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Add const reference service callback signatures - #3269

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ros2:rollingfrom
KR-Ravindra:feat/service-callback-const-ref
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Add const reference service callback signatures#3269
KR-Ravindra wants to merge 1 commit into
ros2:rollingfrom
KR-Ravindra:feat/service-callback-const-ref

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@KR-Ravindra

@KR-Ravindra KR-Ravindra commented Sep 13, 2026 •
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Problem

AnySubscriptionCallback accepts const MessageT & callbacks, but AnyServiceCallback only accepts std::shared_ptr signatures. Every service callback therefore has to take shared_ptrs (the response one is copied per call) even when the handler answers immediately and never needs to extend the request/response lifetime. This is inconsistent with subscriptions.

Design

Follows the approach suggested in the issue: the request and response keep arriving as shared_ptr internally; dispatch() dereferences them for the user callback, exactly like AnySubscriptionCallback does for const MessageT &. The existing shared_ptr overloads are unchanged.

Fix

rclcpp/include/rclcpp/any_service_callback.hpp

  • New variant alternatives ConstRefCallback = void (const Request &, Response &) and ConstRefWithRequestHeaderCallback = void (const rmw_request_id_t &, const Request &, Response &), appended after the existing alternatives.
  • Both set() overloads get matching function_traits::same_arguments branches so std::bind results resolve like the shared_ptr shapes do.
  • dispatch() calls cb(*request, *response) / cb(*request_header, *request, *response) and returns the response as before.

The new alternatives cannot be ambiguous with the existing ones in the std::variant converting assignment: a callable taking const Request & is not invocable with a shared_ptr<Request> and vice versa, so at most one std::function alternative is viable for any callback.

How tested

rclcpp/test/rclcpp/test_any_service_callback.cpp: four new cases (const-ref without/with request header, response mutation propagated to the returned shared_ptr, std::bind for both shapes). rclcpp/test/rclcpp/test_service.cpp: create_service<> with a const-ref callback, exercised end to end through a client.

Before the change, the new callback shapes fail to compile:

any_service_callback.hpp:102:17: error: no match for 'operator=' (operand types are
'std::variant<std::monostate, std::function<void(std::shared_ptr<...Request>, std::shared_ptr<...Response>)>, ...>'
and '<lambda(const ...Request&, ...Response&)>')

After the change the header compiles and all cases pass. I could not run colcon test locally (no ROS 2 workspace), so the new gtest cases were mirrored in a standalone gtest harness that compiles the unmodified any_service_callback.hpp / function_traits.hpp against stub rmw/tracetools headers: 10/10 pass with -Wall -Wextra on GCC 13, including the pre-existing callback shapes. cpplint with the ament filters reports no issues. Please rely on CI for the full build and for ament_uncrustify.

Links

This change was prepared with an AI agent operated by KR-Ravindra, who reviewed and tested it.

@KR-Ravindra

KR-Ravindra commented Sep 13, 2026

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Round 1 self-review.

Verified against rolling (e47c084):

  1. The two new alternatives are appended after the four existing ones in AnyServiceCallback's variant; the existing shared_ptr shapes and their set() branches are untouched.
  2. Ambiguity: a callable taking const Request & is not invocable with shared_ptr<Request> and vice versa, so the std::variant converting assignment sees at most one viable alternative; generic [](auto, auto) lambdas were already ambiguous before this change.
  3. dispatch() dereferences request_header only in the with-header branch; Executor::execute_service always passes a non-null rmw_request_id_t and Service::handle_request already dereferences it.
  4. GenericService keeps its own callback variant and is intentionally not changed here.
  5. Corrected one sentence in the description: upstream dispatch() moves the request and copies only the response shared_ptr.

No duplicate: #3078 cross-references only this PR, and the approach is the one jmachowinski suggested there. Open #3168 touches the same set() overloads, so one of the two will need a rebase. DCO passes; the abi workflow needs a maintainer to approve the run. Marking ready.

@KR-Ravindra
KR-Ravindra marked this pull request as ready for review September 13, 2026 06:56
fujitatomoya
fujitatomoya approved these changes Sep 15, 2026
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lgtm with green CI. monor comment does not block this PR.

Comment thread rclcpp/include/rclcpp/any_service_callback.hpp
@fujitatomoya

fujitatomoya commented Sep 15, 2026

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Pulls: #3269
Gist: https://gist.githubusercontent.com/fujitatomoya/49854ee45d8c5672d85cb581931e8c19/raw/43ceaeb52aaf47a9f24252885bbf373774819052/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20464

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@KR-Ravindra
Add const reference service callback signatures
a90d9ca 
AnyServiceCallback now also accepts
  void (const Request &, Response &)
  void (const rmw_request_id_t &, const Request &, Response &)
in addition to the existing shared_ptr signatures. The request and
response are still received as shared_ptr internally and are
dereferenced before calling the user callback, mirroring what
AnySubscriptionCallback does for const MessageT & callbacks.
dispatch() throws std::runtime_error instead of dereferencing a null
request or request header for these two alternatives.

