29.5.4

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

rclcpp/CHANGELOG.rst

@@ -2,11 +2,38 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-29.6.0 (2025-04-25)
+29.5.4 (2025-10-21)
 -------------------
+
+29.5.3 (2025-09-11)
+-------------------
+* Fix: improve exception context for parameter_value_from (`#2917 <https://github.com/ros2/rclcpp/issues/2917>`_) (`#2919 <https://github.com/ros2/rclcpp/issues/2919>`_)
+* Allow for implicitly convertable loggers as well (`#2922 <https://github.com/ros2/rclcpp/issues/2922>`_) (`#2936 <https://github.com/ros2/rclcpp/issues/2936>`_)
+* Fix `start_type_description_service` param handling (`#2897 <https://github.com/ros2/rclcpp/issues/2897>`_) (`#2908 <https://github.com/ros2/rclcpp/issues/2908>`_)
+* Add qos parameter for wait_for_message function (`#2903 <https://github.com/ros2/rclcpp/issues/2903>`_) (`#2905 <https://github.com/ros2/rclcpp/issues/2905>`_)
+* Expose `typesupport_helpers` API needed for the Rosbag2 (`#2858 <https://github.com/ros2/rclcpp/issues/2858>`_) (`#2901 <https://github.com/ros2/rclcpp/issues/2901>`_)
+* Fujitatomoya/test append parameter override (`#2896 <https://github.com/ros2/rclcpp/issues/2896>`_) (`#2899 <https://github.com/ros2/rclcpp/issues/2899>`_)
+* Add overload of `append_parameter_override` (`#2891 <https://github.com/ros2/rclcpp/issues/2891>`_) (`#2894 <https://github.com/ros2/rclcpp/issues/2894>`_)
+* Contributors: Tim Clephas, mergify[bot]
+
+29.5.2 (2025-07-07)
+-------------------
+* 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
+* Contributors: Alejandro Hernández Cordero, Tomoya Fujita, mergify[bot]
 
 29.5.0 (2025-04-18)
 -------------------

rclcpp/include/rclcpp/clock.hpp

@@ -200,6 +200,21 @@ 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

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

rclcpp/include/rclcpp/logger.hpp

@@ -78,6 +78,34 @@ 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/include/rclcpp/node_options.hpp

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

rclcpp/include/rclcpp/typesupport_helpers.hpp

@@ -29,26 +29,48 @@
 
 namespace rclcpp
 {
-/// Load the type support library for the given type.
-/**
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \return A shared library
- */
+
+/// \brief Extract the package name, middle module, and type name from a full type string.
+/// \details This function takes a full type string (e.g., "std_msgs/msg/String") and extracts
+/// the package name, middle module (if any), and type name. The middle module is the part
+/// between the package name and the type name, which is typically used for message types.
+/// For example, for "std_msgs/msg/String", it returns ("std_msgs", "msg", "String").
+/// \param[in] full_type
+/// \throws std::runtime_error if the input full type string is malformed or does not follow the
+/// expected format.
+/// \return A tuple containing the package name, middle module (if any), and type name.
+RCLCPP_PUBLIC
+std::tuple<std::string, std::string, std::string>
+extract_type_identifier(const std::string & full_type);
+
+/// \brief Look for the library in the ament prefix paths and return the path to the type support
+/// library.
+/// \param[in] package_name The name of the package containing the type support library,
+/// e.g. "std_msgs".
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \throws std::runtime_error if the library is not found.
+/// \return The path to the type support library.
+RCLCPP_PUBLIC
+std::string get_typesupport_library_path(
+  const std::string & package_name, const std::string & typesupport_identifier);
+
+/// \brief Load the type support library for the given type.
+/// \param[in] type The topic type, e.g. "std_msgs/msg/String"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \throws std::runtime_error if the library is not found or cannot be loaded.
+/// \return A shared library
 RCLCPP_PUBLIC
 std::shared_ptr<rcpputils::SharedLibrary>
 get_typesupport_library(const std::string & type, const std::string & typesupport_identifier);
 
