[ahcorde]

Description

The shared_ptr deleters returned by GenericClient::create_response(), GenericService::create_request() and GenericService::create_response()capturedthis` and read the message members through it. If the message outlived the client or service (for example a response kept from a future), the deleter accessed a destroyed object.

• Capture the members pointer and the type support library by value instead of this. Holding the library also keeps it loaded until fini_function runs.
• Add tests that free the messages after the client or service is destroyed. UBSan reports the old code; the fixed code is clean.

Did you use Generative AI?

Claude Opus 5.5

[github-actions]

ABI Compliance Check

✅ Verdict: compatible

Library	Verdict	Summary
libcomponent_manager.so	✅ compatible	No ABI changes detected.
librclcpp.so	✅ compatible	No ABI changes detected.
librclcpp_action.so	✅ compatible	No ABI changes detected.
librclcpp_lifecycle.so	✅ compatible	No ABI changes detected.

✅ libcomponent_manager.so — full abidiff report

Compared:

• Base: lib-base/libcomponent_manager.so
• Head: lib-pr/libcomponent_manager.so @ d3e1f52

(empty report — no differences printed by abidiff)

✅ librclcpp.so — full abidiff report

Compared:

• Base: lib-base/librclcpp.so
• Head: lib-pr/librclcpp.so @ d3e1f52

(empty report — no differences printed by abidiff)

✅ librclcpp_action.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_action.so
• Head: lib-pr/librclcpp_action.so @ d3e1f52

(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 @ d3e1f52

(empty report — no differences printed by abidiff)

_{Updated for commit d3e1f52 · check run · suppressions: /home/runner/work/_temp/ros2-abi-suppressions.txt}

[clalancette]

Looks good to me with green CI.

[ahcorde]

Pulls: #3360
Gist: https://gist.githubusercontent.com/ahcorde/bc1c4de6d9c353fbb514eef125b993e2/raw/29f016f8831f87b607ff0c0e4144e593f670f837/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/20995

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[ahcorde]

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[ahcorde]

Pulls: #3360
Gist: https://gist.githubusercontent.com/ahcorde/afc67059c1a2ca1d9228d56bc99b0597/raw/29f016f8831f87b607ff0c0e4144e593f670f837/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/21005

• Linux
• Linux-aarch64
• Linux-rhel
• Windows