Both set() overloads gain matching function_traits::same_arguments
branches so std::bind results resolve to the right alternative, and
dispatch() handles the two new alternatives. Existing overloads are
unchanged.

Signed-off-by: KR Ravindra <42912207+KR-Ravindra@users.noreply.github.com>
@KR-Ravindra
KR-Ravindra force-pushed the feat/service-callback-const-ref branch from e2c22d4 to a90d9ca Compare September 16, 2026 00:33
@fujitatomoya

fujitatomoya commented Sep 22, 2026

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  • Linux-aarch64 Build Status
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github-actions Bot commented Sep 22, 2026

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ABI Compliance Check

❌ Verdict: incompatible

Library Verdict Summary
libcomponent_manager.so ❌ incompatible ABI-incompatible changes detected.
librclcpp.so ❌ incompatible ABI changed: 0 removed, 8 changed, 106 added declaration(s); removed or changed declarations break backward compatibility.
librclcpp_action.so ✅ compatible No ABI changes detected.
librclcpp_lifecycle.so ❌ incompatible ABI-incompatible changes detected.
❌ libcomponent_manager.so — full abidiff report

Compared:

  • Base: lib-base/libcomponent_manager.so
  • Head: lib-pr/libcomponent_manager.so @ a90d9ca
Functions changes summary: 0 Removed (30 filtered out), 3 Changed (102 filtered out), 6 Added (84 filtered out) functions
Variables changes summary: 0 Removed, 0 Changed, 0 Added variable
Function symbols changes summary: 15 Removed, 27 Added function symbols not referenced by debug info
Variable symbols changes summary: 0 Removed, 24 Added variable symbols not referenced by debug info

6 Added functions:

  [A] 'function char* tracetools::get_symbol<void, const composition_interfaces::srv::ListNodes_Request_<std::allocator<void> >&, composition_interfaces::srv::ListNodes_Response_<std::allocator<void> >&>(std::function<void(const composition_interfaces::srv::ListNodes_Request_<std::allocator<void> >&, composition_interfaces::srv::ListNodes_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN22composition_interfaces3srv18ListNodes_Request_ISaIvEEERNS2_19ListNodes_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const composition_interfaces::srv::LoadNode_Request_<std::allocator<void> >&, composition_interfaces::srv::LoadNode_Response_<std::allocator<void> >&>(std::function<void(const composition_interfaces::srv::LoadNode_Request_<std::allocator<void> >&, composition_interfaces::srv::LoadNode_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN22composition_interfaces3srv17LoadNode_Request_ISaIvEEERNS2_18LoadNode_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const composition_interfaces::srv::UnloadNode_Request_<std::allocator<void> >&, composition_interfaces::srv::UnloadNode_Response_<std::allocator<void> >&>(std::function<void(const composition_interfaces::srv::UnloadNode_Request_<std::allocator<void> >&, composition_interfaces::srv::UnloadNode_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN22composition_interfaces3srv19UnloadNode_Request_ISaIvEEERNS2_20UnloadNode_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const composition_interfaces::srv::ListNodes_Request_<std::allocator<void> >&, composition_interfaces::srv::ListNodes_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const composition_interfaces::srv::ListNodes_Request_<std::allocator<void> >&, composition_interfaces::srv::ListNodes_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN22composition_interfaces3srv18ListNodes_Request_ISaIvEEERNS5_19ListNodes_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const composition_interfaces::srv::LoadNode_Request_<std::allocator<void> >&, composition_interfaces::srv::LoadNode_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const composition_interfaces::srv::LoadNode_Request_<std::allocator<void> >&, composition_interfaces::srv::LoadNode_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN22composition_interfaces3srv17LoadNode_Request_ISaIvEEERNS5_18LoadNode_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const composition_interfaces::srv::UnloadNode_Request_<std::allocator<void> >&, composition_interfaces::srv::UnloadNode_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const composition_interfaces::srv::UnloadNode_Request_<std::allocator<void> >&, composition_interfaces::srv::UnloadNode_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN22composition_interfaces3srv19UnloadNode_Request_ISaIvEEERNS5_20UnloadNode_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}

3 functions with some indirect sub-type change:

