29.5.7

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

rclcpp/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+29.5.7 (2026-02-09)
+-------------------
+* include the 1st spin that might throw the exception. (`#3042 <https://github.com/ros2/rclcpp/issues/3042>`_) (`#3044 <https://github.com/ros2/rclcpp/issues/3044>`_)
+* print warning message on owner node if the parameter operation fails. (`#3037 <https://github.com/ros2/rclcpp/issues/3037>`_) (`#3038 <https://github.com/ros2/rclcpp/issues/3038>`_)
+* remove test_static_executor_entities_collector.cpp (`#3041 <https://github.com/ros2/rclcpp/issues/3041>`_) (`#3045 <https://github.com/ros2/rclcpp/issues/3045>`_)
+* fix context in wait for message wait set (`#3030 <https://github.com/ros2/rclcpp/issues/3030>`_) (`#3031 <https://github.com/ros2/rclcpp/issues/3031>`_)
+* Improve the robustness of the TopicEndpointInfo constructor (`#3013 <https://github.com/ros2/rclcpp/issues/3013>`_) (`#3014 <https://github.com/ros2/rclcpp/issues/3014>`_)
+* Contributors: mergify[bot]
+
 29.5.6 (2025-12-23)
 -------------------
 * Unified Node Interfaces: Add const version of get_node_x_interface() (`#3006 <https://github.com/ros2/rclcpp/issues/3006>`_) (`#3008 <https://github.com/ros2/rclcpp/issues/3008>`_)

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -53,13 +53,17 @@ public:
   /// Construct a TopicEndpointInfo from a rcl_topic_endpoint_info_t.
   RCLCPP_PUBLIC
   explicit TopicEndpointInfo(const rcl_topic_endpoint_info_t & info)
-  : node_name_(info.node_name),
-    node_namespace_(info.node_namespace),
-    topic_type_(info.topic_type),
-    endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
+  : endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
     qos_profile_({info.qos_profile.history, info.qos_profile.depth}, info.qos_profile),
     topic_type_hash_(info.topic_type_hash)
   {
+    if (!info.node_name || !info.node_namespace || !info.topic_type) {
+      throw std::invalid_argument("Constructor TopicEndpointInfo with invalid topic endpoint info");
+    }
+    node_name_ = info.node_name;
+    node_namespace_ = info.node_namespace;
+    topic_type_ = info.topic_type;
+
     std::copy(info.endpoint_gid, info.endpoint_gid + RMW_GID_STORAGE_SIZE, endpoint_gid_.begin());
   }
 

rclcpp/include/rclcpp/wait_for_message.hpp

@@ -56,7 +56,7 @@ bool wait_for_message(
       }
     });
 
-  rclcpp::WaitSet wait_set;
+  rclcpp::WaitSet wait_set({}, {}, {}, {}, {}, {}, context);
   wait_set.add_subscription(subscription);
   RCPPUTILS_SCOPE_EXIT(wait_set.remove_subscription(subscription); );
   wait_set.add_guard_condition(gc);

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>29.5.6</version>
+  <version>29.5.7</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp/src/rclcpp/parameter_service.cpp

@@ -47,9 +47,9 @@ ParameterService::ParameterService(
           response->values.push_back(param.get_value_message());
         }
       } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-        RCLCPP_DEBUG(rclcpp::get_logger("rclcpp"), "Failed to get parameters: %s", ex.what());
+        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to get parameters: %s", ex.what());
       } catch (const rclcpp::exceptions::ParameterUninitializedException & ex) {
-        RCLCPP_DEBUG(rclcpp::get_logger("rclcpp"), "Failed to get parameters: %s", ex.what());
+        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to get parameters: %s", ex.what());
       }
     },
     qos_profile, nullptr);
@@ -70,7 +70,7 @@ ParameterService::ParameterService(
             return static_cast<rclcpp::ParameterType>(type);
           });
       } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-        RCLCPP_DEBUG(rclcpp::get_logger("rclcpp"), "Failed to get parameter types: %s", ex.what());
+        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to get parameter types: %s", ex.what());
       }
     },
     qos_profile, nullptr);
@@ -91,7 +91,7 @@ ParameterService::ParameterService(
           result = node_params->set_parameters_atomically(
             {rclcpp::Parameter::from_parameter_msg(p)});
         } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-          RCLCPP_DEBUG(rclcpp::get_logger("rclcpp"), "Failed to set parameter: %s", ex.what());
+          RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to set parameter: %s", ex.what());
           result.successful = false;
           result.reason = ex.what();
         }
@@ -119,7 +119,7 @@ ParameterService::ParameterService(
         auto result = node_params->set_parameters_atomically(pvariants);
         response->result = result;
       } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-        RCLCPP_DEBUG(
+        RCLCPP_WARN(
           rclcpp::get_logger("rclcpp"), "Failed to set parameters atomically: %s", ex.what());
         response->result.successful = false;
         response->result.reason = "One or more parameters were not declared before setting";
@@ -139,7 +139,7 @@ ParameterService::ParameterService(
         auto descriptors = node_params->describe_parameters(request->names);
         response->descriptors = descriptors;
       } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-        RCLCPP_DEBUG(rclcpp::get_logger("rclcpp"), "Failed to describe parameters: %s", ex.what());
+        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to describe parameters: %s", ex.what());
       }
     },
     qos_profile, nullptr);

rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp

@@ -1,617 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include <chrono>
-#include <memory>
-#include <stdexcept>
-
-#include "rclcpp/rclcpp.hpp"
-
-#include "rcpputils/scope_exit.hpp"
-
-#include "test_msgs/msg/empty.hpp"
-#include "test_msgs/srv/empty.hpp"
-
-#include "../../mocking_utils/patch.hpp"
-#include "../../utils/rclcpp_gtest_macros.hpp"
-
-namespace
-{
-
-struct NumberOfEntities
-{
-  size_t subscriptions = 0;
-  size_t timers = 0;
-  size_t services = 0;
-  size_t clients = 0;
-  size_t waitables = 0;
-};
-
-std::unique_ptr<NumberOfEntities> get_number_of_default_entities(rclcpp::Node::SharedPtr node)
-{
-  auto number_of_entities = std::make_unique<NumberOfEntities>();
-  node->for_each_callback_group(
-    [&number_of_entities](rclcpp::CallbackGroup::SharedPtr group)
-    {
-      if (!group->can_be_taken_from().load()) {
-        return;
-      }
-      group->find_subscription_ptrs_if(
-        [&number_of_entities](rclcpp::SubscriptionBase::SharedPtr &)
-        {
-          number_of_entities->subscriptions++; return false;
-        });
-      group->find_timer_ptrs_if(
-        [&number_of_entities](rclcpp::TimerBase::SharedPtr &)
-        {
-          number_of_entities->timers++; return false;
-        });
-      group->find_service_ptrs_if(
-        [&number_of_entities](rclcpp::ServiceBase::SharedPtr &)
-        {
-          number_of_entities->services++; return false;
-        });
-      group->find_client_ptrs_if(
-        [&number_of_entities](rclcpp::ClientBase::SharedPtr &)
-        {
-          number_of_entities->clients++; return false;
-        });
-      group->find_waitable_ptrs_if(
-        [&number_of_entities](rclcpp::Waitable::SharedPtr &)
-        {
-          number_of_entities->waitables++; return false;
-        });
-    });
-
-  return number_of_entities;
-}
-
-}  // namespace
-
-class TestStaticExecutorEntitiesCollector : public ::testing::Test
-{
-public:
-  void SetUp()
-  {
-    rclcpp::init(0, nullptr);
-    entities_collector_ =
-      std::make_shared<rclcpp::executors::StaticExecutorEntitiesCollector>();
-  }
-
-  void TearDown()
-  {
-    rclcpp::shutdown();
-  }
-
-  rclcpp::executors::StaticExecutorEntitiesCollector::SharedPtr entities_collector_;
-};
-
-TEST_F(TestStaticExecutorEntitiesCollector, construct_destruct) {
-  EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_services());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_clients());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_waitables());
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node) {
-  auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
-  EXPECT_NO_THROW(entities_collector_->add_node(node1->get_node_base_interface()));
-
-  // Check adding second time
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->add_node(node1->get_node_base_interface()),
-    std::runtime_error("Node has already been added to an executor."));
-
-  auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
-  EXPECT_FALSE(entities_collector_->remove_node(node2->get_node_base_interface()));
-  EXPECT_NO_THROW(entities_collector_->add_node(node2->get_node_base_interface()));
-
-  EXPECT_TRUE(entities_collector_->remove_node(node1->get_node_base_interface()));
-  EXPECT_FALSE(entities_collector_->remove_node(node1->get_node_base_interface()));
-  EXPECT_TRUE(entities_collector_->remove_node(node2->get_node_base_interface()));
-
-  auto node3 = std::make_shared<rclcpp::Node>("node3", "ns");
-  node3->get_node_base_interface()->get_associated_with_executor_atomic().exchange(true);
-  EXPECT_FALSE(entities_collector_->remove_node(node3->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, init_bad_arguments) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  // Check memory strategy is nullptr
-  rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy = nullptr;
-  EXPECT_THROW(
-    entities_collector_->init(&wait_set, memory_strategy),
-    std::runtime_error);
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_remove_basic_node) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  const auto expected_number_of_entities = get_number_of_default_entities(node);
-  EXPECT_NE(nullptr, expected_number_of_entities);
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  entities_collector_->init(&wait_set, memory_strategy);
-  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
-  EXPECT_EQ(
-    expected_number_of_entities->subscriptions,
-    entities_collector_->get_number_of_subscriptions());
-  EXPECT_EQ(expected_number_of_entities->timers, entities_collector_->get_number_of_timers());
-  EXPECT_EQ(expected_number_of_entities->services, entities_collector_->get_number_of_services());
-  EXPECT_EQ(expected_number_of_entities->clients, entities_collector_->get_number_of_clients());
-  // One extra for the executor
-  EXPECT_EQ(
-    1u + expected_number_of_entities->waitables,
-    entities_collector_->get_number_of_waitables());
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-  entities_collector_->init(&wait_set, memory_strategy);