-/// Extract the message type support handle from the library.
-/**
- * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
- *
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \throws std::runtime_error if the symbol of type not found in the library.
- * \return A message type support handle
- */
+/// \brief Extracts the message type support handle from the library.
+/// \note The library needs to match the topic type. The shared library must stay loaded for the
+/// lifetime of the result.
+/// \param[in] type The topic type, e.g. "std_msgs/msg/String"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \param[in] library The shared type support library
+/// \throws std::runtime_error if the symbol of type not found in the library.
+/// \return A message type support handle
 RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
 get_message_typesupport_handle(
@@ -56,16 +78,14 @@ get_message_typesupport_handle(
   const std::string & typesupport_identifier,
   rcpputils::SharedLibrary & library);
 
-/// Extract the service type support handle from the library.
-/**
- * The library needs to match the service type. The shared library must stay loaded for the lifetime of the result.
- *
- * \param[in] type The service type, e.g. "std_srvs/srv/Empty"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \throws std::runtime_error if the symbol of type not found in the library.
- * \return A service type support handle
- */
+/// \brief Extracts the service type support handle from the library.
+/// \note The library needs to match the service type. The shared library must stay loaded for the
+/// lifetime of the result.
+/// \param[in] type The service type, e.g. "std_srvs/srv/Empty"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \param[in] library The shared type support library
+/// \throws std::runtime_error if the symbol of type not found in the library.
+/// \return A service type support handle
 RCLCPP_PUBLIC
 const rosidl_service_type_support_t *
 get_service_typesupport_handle(
@@ -73,17 +93,14 @@ get_service_typesupport_handle(
   const std::string & typesupport_identifier,
   rcpputils::SharedLibrary & library);
 
-/// Extract the action type support handle from the library.
-/**
- * The library needs to match the action type. The shared library must stay loaded for the lifetime
- * of the result.
- *
- * \param[in] type The action type, e.g. "example_interfaces/action/Fibonacci"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \throws std::runtime_error if the symbol of type not found in the library.
- * \return A action type support handle
- */
+/// \brief Extracts the action type support handle from the library.
+/// \note The library needs to match the action type. The shared library must stay loaded for the
+/// lifetime of the result.
+/// \param[in] type The action type, e.g. "example_interfaces/action/Fibonacci"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \param[in] library The shared type support library
+/// \throws std::runtime_error if the symbol of type not found in the library.
+/// \return A action type support handle
 RCLCPP_PUBLIC
 const rosidl_action_type_support_t *
 get_action_typesupport_handle(

rclcpp/include/rclcpp/wait_for_message.hpp

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

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>29.6.0</version>
+  <version>29.5.4</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp/resource/logging.hpp.em

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

rclcpp/src/rclcpp/clock.cpp

@@ -83,6 +83,16 @@ 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

@@ -14,6 +14,7 @@
 
 #include "rclcpp/context.hpp"
 
+#include <map>
 #include <memory>
 #include <mutex>
 #include <sstream>
@@ -142,11 +143,52 @@ rclcpp_logging_output_handler(
 }
 }  // extern "C"
 
+/**
+ * Global storage for pre and post shutdown recursive mutexes.
+ * Note, this is a ABI compatibility hack.
+ */
+class MutexLookup
+{
+  std::mutex m;
+
+  struct MutexHolder
+  {
+    std::recursive_mutex on_shutdown_callbacks_mutex_;
+    std::recursive_mutex pre_shutdown_callbacks_mutex_;
+  };
+
+  std::map<const Context *, std::unique_ptr<MutexHolder>> mutexMap;
+
+public:
+  MutexHolder & getMutexes(const Context *forContext)
+  {
+    auto it = mutexMap.find(forContext);
+    if(it == mutexMap.end()) {
+      it = mutexMap.emplace(forContext, std::make_unique<MutexHolder>()).first;
+    }
+
+    return *(it->second);
+  }
+
+  /**
+   * Only supposed to be called on deletion of context
+   */
+  void removeMutexes(const Context *forContext)
+  {
+    mutexMap.erase(forContext);
+  }
+};
+
+MutexLookup mutexStorage;
+
 Context::Context()
 : rcl_context_(nullptr),
   shutdown_reason_(""),
   logging_mutex_(nullptr)
-{}
+{
+  // allocate mutexes
+  mutexStorage.getMutexes(this);
+}
 