  [C] 'method void rclcpp::Service<composition_interfaces::srv::ListNodes>::Service(std::shared_ptr<rcl_node_s>, const std::string&, rclcpp::AnyServiceCallback<composition_interfaces::srv::ListNodes>, rcl_service_options_t&)' at service.hpp:260:1 has some indirect sub-type changes:
    Please note that the symbol of this function is _ZN6rclcpp7ServiceIN22composition_interfaces3srv9ListNodesEEC2ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
     and it aliases symbol: _ZN6rclcpp7ServiceIN22composition_interfaces3srv9ListNodesEEC1ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
    implicit parameter 0 of type 'rclcpp::Service<composition_interfaces::srv::ListNodes>*' has sub-type changes:
      in pointed to type 'class rclcpp::Service<composition_interfaces::srv::ListNodes>' at service.hpp:231:1:
        type size hasn't changed
        no base class change (1 filtered);
        no member function changes (6 filtered);
        no data member change (1 filtered);

  [C] 'method void rclcpp::Service<composition_interfaces::srv::LoadNode>::Service(std::shared_ptr<rcl_node_s>, const std::string&, rclcpp::AnyServiceCallback<composition_interfaces::srv::LoadNode>, rcl_service_options_t&)' at service.hpp:260:1 has some indirect sub-type changes:
    Please note that the symbol of this function is _ZN6rclcpp7ServiceIN22composition_interfaces3srv8LoadNodeEEC2ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
     and it aliases symbol: _ZN6rclcpp7ServiceIN22composition_interfaces3srv8LoadNodeEEC1ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
    implicit parameter 0 of type 'rclcpp::Service<composition_interfaces::srv::LoadNode>*' has sub-type changes:
      in pointed to type 'class rclcpp::Service<composition_interfaces::srv::LoadNode>' at service.hpp:231:1:
        type size hasn't changed
        no base class change (1 filtered);
        no member function changes (6 filtered);
        no data member change (1 filtered);

  [C] 'method void rclcpp::Service<composition_interfaces::srv::UnloadNode>::Service(std::shared_ptr<rcl_node_s>, const std::string&, rclcpp::AnyServiceCallback<composition_interfaces::srv::UnloadNode>, rcl_service_options_t&)' at service.hpp:260:1 has some indirect sub-type changes:
    Please note that the symbol of this function is _ZN6rclcpp7ServiceIN22composition_interfaces3srv10UnloadNodeEEC2ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
     and it aliases symbol: _ZN6rclcpp7ServiceIN22composition_interfaces3srv10UnloadNodeEEC1ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
    implicit parameter 0 of type 'rclcpp::Service<composition_interfaces::srv::UnloadNode>*' has sub-type changes:
      in pointed to type 'class rclcpp::Service<composition_interfaces::srv::UnloadNode>' at service.hpp:231:1:
        type size hasn't changed
        no base class change (1 filtered);
        no member function changes (6 filtered);
        no data member change (1 filtered);

15 Removed function symbols not referenced by debug info:

  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv17LoadNode_Request_ISaIvEEEES4_INS6_18LoadNode_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_8LoadNodeEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRS2_St17integral_constantImLm0EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv17LoadNode_Request_ISaIvEEEES4_INS6_18LoadNode_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_8LoadNodeEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSF_St17integral_constantImLm1EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv17LoadNode_Request_ISaIvEEEES4_INS6_18LoadNode_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_8LoadNodeEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSJ_St17integral_constantImLm2EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv17LoadNode_Request_ISaIvEEEES4_INS6_18LoadNode_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_8LoadNodeEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSL_St17integral_constantImLm3EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv17LoadNode_Request_ISaIvEEEES4_INS6_18LoadNode_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_8LoadNodeEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSS_St17integral_constantImLm4EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv18ListNodes_Request_ISaIvEEEES4_INS6_19ListNodes_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_9ListNodesEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRS2_St17integral_constantImLm0EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv18ListNodes_Request_ISaIvEEEES4_INS6_19ListNodes_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_9ListNodesEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSF_St17integral_constantImLm1EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv18ListNodes_Request_ISaIvEEEES4_INS6_19ListNodes_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_9ListNodesEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSJ_St17integral_constantImLm2EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv18ListNodes_Request_ISaIvEEEES4_INS6_19ListNodes_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_9ListNodesEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSL_St17integral_constantImLm3EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv18ListNodes_Request_ISaIvEEEES4_INS6_19ListNodes_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_9ListNodesEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSS_St17integral_constantImLm4EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv19UnloadNode_Request_ISaIvEEEES4_INS6_20UnloadNode_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_10UnloadNodeEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRS2_St17integral_constantImLm0EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv19UnloadNode_Request_ISaIvEEEES4_INS6_20UnloadNode_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_10UnloadNodeEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSF_St17integral_constantImLm1EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv19UnloadNode_Request_ISaIvEEEES4_INS6_20UnloadNode_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_10UnloadNodeEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSJ_St17integral_constantImLm2EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv19UnloadNode_Request_ISaIvEEEES4_INS6_20UnloadNode_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_10UnloadNodeEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSL_St17integral_constantImLm3EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN22composition_interfaces3srv19UnloadNode_Request_ISaIvEEEES4_INS6_20UnloadNode_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_10UnloadNodeEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSS_St17integral_constantImLm4EEEEDaSW_SX_

