Did you find anything? I’m facing a similar issue in building :
#53 12.55 --- stderr: rclcpp
#53 12.55 /code/ros2_ws/src/rclcpp/rclcpp/src/rclcpp/clock.cpp: In member function ‘bool rclcpp::Clock::started()’:
#53 12.55 /code/ros2_ws/src/rclcpp/rclcpp/src/rclcpp/clock.cpp:191:10: error: ‘rcl_clock_time_started’ was not declared in this scope; did you mean ‘rcl_clock_type_t’?
#53 12.55 191 | return rcl_clock_time_started(get_clock_handle());
#53 12.55 | ^~~~~~~~~~~~~~~~~~~~~~
#53 12.55 | rcl_clock_type_t
#53 12.55 gmake[2]: *** [CMakeFiles/rclcpp.dir/build.make:223: CMakeFiles/rclcpp.dir/src/rclcpp/clock.cpp.o] Error 1
#53 12.55 gmake[2]: *** Waiting for unfinished jobs....
#53 12.55 gmake[1]: *** [CMakeFiles/Makefile2:138: CMakeFiles/rclcpp.dir/all] Error 2
#53 12.55 gmake: *** [Makefile:146: all] Error 2
#53 12.55 ---
In the dockerfile I clone rclcpp (humble) and build it. The base image is ros:humble-perception.
Maybe this is related: Backport: Switch lifecycle to use the RCLCPP macros by tonynajjar · Pull Request #2234 · ros2/rclcpp · GitHub