Populate Transitions in Transition Events (continuation) by SuperJappie08 · Pull Request #1269 · ros2/rcl

SuperJappie08 · 2025-10-15T14:11:19Z

Description

Original author: @CursedRock17
Original reviewers: @fujitatomoya @audrow @ivanpauno @wjwwood

Continuation of #1140.
Implemented most feedback.

Is this user-facing behavior change?

Yes, Lifecycle transition events are now filled.
This comes with a small change in function signatures to support timestamping.

Did you use Generative AI?

No.

Additional Information

I would also recommend merging ros2/rcl_interfaces#185 to limit the amount of breaking changes.

I noticed that the node_handle field of rcl_lifecycle_com_interface_t is never filled or used as far as I can see.

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

fujitatomoya · 2025-10-22T06:00:48Z

Pulls: ros2/rcl_interfaces#185, #1269, ros2/rclcpp#2967, ros2/rclpy#1528
Gist: https://gist.githubusercontent.com/fujitatomoya/43f97e6f8303a55ef1fdd1c645c51dd1/raw/feab0bba51e7c64b9f07536c61c03781c6dcd1e2/ros2.repos
BUILD args: --packages-above-and-dependencies lifecycle_msgs rcl_lifecycle rclcpp_lifecycle rclpy
TEST args: --packages-above lifecycle_msgs rcl_lifecycle rclcpp_lifecycle rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17335

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SuperJappie08 · 2025-10-22T07:24:05Z

@fujitatomoya, this patch did not yet include compatibility with ros2/rcl_interfaces#185, but I have it (just not part of the PR yet)

I will fix it now

SuperJappie08 · 2025-11-04T11:15:33Z

@fujitatomoya friendly ping, could you rerun the tests?

fujitatomoya · 2025-11-05T13:35:32Z

Pulls: ros2/rcl_interfaces#185, #1269, ros2/rclcpp#2967, ros2/rclpy#1528
Gist: https://gist.githubusercontent.com/fujitatomoya/7419b9893cf173e26ca59097d1d673aa/raw/feab0bba51e7c64b9f07536c61c03781c6dcd1e2/ros2.repos
BUILD args: --packages-above-and-dependencies lifecycle_msgs rcl_lifecycle rclcpp_lifecycle rclpy
TEST args: --packages-above lifecycle_msgs rcl_lifecycle rclcpp_lifecycle rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17401

Linux
Linux-aarch64
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Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

SuperJappie08 · 2025-11-06T08:39:03Z

@fujitatomoya, I added the explicit conversions, as required by CMake.

Two things to note:
rcl_lifecycle has stricter compile flags than rcl, is that intended?

rcl/rcl_lifecycle/CMakeLists.txt

Line 29 in e70d040

-Wformat=2 -Wconversion -Wshadow -Wsign-conversion

Instead of adding the second conversion, it might make sense to update the id field of rcl_lifecycle_transition_s match the type of id field in the message, as I cannot instantly think of a reason to make those differ.

rcl/rcl_lifecycle/include/rcl_lifecycle/data_types.h

Line 52 in e70d040

unsigned int id;

SuperJappie08 · 2025-11-18T12:21:02Z

@fujitatomoya, friendly ping!

SuperJappie08 · 2025-11-27T10:03:04Z

@fujitatomoya, friendly ping!

fujitatomoya · 2025-11-27T10:39:46Z

@SuperJappie08 thanks, i will allocate some time later.

SuperJappie08 · 2026-01-06T09:59:51Z

@fujitatomoya, friendly ping.

fujitatomoya · 2026-02-02T08:22:00Z

@Mergifyio rebase

mergify · 2026-02-02T08:22:17Z

rebase

❌ Pull request can't be updated with latest base branch changes

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The author needs to enable "Allow edits from maintainers" on this pull request, or update the branch manually.