27 Added function symbols not referenced by debug info:

  [A] _ZZN6rclcpp18AnyServiceCallbackIN22composition_interfaces3srv10UnloadNodeEE29register_callback_for_tracingEvENKUlOT_E_clIRSt8functionIFvRK16rmw_request_id_sRKNS2_19UnloadNode_Request_ISaIvEEERNS2_20UnloadNode_Response_ISE_EEEEEEDaS6_
  [A] _ZZN6rclcpp18AnyServiceCallbackIN22composition_interfaces3srv10UnloadNodeEE29register_callback_for_tracingEvENKUlOT_E_clIRSt8functionIFvRKNS2_19UnloadNode_Request_ISaIvEEERNS2_20UnloadNode_Response_ISB_EEEEEEDaS6_
  [A] _ZZN6rclcpp18AnyServiceCallbackIN22composition_interfaces3srv8LoadNodeEE29register_callback_for_tracingEvENKUlOT_E_clIRSt8functionIFvRK16rmw_request_id_sRKNS2_17LoadNode_Request_ISaIvEEERNS2_18LoadNode_Response_ISE_EEEEEEDaS6_
  [A] _ZZN6rclcpp18AnyServiceCallbackIN22composition_interfaces3srv8LoadNodeEE29register_callback_for_tracingEvENKUlOT_E_clIRSt8functionIFvRKNS2_17LoadNode_Request_ISaIvEEERNS2_18LoadNode_Response_ISB_EEEEEEDaS6_
  [A] _ZZN6rclcpp18AnyServiceCallbackIN22composition_interfaces3srv9ListNodesEE29register_callback_for_tracingEvENKUlOT_E_clIRSt8functionIFvRK16rmw_request_id_sRKNS2_18ListNo
... (report truncated; see the full report in the workflow run artifacts)
❌ librclcpp.so — full abidiff report

Compared:

  • Base: lib-base/librclcpp.so
  • Head: lib-pr/librclcpp.so @ a90d9ca
Functions changes summary: 0 Removed (32 filtered out), 8 Changed (219 filtered out), 18 Added (142 filtered out) functions
Variables changes summary: 0 Removed, 0 Changed, 0 Added variable
Function symbols changes summary: 0 Removed, 16 Added function symbols not referenced by debug info
Variable symbols changes summary: 0 Removed, 72 Added variable symbols not referenced by debug info