-  EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_services());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_clients());
-
-  // Still one for the executor
-  EXPECT_EQ(1u, entities_collector_->get_number_of_waitables());
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_out_of_scope) {
-  rclcpp::Context::SharedPtr shared_context = nullptr;
-  {
-    auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
-    auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
-    auto node3 = std::make_shared<rclcpp::Node>("node3", "ns");
-    entities_collector_->add_node(node1->get_node_base_interface());
-    entities_collector_->add_node(node2->get_node_base_interface());
-    entities_collector_->add_node(node3->get_node_base_interface());
-    shared_context = node1->get_node_base_interface()->get_context();
-  }
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  // Expect weak_node pointers to be cleaned up and used
-  entities_collector_->init(&wait_set, memory_strategy);
-  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_services());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_clients());
-
-  // Still one for the executor
-  EXPECT_EQ(1u, entities_collector_->get_number_of_waitables());
-}
-
-class TestWaitable : public rclcpp::Waitable
-{
-public:
-  void add_to_wait_set(rcl_wait_set_t &) override {}
-
-  bool is_ready(const rcl_wait_set_t &) override {return true;}
-
-  std::shared_ptr<void>
-  take_data() override
-  {
-    return nullptr;
-  }
-  void
-  execute(const std::shared_ptr<void> &) override {}
-};
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  auto expected_number_of_entities = get_number_of_default_entities(node);
-  EXPECT_NE(nullptr, expected_number_of_entities);
-
-  // Create 1 of each entity type
-  auto subscription =
-    node->create_subscription<test_msgs::msg::Empty>(
-    "topic", rclcpp::QoS(10), [](test_msgs::msg::Empty::ConstSharedPtr) {});
-  auto timer =
-    node->create_wall_timer(std::chrono::seconds(60), []() {});
-  auto service =
-    node->create_service<test_msgs::srv::Empty>(
-    "service",
-    [](
-      const test_msgs::srv::Empty::Request::SharedPtr,
-      test_msgs::srv::Empty::Response::SharedPtr) {});
-  auto client = node->create_client<test_msgs::srv::Empty>("service");
-  auto waitable = std::make_shared<TestWaitable>();
-
-  // Adding a subscription could add another waitable, so we need to get the
-  // current number of waitables just before adding the new waitable.
-  expected_number_of_entities->waitables = get_number_of_default_entities(node)->waitables;
-  node->get_node_waitables_interface()->add_waitable(waitable, nullptr);
-
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  entities_collector_->init(&wait_set, memory_strategy);
-  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
-
-  EXPECT_EQ(
-    1u + expected_number_of_entities->subscriptions,
-    entities_collector_->get_number_of_subscriptions());
-  EXPECT_EQ(1u + expected_number_of_entities->timers, entities_collector_->get_number_of_timers());
-  EXPECT_EQ(
-    1u + expected_number_of_entities->services,
-    entities_collector_->get_number_of_services());
-  EXPECT_EQ(
-    1u + expected_number_of_entities->clients,
-    entities_collector_->get_number_of_clients());
-
-  // One extra for the executor
-  EXPECT_EQ(
-    2u + expected_number_of_entities->waitables,
-    entities_collector_->get_number_of_waitables());
-
-  entities_collector_->remove_node(node->get_node_base_interface());
-  entities_collector_->init(&wait_set, memory_strategy);
-  EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_services());
-  EXPECT_EQ(0u, entities_collector_->get_number_of_clients());
-  // Still one for the executor
-  EXPECT_EQ(1u, entities_collector_->get_number_of_waitables());
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_callback_group) {
-  auto node = std::make_shared<rclcpp::Node>("node1", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_callback_group_after_add_node) {
-  auto node = std::make_shared<rclcpp::Node>("node1", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_node(node->get_node_base_interface());
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->add_callback_group(cb_group, node->get_node_base_interface()),
-    std::runtime_error("Callback group has already been added to an executor."));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_callback_group_twice) {
-  auto node = std::make_shared<rclcpp::Node>("node1", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
-  cb_group->get_associated_with_executor_atomic().exchange(false);
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->add_callback_group(cb_group, node->get_node_base_interface()),
-    std::runtime_error("Callback group was already added to executor."));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_clear_error) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  entities_collector_->init(&wait_set, memory_strategy);
-  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
-
-  {