Signed-off-by: CursedRock17 <mtglucas1@gmail.com>

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

Adds compatibility with ros2/rcl_interfaces#185 Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

fujitatomoya · 2026-02-02T11:54:44Z

Pulls: ros2/rcl_interfaces#185, #1269, ros2/rclcpp#2967, ros2/rclpy#1528, ros2/launch_ros#495
Gist: https://gist.githubusercontent.com/fujitatomoya/509dc37f463751da80d68854d37ec1d0/raw/5f7a4fa0c2b57380aa59f72196e8279872b6a096/ros2.repos
BUILD args: --packages-above-and-dependencies lifecycle_msgs rcl_lifecycle rclcpp_lifecycle rclpy launch_ros
TEST args: --packages-above lifecycle_msgs rcl_lifecycle rclcpp_lifecycle rclpy launch_ros
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18088

Linux
Linux-aarch64
Linux-rhel
Windows

SuperJappie08 · 2026-02-03T08:32:37Z

@fujitatomoya, they all passed (eventually with retries)

For completeness:

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Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

Add clock parameter to rcl_lifecycle_state_machine_init() call to match the updated API signature. The function now requires a rcl_clock_t pointer as the third parameter for timestamping lifecycle transition events. Changes: - Add rclpy::Clock member to LifecycleStateMachine class - Initialize clock with RCL_SYSTEM_TIME in constructor - Pass clock pointer to rcl_lifecycle_state_machine_init() - Properly destroy clock in cleanup method This fixes the build error introduced by ros2/rcl#1269.

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* Populate Transitions Signed-off-by: CursedRock17 <mtglucas1@gmail.com> * Suspending timestamp until I find an ansewr Signed-off-by: CursedRock17 <mtglucas1@gmail.com> * Adding timestamp Signed-off-by: CursedRock17 <mtglucas1@gmail.com> * Simplify lifecycle event publication arguments Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com> * Add clock to rcl_lifecycle_com_interface Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com> * Update lifecycle transition event to use builtin_interfaces/Time Adds compatibility with ros2/rcl_interfaces#185 Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com> * Add explicit conversions Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com> --------- Signed-off-by: CursedRock17 <mtglucas1@gmail.com> Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com> Co-authored-by: CursedRock17 <mtglucas1@gmail.com> Signed-off-by: Rushsahay <rushhaank.sahay@gmail.com>

A new package was added to `rcl_logging` called `rcl_logging_implementation`. It depends on `rcpputils`, which I wasn't able to get building. Therefore, we are skipping building that package using `COLCON_IGNORE`.https://github.com/ros2/rclc needs to be pinned to an older version until ros2/rcl#1269 is added in https://github.com/micro-ROS/rcl.This PR also fixes micro-ROS#251.

A new package was added to `rcl_logging` called `rcl_logging_implementation`. It depends on `rcpputils`, which I wasn't able to get building. Therefore, we are skipping building that package using `COLCON_IGNORE`. https://github.com/ros2/rclc needs to be pinned to an older version until ros2/rcl#1269 is added in https://github.com/micro-ROS/rcl. This PR also fixes micro-ROS#251.

SuperJappie08 changed the title ~~Rolling lifecycle transition event~~ Populate Transitions in Transition Events (continuation) Oct 15, 2025

SuperJappie08 added a commit to SuperJappie08/rclcpp that referenced this pull request Oct 15, 2025

Compatiblity with 'Populate Transitions' ros2/rcl#1269

2f0efc6

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

SuperJappie08 mentioned this pull request Oct 15, 2025

Compatiblity with 'Populate Transitions' ros2/rcl#1269 ros2/rclcpp#2967

Merged

SuperJappie08 added a commit to SuperJappie08/rclpy that referenced this pull request Oct 15, 2025

Compatiblity with 'Populate Transitions' ros2/rcl#1269

18a31bd

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

SuperJappie08 mentioned this pull request Oct 15, 2025

Compatiblity with 'Populate Transitions' ros2/rcl#1269 ros2/rclpy#1528

Merged

SuperJappie08 added a commit to SuperJappie08/rclc that referenced this pull request Oct 15, 2025