18 Added functions:

  [A] 'function char* tracetools::get_symbol<void, const rcl_interfaces::srv::DescribeParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::DescribeParameters_Response_<std::allocator<void> >&>(std::function<void(const rcl_interfaces::srv::DescribeParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::DescribeParameters_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14rcl_interfaces3srv27DescribeParameters_Request_ISaIvEEERNS2_28DescribeParameters_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rcl_interfaces::srv::GetLoggerLevels_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetLoggerLevels_Response_<std::allocator<void> >&>(std::function<void(const rcl_interfaces::srv::GetLoggerLevels_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetLoggerLevels_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14rcl_interfaces3srv24GetLoggerLevels_Request_ISaIvEEERNS2_25GetLoggerLevels_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rcl_interfaces::srv::GetParameterTypes_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetParameterTypes_Response_<std::allocator<void> >&>(std::function<void(const rcl_interfaces::srv::GetParameterTypes_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetParameterTypes_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14rcl_interfaces3srv26GetParameterTypes_Request_ISaIvEEERNS2_27GetParameterTypes_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rcl_interfaces::srv::GetParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetParameters_Response_<std::allocator<void> >&>(std::function<void(const rcl_interfaces::srv::GetParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetParameters_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14rcl_interfaces3srv22GetParameters_Request_ISaIvEEERNS2_23GetParameters_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rcl_interfaces::srv::ListParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::ListParameters_Response_<std::allocator<void> >&>(std::function<void(const rcl_interfaces::srv::ListParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::ListParameters_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14rcl_interfaces3srv23ListParameters_Request_ISaIvEEERNS2_24ListParameters_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rcl_interfaces::srv::SetLoggerLevels_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetLoggerLevels_Response_<std::allocator<void> >&>(std::function<void(const rcl_interfaces::srv::SetLoggerLevels_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetLoggerLevels_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14rcl_interfaces3srv24SetLoggerLevels_Request_ISaIvEEERNS2_25SetLoggerLevels_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rcl_interfaces::srv::SetParametersAtomically_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetParametersAtomically_Response_<std::allocator<void> >&>(std::function<void(const rcl_interfaces::srv::SetParametersAtomically_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetParametersAtomically_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14rcl_interfaces3srv32SetParametersAtomically_Request_ISaIvEEERNS2_33SetParametersAtomically_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rcl_interfaces::srv::SetParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetParameters_Response_<std::allocator<void> >&>(std::function<void(const rcl_interfaces::srv::SetParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetParameters_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14rcl_interfaces3srv22SetParameters_Request_ISaIvEEERNS2_23SetParameters_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const rcl_interfaces::srv::DescribeParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::DescribeParameters_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const rcl_interfaces::srv::DescribeParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::DescribeParameters_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14rcl_interfaces3srv27DescribeParameters_Request_ISaIvEEERNS5_28DescribeParameters_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const rcl_interfaces::srv::GetLoggerLevels_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetLoggerLevels_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const rcl_interfaces::srv::GetLoggerLevels_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetLoggerLevels_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14rcl_interfaces3srv24GetLoggerLevels_Request_ISaIvEEERNS5_25GetLoggerLevels_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const rcl_interfaces::srv::GetParameterTypes_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetParameterTypes_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const rcl_interfaces::srv::GetParameterTypes_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetParameterTypes_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14rcl_interfaces3srv26GetParameterTypes_Request_ISaIvEEERNS5_27GetParameterTypes_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const rcl_interfaces::srv::GetParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetParameters_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const rcl_interfaces::srv::GetParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::GetParameters_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14rcl_interfaces3srv22GetParameters_Request_ISaIvEEERNS5_23GetParameters_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const rcl_interfaces::srv::ListParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::ListParameters_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const rcl_interfaces::srv::ListParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::ListParameters_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14rcl_interfaces3srv23ListParameters_Request_ISaIvEEERNS5_24ListParameters_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const rcl_interfaces::srv::SetLoggerLevels_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetLoggerLevels_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const rcl_interfaces::srv::SetLoggerLevels_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetLoggerLevels_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14rcl_interfaces3srv24SetLoggerLevels_Request_ISaIvEEERNS5_25SetLoggerLevels_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const rcl_interfaces::srv::SetParametersAtomically_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetParametersAtomically_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const rcl_interfaces::srv::SetParametersAtomically_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetParametersAtomically_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14rcl_interfaces3srv32SetParametersAtomically_Request_ISaIvEEERNS5_33SetParametersAtomically_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const rcl_interfaces::srv::SetParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetParameters_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const rcl_interfaces::srv::SetParameters_Request_<std::allocator<void> >&, rcl_interfaces::srv::SetParameters_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14rcl_interfaces3srv22SetParameters_Request_ISaIvEEERNS5_23SetParameters_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const type_description_interfaces__srv__GetTypeDescription_Request&, type_description_interfaces__srv__GetTypeDescription_Response&>(std::function<void(const rmw_request_id_s&, const type_description_interfaces__srv__GetTypeDescription_Request&, type_description_interfaces__srv__GetTypeDescription_Response&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRK60type_description_interfaces__srv__GetTypeDescription_RequestR61type_description_interfaces__srv__GetTypeDescription_ResponseEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const type_description_interfaces__srv__GetTypeDescription_Request&, type_description_interfaces__srv__GetTypeDescription_Response&>(std::function<void(const type_description_interfaces__srv__GetTypeDescription_Request&, type_description_interfaces__srv__GetTypeDescription_Response&)>)'    {_ZN10tracetools10get_symbolIvJRK60type_description_interfaces__srv__GetTypeDescription_RequestR61type_description_interfaces__srv__GetTypeDescription_ResponseEEEPcSt8functionIFT_DpT0_EE}

8 functions with some indirect sub-type change:

  [C] 'method void rclcpp::Service<rcl_interfaces::srv::DescribeParameters>::Service(std::shared_ptr<rcl_node_s>, const std::string&, rclcpp::AnyServiceCallback<rcl_interfaces::srv::DescribeParameters>, rcl_service_options_t&)' at service.hpp:260:1 has some indirect sub-type changes:
    Please note that the symbol of this function is _ZN6rclcpp7ServiceIN14rcl_interfaces3srv18DescribeParametersEEC2ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
     and it aliases symbol: _ZN6rclcpp7ServiceIN14rcl_interfaces3srv18DescribeParametersEEC1ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
    implicit parameter 0 of type 'rclcpp::Service<rcl_interfaces::srv::DescribeParameters>*' has sub-type changes:
      in pointed to type 'class rclcpp::Service<rcl_interfaces::srv::DescribeParameters>' at service.hpp:231:1:
        type size hasn't changed
        no base class change (1 filtered);
        no member function changes (6 filtered);
        no data member change (1 filtered);