-    auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_clear, RCL_RET_ERROR);
-    std::shared_ptr<void> data = entities_collector_->take_data();
-    RCLCPP_EXPECT_THROW_EQ(
-      entities_collector_->execute(data),
-      std::runtime_error("Couldn't clear wait set"));
-  }
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_resize_error) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  entities_collector_->init(&wait_set, memory_strategy);
-  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
-
-  {
-    auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_resize, RCL_RET_ERROR);
-    std::shared_ptr<void> data = entities_collector_->take_data();
-    RCLCPP_EXPECT_THROW_EQ(
-      entities_collector_->execute(data),
-      std::runtime_error("Couldn't resize the wait set: error not set"));
-  }
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_not_initialized) {
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->refresh_wait_set(std::chrono::nanoseconds(1000)),
-    std::runtime_error("Couldn't clear wait set"));
-  rcl_reset_error();
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_rcl_wait_failed) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  entities_collector_->init(&wait_set, memory_strategy);
-  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
-
-  {
-    auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait, RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      entities_collector_->refresh_wait_set(std::chrono::nanoseconds(1000)),
-      std::runtime_error("rcl_wait() failed: error not set"));
-  }
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_add_handles_to_wait_set_failed) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-
-  // Create 1 of each entity type
-  auto subscription =
-    node->create_subscription<test_msgs::msg::Empty>(
-    "topic", rclcpp::QoS(10), [](test_msgs::msg::Empty::ConstSharedPtr) {});
-  auto timer =
-    node->create_wall_timer(std::chrono::seconds(60), []() {});
-  auto service =
-    node->create_service<test_msgs::srv::Empty>(
-    "service",
-    [](
-      const test_msgs::srv::Empty::Request::SharedPtr,
-      test_msgs::srv::Empty::Response::SharedPtr) {});
-  auto client = node->create_client<test_msgs::srv::Empty>("service");
-  auto waitable = std::make_shared<TestWaitable>();
-
-  node->get_node_waitables_interface()->add_waitable(waitable, nullptr);
-
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  entities_collector_->init(&wait_set, memory_strategy);
-  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
-
-  {
-    auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_wait_set_add_subscription,
-      RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      entities_collector_->refresh_wait_set(std::chrono::nanoseconds(1000)),
-      std::runtime_error("Couldn't fill wait set"));
-  }
-
-  entities_collector_->remove_node(node->get_node_base_interface());
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_to_wait_set_nullptr) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  entities_collector_->init(&wait_set, memory_strategy);
-  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, fill_memory_strategy_invalid_group) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 2u);
-
-  cb_group.reset();
-
-  entities_collector_->init(&wait_set, memory_strategy);
-  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, remove_callback_group_after_node) {
-  auto node = std::make_shared<rclcpp::Node>("node1", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
-
-  node.reset();
-
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->remove_callback_group(cb_group),
-    std::runtime_error("Node must not be deleted before its callback group(s)."));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, remove_callback_group_twice) {
-  auto node = std::make_shared<rclcpp::Node>("node1", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
-
-  entities_collector_->remove_callback_group(cb_group);
-
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->remove_callback_group(cb_group),
-    std::runtime_error("Callback group needs to be associated with executor."));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, remove_node_opposite_order) {
-  auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
-  EXPECT_NO_THROW(entities_collector_->add_node(node1->get_node_base_interface()));
-
-  auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
-  EXPECT_NO_THROW(entities_collector_->add_node(node2->get_node_base_interface()));
-
-  EXPECT_TRUE(entities_collector_->remove_node(node2->get_node_base_interface()));
-}
-
-TEST_F(
-  TestStaticExecutorEntitiesCollector,
-  add_callback_groups_from_nodes_associated_to_executor_add) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-
-  entities_collector_->init(&wait_set, memory_strategy);
-  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
-
-  cb_group->get_associated_with_executor_atomic().exchange(false);
-  std::shared_ptr<void> data = entities_collector_->take_data();
-  entities_collector_->execute(data);
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}

