goal IDs.
   std::random_device rd;
   std::independent_bits_engine<
-    std::mt19937, 8, decltype(rd())> random_bytes_generator(rd());
+    std::default_random_engine, 8, decltype(rd())> random_bytes_generator(rd());
 
   std::vector<size_t> hashed_guuids;
   constexpr size_t iterations = 1000;

rclcpp_components/CHANGELOG.rst

@@ -2,14 +2,9 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-29.5.2 (2025-07-07)
+29.6.0 (2025-04-25)
 -------------------
 
-29.5.1 (2025-06-23)
--------------------
-* Added missing chrono includes (`#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2855 <https://github.com/ros2/rclcpp/issues/2855>`_)
-* Contributors: mergify[bot]
-
 29.5.0 (2025-04-18)
 -------------------
 

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>29.5.2</version>
+  <version>29.6.0</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

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

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,14 +3,9 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-29.5.2 (2025-07-07)
+29.6.0 (2025-04-25)
 -------------------
 
-29.5.1 (2025-06-23)
--------------------
-* Added missing chrono includes (`#2854 <https://github.com/ros2/rclcpp/issues/2854>`_) (`#2855 <https://github.com/ros2/rclcpp/issues/2855>`_)
-* Contributors: mergify[bot]
-
 29.5.0 (2025-04-18)
 -------------------
 

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>29.5.2</version>
+  <version>29.6.0</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

@@ -409,10 +409,14 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
       rcl_lifecycle_trigger_transition_by_id(
         &state_machine_, transition_id, publish_update) != RCL_RET_OK)
     {
+      const char * transition_label = rcl_lifecycle_get_transition_label_by_id(
+        &state_machine_.transition_map, transition_id);
       RCLCPP_ERROR(
         node_logging_interface_->get_logger(),
-        "Unable to start transition %u from current state %s: %s",
-        transition_id, state_machine_.current_state->label, rcl_get_error_string().str);
+        "Unable to start transition %u (%s) from current state %s: %s",
+        transition_id,
+        transition_label ? transition_label : "unknown transition",
+        state_machine_.current_state->label, rcl_get_error_string().str);
       rcutils_reset_error();
       return RCL_RET_ERROR;
     }

rclcpp_lifecycle/test/benchmark/benchmark_lifecycle_client.cpp

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

rclcpp_lifecycle/test/test_lifecycle_node.cpp

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

rclcpp_lifecycle/test/test_service.cpp

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