  [C] 'method void rclcpp::Service<rcl_interfaces::srv::GetLoggerLevels>::Service(std::shared_ptr<rcl_node_s>, const std::string&, rclcpp::AnyServiceCallback<rcl_interfaces::srv::GetLoggerLevels>, rcl_service_options_t&)' at service.hpp:260:1 has some indirect sub-type changes:
    Please note that the symbol of this function is _ZN6rclcpp7ServiceIN14rcl_interfaces3srv15GetLoggerLevelsEEC2ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
     and it aliases symbol: _ZN6rclcpp7ServiceIN14rcl_interfaces3srv15GetLoggerLevelsEEC1ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
    implicit parameter 0 of type 'rclcpp::Service<rcl_interfaces::srv::GetLoggerLevels>*' has sub-type changes:
      in pointed to type 'class rclcpp::Service<rcl_interfaces::srv::GetLoggerLevels>' at service.hpp:231:1:
        type size hasn't changed
        no base class change (1 filtered);
        no member function changes (6 filtered);
        no data member change (1 filtered);

  [C] 'method void rclcpp::Service<rcl_interfaces::srv::GetParameterTypes>::Service(std::shared_ptr<rcl_node_s>, const std::string&, rclcpp::AnyServiceCallback<rcl_interfaces::srv::GetParameterTypes>, rcl_service_options_t&)' at service.hpp:260:1 has some indirect sub-type changes:
    Please note that the symbol of this function is _ZN6rclcpp7ServiceIN14rcl_interfaces3srv17GetParameterTypesEEC2ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
     and it aliases symbol: _ZN6rclcpp7ServiceIN14rcl_interfaces3srv17GetParameterTypesEEC1ESt10shared_ptrI10rcl_node_sERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_18AnyServiceCallbackIS3_EER21rcl_service_options_s
    implicit parameter 0 of type 'rclcpp::Service<rcl_interfaces::srv::GetParameterTypes>*' has sub-type changes:
      in pointed to type 'class rclcpp::Service<rcl_interfaces::srv::GetParameterTypes>' at service.h
... (report truncated; see the full report in the workflow run artifacts)
✅ librclcpp_action.so — full abidiff report

Compared:

  • Base: lib-base/librclcpp_action.so
  • Head: lib-pr/librclcpp_action.so @ a90d9ca
(empty report — no differences printed by abidiff)
❌ librclcpp_lifecycle.so — full abidiff report

Compared:

  • Base: lib-base/librclcpp_lifecycle.so
  • Head: lib-pr/librclcpp_lifecycle.so @ a90d9ca
Functions changes summary: 0 Removed (44 filtered out), 4 Changed (224 filtered out), 8 Added (116 filtered out) functions
Variables changes summary: 0 Removed, 0 Changed, 0 Added variable
Function symbols changes summary: 20 Removed, 36 Added function symbols not referenced by debug info
Variable symbols changes summary: 0 Removed, 32 Added variable symbols not referenced by debug info

8 Added functions:

  [A] 'function char* tracetools::get_symbol<void, const lifecycle_msgs::srv::ChangeState_Request_<std::allocator<void> >&, lifecycle_msgs::srv::ChangeState_Response_<std::allocator<void> >&>(std::function<void(const lifecycle_msgs::srv::ChangeState_Request_<std::allocator<void> >&, lifecycle_msgs::srv::ChangeState_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14lifecycle_msgs3srv20ChangeState_Request_ISaIvEEERNS2_21ChangeState_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const lifecycle_msgs::srv::GetAvailableStates_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetAvailableStates_Response_<std::allocator<void> >&>(std::function<void(const lifecycle_msgs::srv::GetAvailableStates_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetAvailableStates_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14lifecycle_msgs3srv27GetAvailableStates_Request_ISaIvEEERNS2_28GetAvailableStates_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const lifecycle_msgs::srv::GetAvailableTransitions_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetAvailableTransitions_Response_<std::allocator<void> >&>(std::function<void(const lifecycle_msgs::srv::GetAvailableTransitions_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetAvailableTransitions_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14lifecycle_msgs3srv32GetAvailableTransitions_Request_ISaIvEEERNS2_33GetAvailableTransitions_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const lifecycle_msgs::srv::GetState_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetState_Response_<std::allocator<void> >&>(std::function<void(const lifecycle_msgs::srv::GetState_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetState_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRKN14lifecycle_msgs3srv17GetState_Request_ISaIvEEERNS2_18GetState_Response_IS4_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const lifecycle_msgs::srv::ChangeState_Request_<std::allocator<void> >&, lifecycle_msgs::srv::ChangeState_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const lifecycle_msgs::srv::ChangeState_Request_<std::allocator<void> >&, lifecycle_msgs::srv::ChangeState_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14lifecycle_msgs3srv20ChangeState_Request_ISaIvEEERNS5_21ChangeState_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const lifecycle_msgs::srv::GetAvailableStates_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetAvailableStates_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const lifecycle_msgs::srv::GetAvailableStates_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetAvailableStates_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14lifecycle_msgs3srv27GetAvailableStates_Request_ISaIvEEERNS5_28GetAvailableStates_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const lifecycle_msgs::srv::GetAvailableTransitions_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetAvailableTransitions_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const lifecycle_msgs::srv::GetAvailableTransitions_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetAvailableTransitions_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14lifecycle_msgs3srv32GetAvailableTransitions_Request_ISaIvEEERNS5_33GetAvailableTransitions_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}
  [A] 'function char* tracetools::get_symbol<void, const rmw_request_id_s&, const lifecycle_msgs::srv::GetState_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetState_Response_<std::allocator<void> >&>(std::function<void(const rmw_request_id_s&, const lifecycle_msgs::srv::GetState_Request_<std::allocator<void> >&, lifecycle_msgs::srv::GetState_Response_<std::allocator<void> >&)>)'    {_ZN10tracetools10get_symbolIvJRK16rmw_request_id_sRKN14lifecycle_msgs3srv17GetState_Request_ISaIvEEERNS5_18GetState_Response_IS7_EEEEEPcSt8functionIFT_DpT0_EE}

