rclcpp

The ROS client library in C++.

The link to the latest rclcpp API documentation, which includes a complete list of its main components and features, can be found on the rclcpp package info page.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package rclcpp

28.1.11 (2025-08-06)

• Fix [start_type_description_service]{.title-ref} param handling (#2897) (#2909)

  • Fix [start_type_description_service]{.title-ref} param handling
  • Add test
  • Demonstrate different exceptions depending on node options
  • Same exact exception and [what()]{.title-ref} message in both cases

  * Uncrustify ---------(cherry picked from commit 4fb558ae7b2ce7ce9b546e103beaac4f99991e5c) Co-authored-by: Patrick Roncagliolo <<ronca.pat@gmail.com>>

• Add qos parameter for wait_for_message function (#2903) (#2906) (cherry picked from commit 2fcef70ea78c2c3a45391e59aebb265c05113050) Co-authored-by: Sriharsha Ghanta <<ghanta_sriharsha@mymail.sutd.edu.sg>> Co-authored-by: Alejandro Hernandez Cordero <<ahcorde@gmail.com>>

• [jazzy] Expose [typesupport_helpers]{.title-ref} API needed for the Rosbag2 (backport #2858) (#2902)

  • Expose [typesupport_helpers]{.title-ref} API needed for the Rosbag2 (#2858)
  • Expose extract_type_identifier and get_typesupport_library_path API
  • Rationale: We need to use this API in the Rosbag2
  • Reference PR https://github.com/ros2/rosbag2/pull/2017 in the Rosbag2

  * Use C++ style in doxygen documentation ---------(cherry picked from commit 448287b1090567181c809e59a3c72eed5ef4c69c) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp

  * Address merge conflicts ---------Co-authored-by: Michael Orlov <<morlovmr@gmail.com>>

• Fujitatomoya/test append parameter override (#2896) (#2900) (cherry picked from commit 84c6fb1cfc945521680a0e1fccf5b32237acbcc3) Co-authored-by: Tomoya Fujita <<Tomoya.Fujita@sony.com>>

• Add overload of [append_parameter_override]{.title-ref} (#2891) (#2895) (cherry picked from commit fa0cf2da31dfae7c83f185e3bf18cb8fd55f0f57) Co-authored-by: Patrick Roncagliolo <<ronca.pat@gmail.com>>

• Event exec timer fix for https://github.com/ros2/rclcpp/issues/2889 (#2890) Co-authored-by: Janosch Machowinski <<J.Machowinski@cellumation.com>> Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>

• Shutdown deadlock fix jazzy (#2887)

  • fix: Don't deadlock if removing shutdown callbacks in a shutdown callback

  * refactor: Made fix API compatible ---------Co-authored-by: Janosch Machowinski <<J.Machowinski@cellumation.com>>

• fix test_publisher_with_system_default_qos. (#2881) (#2883) (cherry picked from commit e6577c6792f76a74e303cc0c061e89abeb8cb1a6) Co-authored-by: Tomoya Fujita <<Tomoya.Fujita@sony.com>>

• Contributors: Janosch Machowinski, mergify[bot]

28.1.10 (2025-06-23)

• Fix for memory leaks in rclcpp::SerializedMessage (#2861) (#2864)
• Added missing chrono includes (#2854) (#2856)
• get_all_data_impl() does not handle null pointers properly, causing segmentation fault (backport #2840) (#2851)
• QoSInitialization::from_rmw does not validate invalid history policy values, leading to silent failures (#2841) (#2845)
• throws std::invalid_argument if ParameterEvent is NULL.

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