 Context::~Context()
 {
@@ -165,6 +207,9 @@ Context::~Context()
   } catch (...) {
     RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "unhandled exception in ~Context()");
   }
+
+  // delete mutexes
+  mutexStorage.removeMutexes(this);
 }
 
 RCLCPP_LOCAL
@@ -310,9 +355,17 @@ Context::shutdown(const std::string & reason)
 
   // call each pre-shutdown callback
   {
-    std::lock_guard<std::mutex> lock{pre_shutdown_callbacks_mutex_};
-    for (const auto & callback : pre_shutdown_callbacks_) {
-      (*callback)();
+    std::lock_guard<std::recursive_mutex> lock{mutexStorage.getMutexes(
+        this).pre_shutdown_callbacks_mutex_};
+    // callbacks may delete other callbacks during the execution,
+    // therefore we need to save a copy and check before execution
+    // if the next callback is still present
+    auto cpy = pre_shutdown_callbacks_;
+    for (const auto & callback : cpy) {
+      auto it = std::find(pre_shutdown_callbacks_.begin(), pre_shutdown_callbacks_.end(), callback);
+      if(it != pre_shutdown_callbacks_.end()) {
+        (*callback)();
+      }
     }
   }
 
@@ -325,9 +378,17 @@ Context::shutdown(const std::string & reason)
   shutdown_reason_ = reason;
   // call each shutdown callback
   {
-    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
-    for (const auto & callback : on_shutdown_callbacks_) {
-      (*callback)();
+    std::lock_guard<std::recursive_mutex> lock(mutexStorage.getMutexes(
+      this).on_shutdown_callbacks_mutex_);
+    // callbacks may delete other callbacks during the execution,
+    // therefore we need to save a copy and check before execution
+    // if the next callback is still present
+    auto cpy = on_shutdown_callbacks_;
+    for (const auto & callback : cpy) {
+      auto it = std::find(on_shutdown_callbacks_.begin(), on_shutdown_callbacks_.end(), callback);
+      if(it != on_shutdown_callbacks_.end()) {
+        (*callback)();
+      }
     }
   }
 
@@ -398,10 +459,12 @@ Context::add_shutdown_callback(
     shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
 
   if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    std::lock_guard<std::mutex> lock(pre_shutdown_callbacks_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(mutexStorage.getMutexes(
+      this).pre_shutdown_callbacks_mutex_);
     pre_shutdown_callbacks_.emplace_back(callback_shared_ptr);
   } else {
-    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(mutexStorage.getMutexes(
+      this).on_shutdown_callbacks_mutex_);
     on_shutdown_callbacks_.emplace_back(callback_shared_ptr);
   }
 
@@ -421,7 +484,7 @@ Context::remove_shutdown_callback(
   }
 
   const auto remove_callback = [&callback_shared_ptr](auto & mutex, auto & callback_vector) {
-      const std::lock_guard<std::mutex> lock(mutex);
+      const std::lock_guard<std::recursive_mutex> lock(mutex);
       auto iter = callback_vector.begin();
       for (; iter != callback_vector.end(); iter++) {
         if ((*iter).get() == callback_shared_ptr.get()) {
@@ -432,6 +495,7 @@ Context::remove_shutdown_callback(
         return false;
       }
       callback_vector.erase(iter);
+
       return true;
     };
 