4 functions with some indirect sub-type change:

  [C] 'method void rclcpp::Service<lifecycle_msgs::srv::ChangeState>::Service(const std::shared_ptr<rcl_node_s>&, rcl_service_t*, rclcpp::AnyServiceCallback<lifecycle_msgs::srv::ChangeState>)' at service.hpp:357:1 has some indirect sub-type changes:
    Please note that the symbol of this function is _ZN6rclcpp7ServiceIN14lifecycle_msgs3srv11ChangeStateEEC2ERKSt10shared_ptrI10rcl_node_sEP13rcl_service_sNS_18AnyServiceCallbackIS3_EE
     and it aliases symbol: _ZN6rclcpp7ServiceIN14lifecycle_msgs3srv11ChangeStateEEC1ERKSt10shared_ptrI10rcl_node_sEP13rcl_service_sNS_18AnyServiceCallbackIS3_EE
    implicit parameter 0 of type 'rclcpp::Service<lifecycle_msgs::srv::ChangeState>*' has sub-type changes:
      in pointed to type 'class rclcpp::Service<lifecycle_msgs::srv::ChangeState>' at service.hpp:231:1:
        type size hasn't changed
        no base class change (1 filtered);
        no member function changes (6 filtered);
        no data member change (1 filtered);

  [C] 'method void rclcpp::Service<lifecycle_msgs::srv::GetAvailableStates>::Service(const std::shared_ptr<rcl_node_s>&, rcl_service_t*, rclcpp::AnyServiceCallback<lifecycle_msgs::srv::GetAvailableStates>)' at service.hpp:357:1 has some indirect sub-type changes:
    Please note that the symbol of this function is _ZN6rclcpp7ServiceIN14lifecycle_msgs3srv18GetAvailableStatesEEC2ERKSt10shared_ptrI10rcl_node_sEP13rcl_service_sNS_18AnyServiceCallbackIS3_EE
     and it aliases symbol: _ZN6rclcpp7ServiceIN14lifecycle_msgs3srv18GetAvailableStatesEEC1ERKSt10shared_ptrI10rcl_node_sEP13rcl_service_sNS_18AnyServiceCallbackIS3_EE
    implicit parameter 0 of type 'rclcpp::Service<lifecycle_msgs::srv::GetAvailableStates>*' has sub-type changes:
      in pointed to type 'class rclcpp::Service<lifecycle_msgs::srv::GetAvailableStates>' at service.hpp:231:1:
        type size hasn't changed
        no base class change (1 filtered);
        no member function changes (6 filtered);
        no data member change (1 filtered);

  [C] 'method void rclcpp::Service<lifecycle_msgs::srv::GetAvailableTransitions>::Service(const std::shared_ptr<rcl_node_s>&, rcl_service_t*, rclcpp::AnyServiceCallback<lifecycle_msgs::srv::GetAvailableTransitions>)' at service.hpp:357:1 has some indirect sub-type changes:
    Please note that the symbol of this function is _ZN6rclcpp7ServiceIN14lifecycle_msgs3srv23GetAvailableTransitionsEEC2ERKSt10shared_ptrI10rcl_node_sEP13rcl_service_sNS_18AnyServiceCallbackIS3_EE
     and it aliases symbol: _ZN6rclcpp7ServiceIN14lifecycle_msgs3srv23GetAvailableTransitionsEEC1ERKSt10shared_ptrI10rcl_node_sEP13rcl_service_sNS_18AnyServiceCallbackIS3_EE
    implicit parameter 0 of type 'rclcpp::Service<lifecycle_msgs::srv::GetAvailableTransitions>*' has sub-type changes:
      in pointed to type 'class rclcpp::Service<lifecycle_msgs::srv::GetAvailableTransitions>' at service.hpp:231:1:
        type size hasn't changed
        no base class change (1 filtered);
        no member function changes (6 filtered);
        no data member change (1 filtered);