Compatiblity with 'Populate Transitions' ros2/rcl#1269

a28ff56

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

SuperJappie08 mentioned this pull request Oct 15, 2025

Compatiblity with 'Populate Transitions' ros2/rcl#1269 ros2/rclc#435

Merged

jmachowinski approved these changes Oct 15, 2025

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fujitatomoya approved these changes Oct 20, 2025

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fujitatomoya mentioned this pull request Oct 22, 2025

Use builtin_interfaces/Time for TransitionEvent stamp ros2/rcl_interfaces#185

Merged

SuperJappie08 added a commit to SuperJappie08/launch_ros that referenced this pull request Nov 5, 2025

Compatiblity with 'Populate Transitions' ros2/rcl#1269

3a90e66

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

SuperJappie08 added a commit to SuperJappie08/launch_ros that referenced this pull request Nov 5, 2025

Compatiblity with 'Populate Transitions' ros2/rcl#1269

d1dafc1

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

SuperJappie08 mentioned this pull request Nov 5, 2025

Compatiblity with 'Populate Transitions' ros2/rcl#1269 ros2/launch_ros#495

Merged

cottsay assigned fujitatomoya Dec 15, 2025

CursedRock17 and others added 5 commits February 2, 2026 10:01

Populate Transitions

68b0de7

Signed-off-by: CursedRock17 <mtglucas1@gmail.com>

Suspending timestamp until I find an ansewr

4827720

Signed-off-by: CursedRock17 <mtglucas1@gmail.com>

Adding timestamp

2bf08bc

Signed-off-by: CursedRock17 <mtglucas1@gmail.com>

Simplify lifecycle event publication arguments

6958a31

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

Add clock to rcl_lifecycle_com_interface

d4b1c85

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

SuperJappie08 added 2 commits February 2, 2026 10:01

Update lifecycle transition event to use builtin_interfaces/Time

6ef87f1

Adds compatibility with ros2/rcl_interfaces#185 Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

Add explicit conversions

db14479

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

SuperJappie08 force-pushed the rolling-lifecycle-transition-event branch from 4b988b7 to db14479 Compare February 2, 2026 09:02

SuperJappie08 added a commit to SuperJappie08/rclcpp that referenced this pull request Feb 2, 2026

Compatiblity with 'Populate Transitions' ros2/rcl#1269

f4b44a6

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

SuperJappie08 added a commit to SuperJappie08/rclpy that referenced this pull request Feb 2, 2026

Compatiblity with 'Populate Transitions' ros2/rcl#1269

ed20134

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

SuperJappie08 added a commit to SuperJappie08/launch_ros that referenced this pull request Feb 2, 2026

Compatiblity with 'Populate Transitions' ros2/rcl#1269

6cac397

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

fujitatomoya merged commit 834ebb8 into ros2:rolling Feb 4, 2026
2 of 3 checks passed

fujitatomoya pushed a commit to ros2/rclcpp that referenced this pull request Feb 4, 2026

Compatiblity with 'Populate Transitions' ros2/rcl#1269 (#2967)

bddd610

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

fujitatomoya pushed a commit to ros2/rclpy that referenced this pull request Feb 4, 2026

Compatiblity with 'Populate Transitions' ros2/rcl#1269 (#1528)

589d443

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

fujitatomoya pushed a commit to ros2/launch_ros that referenced this pull request Feb 4, 2026

Compatiblity with 'Populate Transitions' ros2/rcl#1269 (#495)

4f7e8da

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com>

ahcorde mentioned this pull request Feb 5, 2026

Lifecycle Node Improvements ros2/ros2#1737

Open

fujitatomoya added a commit to ros2/rclc that referenced this pull request Feb 14, 2026

Compatiblity with 'Populate Transitions' ros2/rcl#1269 (#435)

fe5b792

Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

Amronos mentioned this pull request Feb 25, 2026

Fix rolling builds micro-ROS/micro_ros_espidf_component#323

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SuperJappie08 commented Oct 15, 2025

Description

Is this user-facing behavior change?

Did you use Generative AI?

Additional Information

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fujitatomoya commented Oct 22, 2025

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