@@ -439,9 +503,11 @@ Context::remove_shutdown_callback(
     shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
 
   if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    return remove_callback(pre_shutdown_callbacks_mutex_, pre_shutdown_callbacks_);
+    return remove_callback(mutexStorage.getMutexes(this).pre_shutdown_callbacks_mutex_,
+      pre_shutdown_callbacks_);
   } else {
-    return remove_callback(on_shutdown_callbacks_mutex_, on_shutdown_callbacks_);
+    return remove_callback(mutexStorage.getMutexes(this).on_shutdown_callbacks_mutex_,
+      on_shutdown_callbacks_);
   }
 }
 
@@ -462,7 +528,7 @@ std::vector<rclcpp::Context::ShutdownCallback>
 Context::get_shutdown_callback() const
 {
   const auto get_callback_vector = [](auto & mutex, auto & callback_set) {
-      const std::lock_guard<std::mutex> lock(mutex);
+      const std::lock_guard<std::recursive_mutex> lock(mutex);
       std::vector<rclcpp::Context::ShutdownCallback> callbacks;
       for (auto & callback : callback_set) {
         callbacks.push_back(*callback);
@@ -474,9 +540,11 @@ Context::get_shutdown_callback() const
     shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
 
   if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    return get_callback_vector(pre_shutdown_callbacks_mutex_, pre_shutdown_callbacks_);
+    return get_callback_vector(mutexStorage.getMutexes(this).pre_shutdown_callbacks_mutex_,
+      pre_shutdown_callbacks_);
   } else {
-    return get_callback_vector(on_shutdown_callbacks_mutex_, on_shutdown_callbacks_);
+    return get_callback_vector(mutexStorage.getMutexes(this).on_shutdown_callbacks_mutex_,
+      on_shutdown_callbacks_);
   }
 }
 

rclcpp/src/rclcpp/logger.cpp

@@ -55,6 +55,34 @@ 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

@@ -192,65 +192,6 @@ 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(
@@ -260,39 +201,49 @@ __check_parameter_value_in_range(
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
   if (!descriptor.integer_range.empty() && value.get_type() == rclcpp::PARAMETER_INTEGER) {
-    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;
-      }
+    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;
     }
+    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) {
-    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;
-      }
+    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");
     return result;
   }
-
   return result;
 }
 

rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp

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

rclcpp/src/rclcpp/parameter_map.cpp

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

rclcpp/src/rclcpp/qos.cpp

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

rclcpp/src/rclcpp/serialized_message.cpp

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

rclcpp/src/rclcpp/typesupport_helpers.cpp

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

rclcpp/test/benchmark/benchmark_executor.cpp

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

rclcpp/test/rclcpp/CMakeLists.txt

@@ -57,6 +57,11 @@ 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

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

rclcpp/test/rclcpp/executors/test_waitable.cpp

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

rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp

@@ -128,7 +128,7 @@ TEST_F(TestNodeParameters, list_parameters)
     list_result5.names.end());
 }
 
-TEST_F(TestNodeParameters, parameter_overrides)
+TEST_F(TestNodeParameters, parameter_overrides_with_value)
 {
   rclcpp::NodeOptions node_options;
   node_options.automatically_declare_parameters_from_overrides(true);
@@ -146,6 +146,24 @@ TEST_F(TestNodeParameters, parameter_overrides)
   EXPECT_EQ(2u, parameter_overrides.size());
 }
 
+TEST_F(TestNodeParameters, parameter_overrides_with_parameter)
+{
+  rclcpp::NodeOptions node_options;
+  node_options.automatically_declare_parameters_from_overrides(true);
+  node_options.append_parameter_override(rclcpp::Parameter("param1", true));
+  node_options.append_parameter_override(rclcpp::Parameter("param2", 42));
+
+  std::shared_ptr<rclcpp::Node> node2 = std::make_shared<rclcpp::Node>("node2", "ns", node_options);
+
+  auto * node_parameters_interface =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node2->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters_interface);
+
+  const auto & parameter_overrides = node_parameters_interface->get_parameter_overrides();
+  EXPECT_EQ(2u, parameter_overrides.size());
+}
+
 TEST_F(TestNodeParameters, set_parameters) {
   rclcpp::NodeOptions node_options;
   node_options.allow_undeclared_parameters(true);

rclcpp/test/rclcpp/node_interfaces/test_node_type_descriptions.cpp

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

rclcpp/test/rclcpp/test_clock.cpp

@@ -0,0 +1,238 @@
+// 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

@@ -15,6 +15,7 @@
 
 #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"
 
