[Aaravanand00]

Description

This pull request adds unit test coverage for LifecycleNode::create_generic_publisher in rclcpp_lifecycle.

While create_generic_subscription was recently introduced alongside test_lifecycle_generic_subscription.cpp, LifecycleNode::create_generic_publisher lacked dedicated unit tests. This PR introduces rclcpp_lifecycle/test/test_lifecycle_generic_publisher.cpp and registers it in rclcpp_lifecycle/CMakeLists.txt.

The new test suite covers :-

• creation_and_destruction: Creation with valid topic name, typesupport string (test_msgs/msg/Strings), and QoS; verifies topic name accessor.
• invalid_topic_name: Verifies that passing an invalid topic name throws rclcpp::exceptions::InvalidTopicNameError.
• invalid_topic_type: Verifies that passing an invalid/unregistered typesupport string throws a std::runtime_error.
• custom_publisher_options: Verifies passing custom rclcpp::PublisherOptions with an explicit callback group.
• publish_serialized_message: Verifies publishing a rclcpp::SerializedMessage via the generic publisher without throwing.

Is this user-facing behavior change?

Did you use Generative AI?

Yes I was used to assist with structuring and writing the unit test cases and CMake registration.

Additional Information

• Verified locally with ament_cpplint (0 problems found).
• Verified locally with ament_uncrustify (0 code style divergence).

[Aaravanand00]

Hi @fujitatomoya @clalancette While reviewing the recent addition of test_lifecycle_generic_subscription.cpp, I noticed that LifecycleNode::create_generic_publisher had no dedicated unit tests in rclcpp_lifecycle.

This pr fills that gap by adding unit tests covering successful initialization, topic name validation, invalid typesupport error handling, custom publisher options, and message publishing. This improves test coverage for rclcpp_lifecycle in line with ROS 2 Quality Level 1 standards and prevents regressions on generic publisher interfaces...

[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 @ a00cbd3

(empty report — no differences printed by abidiff)

✅ librclcpp.so — full abidiff report

Compared:

• Base: lib-base/librclcpp.so
• Head: lib-pr/librclcpp.so @ a00cbd3

Functions changes summary: 0 Removed, 0 Changed (93 filtered out), 0 Added (3 filtered out) functions
Variables changes summary: 0 Removed, 0 Changed, 0 Added variable

✅ librclcpp_action.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_action.so
• Head: lib-pr/librclcpp_action.so @ a00cbd3

(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 @ a00cbd3

(empty report — no differences printed by abidiff)

_{Updated for commit a00cbd3 · check run · suppressions: /home/runner/work/_temp/ros2-abi-suppressions.txt}

[Aaravanand00]

@fujitatomoya @clalancette ptal

[clalancette]

My comments below are mostly because our test times are already through the roof, and I don't want to add in new tests unless they add something substantial. Let me know what you think.