rclcpp/test/rclcpp/test_executor.cpp

@@ -342,12 +342,12 @@ TEST_F(TestExecutor, spin_all_fail_wait_set_clear) {
   subscription =
     rclcpp::create_subscription<test_msgs::msg::Empty>(
     node_topics, "test", rclcpp::QoS(10), std::move(callback));
-  auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_clear, RCL_RET_ERROR);
 
-  dummy.spin_all(std::chrono::milliseconds(1));
-  // second spin_all triggers rcl_wait_set_clear that should be called
-  // whenever a waitset gets rebuild and it was not changed in size.
+  auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_clear, RCL_RET_ERROR);
   RCLCPP_EXPECT_THROW_EQ(
+    // the first spin might trigger the rebuild, but only the second triggers
+    // it for sure, therefore we spin two times
+    dummy.spin_all(std::chrono::milliseconds(1));
     dummy.spin_all(std::chrono::milliseconds(1)),
     std::runtime_error("Couldn't clear the wait set: error not set"));
 }

rclcpp/test/rclcpp/test_wait_for_message.cpp

@@ -134,3 +134,32 @@ TEST(TestUtilities, wait_for_last_message) {
 
   rclcpp::shutdown();
 }
+
+TEST(TestUtilities, wait_for_message_custom_context) {
+  auto context = std::make_shared<rclcpp::Context>();
+  context->init(0, nullptr);
+
+  auto node_opt = rclcpp::NodeOptions().context(context);
+  auto node = std::make_shared<rclcpp::Node>("wait_for_message_custom_context_node", node_opt);
+
+  using MsgT = test_msgs::msg::Strings;
+  auto pub = node->create_publisher<MsgT>("wait_for_message_topic", 10);
+
+  MsgT out;
+  auto received = false;
+  auto wait = std::async(
+    [&]() {
+      auto ret = rclcpp::wait_for_message(out, node, "wait_for_message_topic", 5s);
+      EXPECT_TRUE(ret);
+      received = true;
+    });
+
+  for (auto i = 0u; i < 10 && received == false; ++i) {
+    pub->publish(*get_messages_strings()[0]);
+    std::this_thread::sleep_for(1s);
+  }
+  ASSERT_TRUE(received);
+  EXPECT_EQ(out, *get_messages_strings()[0]);
+
+  context->shutdown("test complete");
+}

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,11 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+29.5.7 (2026-02-09)
+-------------------
+* Update exception documentation for goal cancellation in ServerGoalHandle (`#3019 <https://github.com/ros2/rclcpp/issues/3019>`_) (`#3022 <https://github.com/ros2/rclcpp/issues/3022>`_)
+* Contributors: mergify[bot]
+
 29.5.6 (2025-12-23)
 -------------------
 

rclcpp_action/include/rclcpp_action/server_goal_handle.hpp

@@ -200,7 +200,7 @@ public:
    * This is a terminal state, no more methods should be called on a goal handle after this is
    * called.
    *
-   * \throws rclcpp::exceptions::RCLError If the goal is in any state besides executing.
+   * \throws rclcpp::exceptions::RCLError If a cancel request for this goal has not been received.
    *
    * \param[in] result_msg the final result to send to clients.
    */

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>29.5.6</version>
+  <version>29.5.7</version>
   <description>Adds action APIs for C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+29.5.7 (2026-02-09)
+-------------------
+
 29.5.6 (2025-12-23)
 -------------------
 

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>29.5.6</version>
+  <version>29.5.7</version>
   <description>Package containing tools for dynamically loadable components</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,9 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+29.5.7 (2026-02-09)
+-------------------
+
 29.5.6 (2025-12-23)
 -------------------
 

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>29.5.6</version>
+  <version>29.5.7</version>
   <description>Package containing a prototype for lifecycle implementation</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>