 /*
-   Constructor
+   Construtctor
  */
 TEST(TestIntraProcessBuffer, constructor) {
   using MessageT = char;

rclcpp/test/rclcpp/test_logger_service.cpp

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

rclcpp/test/rclcpp/test_logging.cpp

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

rclcpp/test/rclcpp/test_node.cpp

@@ -1365,203 +1365,6 @@ 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;
@@ -1732,201 +1535,6 @@ 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_node_options.cpp

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

rclcpp/test/rclcpp/test_parameter_service.cpp

@@ -14,6 +14,7 @@
 
 #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());
+    auto publisher = node->create_publisher<Empty>("topic", rclcpp::SystemDefaultsQoS(), options);
   });
 }
 

rclcpp/test/rclcpp/test_qos.cpp

@@ -272,3 +272,15 @@ 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"
 
 /*
- * Constructor
+ * Construtctor
  */
 TEST(TestRingBufferImplementation, constructor) {
   // Cannot create a buffer of size zero.
@@ -140,27 +140,14 @@ TEST(TestRingBufferImplementation, basic_usage_unique_ptr) {
   EXPECT_EQ(false, rb.is_full());
 }
 
-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);
+TEST(TestRingBufferImplementation, handle_nullptr_deletion) {
+  rclcpp::experimental::buffers::RingBufferImplementation<std::unique_ptr<int>> rb(3);
+  rb.enqueue(std::make_unique<int>(42));
+  rb.enqueue(nullptr);  // intentionally enqueuing nullptr
+  rb.enqueue(std::make_unique<int>(84));
+  auto all_data = rb.get_all_data();
+  EXPECT_EQ(3u, all_data.size());
+  EXPECT_EQ(42, *(all_data[0]));
+  EXPECT_EQ(nullptr, all_data[1]);
+  EXPECT_EQ(84, *(all_data[2]));
 }

rclcpp/test/rclcpp/test_service.cpp

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

rclcpp/test/rclcpp/test_service_introspection.cpp

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

rclcpp/test/rclcpp/test_wait_for_message.cpp

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

rclcpp_action/CHANGELOG.rst

@@ -3,8 +3,24 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-29.6.0 (2025-04-25)
+29.5.4 (2025-10-21)
 -------------------
+* it misses the iterator second to lock the weakptr. (`#2958 <https://github.com/ros2/rclcpp/issues/2958>`_) (`#2959 <https://github.com/ros2/rclcpp/issues/2959>`_)
+* Contributors: mergify[bot]
+
+29.5.3 (2025-09-11)
+-------------------
+* fix cmake deprecation (`#2914 <https://github.com/ros2/rclcpp/issues/2914>`_) (`#2915 <https://github.com/ros2/rclcpp/issues/2915>`_)
+* Contributors: mergify[bot]
+
+29.5.2 (2025-07-07)
+-------------------
+
+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)
 -------------------

rclcpp_action/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 
 project(rclcpp_action)
 

rclcpp_action/include/rclcpp_action/client.hpp

@@ -350,7 +350,7 @@ public:
         return;
       }
 
-      goal_handle = it->lock();
+      goal_handle = it->second.lock();
     }
 
     if (goal_handle) {

rclcpp_action/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_action</name>
-  <version>29.6.0</version>
+  <version>29.5.4</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::default_random_engine, 8, unsigned int> random_bytes_generator;
+    std::mt19937, 8, unsigned int> random_bytes_generator;
 };
 