  [C] 'method void rclcpp::Service<lifecycle_msgs::srv::GetState>::Service(const std::shared_ptr<rcl_node_s>&, rcl_service_t*, rclcpp::AnyServiceCallback<lifecycle_msgs::srv::GetState>)' at service.hpp:357:1 has some indirect sub-type changes:
    Please note that the symbol of this function is _ZN6rclcpp7ServiceIN14lifecycle_msgs3srv8GetStateEEC2ERKSt10shared_ptrI10rcl_node_sEP13rcl_service_sNS_18AnyServiceCallbackIS3_EE
     and it aliases symbol: _ZN6rclcpp7ServiceIN14lifecycle_msgs3srv8GetStateEEC1ERKSt10shared_ptrI10rcl_node_sEP13rcl_service_sNS_18AnyServiceCallbackIS3_EE
    implicit parameter 0 of type 'rclcpp::Service<lifecycle_msgs::srv::GetState>*' has sub-type changes:
      in pointed to type 'class rclcpp::Service<lifecycle_msgs::srv::GetState>' at service.hpp:231:1:
        type size hasn't changed
        no base class change (1 filtered);
        no member function changes (6 filtered);
        no data member change (1 filtered);

20 Removed function symbols not referenced by debug info:

  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv17GetState_Request_ISaIvEEEES4_INS6_18GetState_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_8GetStateEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRS2_St17integral_constantImLm0EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv17GetState_Request_ISaIvEEEES4_INS6_18GetState_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_8GetStateEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSF_St17integral_constantImLm1EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv17GetState_Request_ISaIvEEEES4_INS6_18GetState_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_8GetStateEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSJ_St17integral_constantImLm2EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv17GetState_Request_ISaIvEEEES4_INS6_18GetState_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_8GetStateEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSL_St17integral_constantImLm3EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv17GetState_Request_ISaIvEEEES4_INS6_18GetState_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_8GetStateEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSS_St17integral_constantImLm4EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv20ChangeState_Request_ISaIvEEEES4_INS6_21ChangeState_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_11ChangeStateEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRS2_St17integral_constantImLm0EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv20ChangeState_Request_ISaIvEEEES4_INS6_21ChangeState_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_11ChangeStateEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSF_St17integral_constantImLm1EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv20ChangeState_Request_ISaIvEEEES4_INS6_21ChangeState_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_11ChangeStateEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSJ_St17integral_constantImLm2EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv20ChangeState_Request_ISaIvEEEES4_INS6_21ChangeState_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_11ChangeStateEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSL_St17integral_constantImLm3EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv20ChangeState_Request_ISaIvEEEES4_INS6_21ChangeState_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_11ChangeStateEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSS_St17integral_constantImLm4EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv27GetAvailableStates_Request_ISaIvEEEES4_INS6_28GetAvailableStates_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_18GetAvailableStatesEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRS2_St17integral_constantImLm0EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv27GetAvailableStates_Request_ISaIvEEEES4_INS6_28GetAvailableStates_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_18GetAvailableStatesEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSF_St17integral_constantImLm1EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv27GetAvailableStates_Request_ISaIvEEEES4_INS6_28GetAvailableStates_Response_IS8_EEEEES3_IFvS4_I16rmw_request_id_sESA_SD_EES3_IFvSH_SA_EES3_IFvS4_IN6rclcpp7ServiceINS6_18GetAvailableStatesEEEESH_SA_EEEEaSEOST_ENUlOT_T0_E_clIRSJ_St17integral_constantImLm2EEEEDaSW_SX_
  [D] _ZZNSt8__detail9__variant17_Move_assign_baseILb0EJSt9monostateSt8functionIFvSt10shared_ptrIN14lifecycle_msgs3srv27GetAvailableStates_Request_ISaIvEEEES4_INS6_28GetAvailableStates_Response_IS8_EEEEES3_IFvS4_I16rmw
... (report truncated; see the full report in the workflow run artifacts)

Updated for commit a90d9ca · suppressions: /home/runner/work/_temp/ros2-abi-suppressions.txt

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@fujitatomoya fujitatomoya fujitatomoya approved these changes

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@KR-Ravindra @fujitatomoya