 ClientBase::ClientBase(

rclcpp_action/test/test_client.cpp

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

rclcpp_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::default_random_engine, 8, decltype(rd())> random_bytes_generator(rd());
+    std::mt19937, 8, decltype(rd())> random_bytes_generator(rd());
 
   std::vector<size_t> hashed_guuids;
   constexpr size_t iterations = 1000;

rclcpp_components/CHANGELOG.rst

@@ -2,9 +2,22 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-29.6.0 (2025-04-25)
+29.5.4 (2025-10-21)
 -------------------
 
+29.5.3 (2025-09-11)
+-------------------
+* fix cmake deprecation (`#2914 <https://github.com/ros2/rclcpp/issues/2914>`_) (`#2915 <https://github.com/ros2/rclcpp/issues/2915>`_)
+* Contributors: mergify[bot]
+
+29.5.2 (2025-07-07)
+-------------------
+
+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/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 
 project(rclcpp_components)
 

rclcpp_components/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_components</name>
-  <version>29.6.0</version>
+  <version>29.5.4</version>
   <description>Package containing tools for dynamically loadable components</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_components/test/test_component_manager_api.cpp

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

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,9 +3,23 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-29.6.0 (2025-04-25)
+29.5.4 (2025-10-21)
 -------------------
 
+29.5.3 (2025-09-11)
+-------------------
+* Clearer warning message, the old one lacked information and was perhaps misleading (`#2927 <https://github.com/ros2/rclcpp/issues/2927>`_) (`#2931 <https://github.com/ros2/rclcpp/issues/2931>`_)
+* fix cmake deprecation (`#2914 <https://github.com/ros2/rclcpp/issues/2914>`_) (`#2915 <https://github.com/ros2/rclcpp/issues/2915>`_)
+* Contributors: mergify[bot]
+
+29.5.2 (2025-07-07)
+-------------------
+
+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/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 
 project(rclcpp_lifecycle)
 

rclcpp_lifecycle/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_lifecycle</name>
-  <version>29.6.0</version>
+  <version>29.5.4</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

@@ -390,6 +390,7 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
   constexpr bool publish_update = true;
   State initial_state;
   unsigned int current_state_id;
+  const rcl_lifecycle_transition_t * original_transition{nullptr};
 
   {
     std::lock_guard<std::recursive_mutex> lock(state_machine_mutex_);
@@ -405,18 +406,18 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
     // keep the initial state to pass to a transition callback
     initial_state = State(state_machine_.current_state);
 
+    original_transition =
+      rcl_lifecycle_get_transition_by_id(state_machine_.current_state, transition_id);
+
+
     if (
       rcl_lifecycle_trigger_transition_by_id(
         &state_machine_, transition_id, publish_update) != RCL_RET_OK)
     {
-      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 (%s) from current state %s: %s",
-        transition_id,
-        transition_label ? transition_label : "unknown transition",
-        state_machine_.current_state->label, rcl_get_error_string().str);
+        "Unable to start transition %u from current state %s: %s",
+        transition_id, state_machine_.current_state->label, rcl_get_error_string().str);
       rcutils_reset_error();
       return RCL_RET_ERROR;
     }
@@ -459,12 +460,15 @@ LifecycleNode::LifecycleNodeInterfaceImpl::change_state(
   // Update the internal current_state_
   current_state_ = State(state_machine_.current_state);
 
-  // error handling ?!
+  // error handling
   // TODO(karsten1987): iterate over possible ret value
   if (cb_return_code == node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR) {
-    RCLCPP_WARN(
-      node_logging_interface_->get_logger(),
-      "Error occurred while doing error handling.");
+    if (original_transition) {
+      RCLCPP_WARN(
+        node_logging_interface_->get_logger(),
+        "Callback returned ERROR during the transition: %s", original_transition->label);
+    }
+
 
     auto error_cb_code = execute_callback(current_state_id, initial_state);
     auto error_cb_label = get_label_for_return_code(error_cb_code);

rclcpp_lifecycle/test/benchmark/benchmark_lifecycle_client.cpp

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

rclcpp_lifecycle/test/test_lifecycle_node.cpp

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

rclcpp_lifecycle/test/test_service.cpp

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