# \#rclcpp

**URL:** https://discourse.openrobotics.org/tag/rclcpp/129.md

[Latest](https://discourse.openrobotics.org/latest.md) · [Categories](https://discourse.openrobotics.org/categories.md) · [Tags](https://discourse.openrobotics.org/tags.md)

---

## [Beyond Callback Scheduling: Choosing Where Computation Executes in ROS 2 with C++26](https://discourse.openrobotics.org/t/beyond-callback-scheduling-choosing-where-computation-executes-in-ros-2-with-c-26/59021)

<div class="topic-metadata">

**Author:** [@NourElMenshawy](https://discourse.openrobotics.org/u/NourElMenshawy)\
**Replies:** 1\
**Last updated:** [October 26, 2026, 1:31pm UTC](https://discourse.openrobotics.org/t/beyond-callback-scheduling-choosing-where-computation-executes-in-ros-2-with-c-26/59021 "2026-10-26T13:31:17Z")

</div>

Recently, I had the opportunity to present: “From Callbacks to Senders: Rethinking PX4 Precision Landing with C++26 Execution.” The experiment led me to a question I’d love to discuss with the ROS 2 community: As robo…

---

## [Announcing protoros2: use protobuf in ros2 without compromise](https://discourse.openrobotics.org/t/announcing-protoros2-use-protobuf-in-ros2-without-compromise/57152)

<div class="topic-metadata">

**Author:** [@ZhenshengLee](https://discourse.openrobotics.org/u/ZhenshengLee)\
**Replies:** 9\
**Last updated:** [September 2, 2026, 2:33am UTC](https://discourse.openrobotics.org/t/announcing-protoros2-use-protobuf-in-ros2-without-compromise/57152 "2026-09-02T02:33:09Z")

</div>

Hi ROS Community! :waving\_hand: For years, there has been a strong and consistent demand for seamless Protobuf serialization in ROS/ROS 2. While there are excellent existing tools in the community, integrating them clea…

---

## [Proposal: \`rcl\_executors\` - a unified, canonical reference executor package for all client libraries](https://discourse.openrobotics.org/t/proposal-rcl-executors-a-unified-canonical-reference-executor-package-for-all-client-libraries/57057)

<div class="topic-metadata">

**Author:** [@skye.galaxy](https://discourse.openrobotics.org/u/skye.galaxy)\
**Replies:** 22\
**Last updated:** [August 21, 2026, 5:56pm UTC](https://discourse.openrobotics.org/t/proposal-rcl-executors-a-unified-canonical-reference-executor-package-for-all-client-libraries/57057 "2026-08-21T17:56:51Z")

</div>

Motivation Since the Lyrical release, the client library working group has been considering various approaches to reduce the amount of bloat in rclcpp and rclpy, remove or re-implement half-baked features, make behavior …

---

## [\[GSoC 2026\] ROS 2 Client Library Performance Monitoring: Midterm Progress Update](https://discourse.openrobotics.org/t/gsoc-2026-ros-2-client-library-performance-monitoring-midterm-progress-update/57204)

<div class="topic-metadata">

**Author:** [@ammaarrahmed](https://discourse.openrobotics.org/u/ammaarrahmed)\
**Replies:** 2\
**Last updated:** [August 13, 2026, 2:57am UTC](https://discourse.openrobotics.org/t/gsoc-2026-ros-2-client-library-performance-monitoring-midterm-progress-update/57204 "2026-08-13T02:57:02Z")

</div>

Organization: OSRF Contributor: Ammaar Ahmed (GitHub, LinkedIn) Mentors: Kimberly McGuire (GitHub) and Skyler Medeiros (GitHub) GSoC project: ROS 2 Client Library Performance Monitoring Repository: ros2-performance-…

---

## [ROS 2 Realtime Support Package](https://discourse.openrobotics.org/t/ros-2-realtime-support-package/57113)

<div class="topic-metadata">

**Author:** [@k-yokoyama-esol](https://discourse.openrobotics.org/u/k-yokoyama-esol)\
**Replies:** 0\
**Last updated:** [August 2, 2026, 1:21pm UTC](https://discourse.openrobotics.org/t/ros-2-realtime-support-package/57113 "2026-08-02T13:21:09Z")

</div>

We have been working on adding real-time functionality to rcl and rclcpp since 2022. In response to this proposal, we have created a new package that provides real-time functionality without changing the existing packag…

---

## [Design discussion: “discoverable not serviceable” ROS interfaces for lifecycle nodes](https://discourse.openrobotics.org/t/design-discussion-discoverable-not-serviceable-ros-interfaces-for-lifecycle-nodes/52842)

<div class="topic-metadata">

**Author:** [@Lotusymt](https://discourse.openrobotics.org/u/Lotusymt)\
**Replies:** 4\
**Last updated:** [March 4, 2026, 7:21pm UTC](https://discourse.openrobotics.org/t/design-discussion-discoverable-not-serviceable-ros-interfaces-for-lifecycle-nodes/52842 "2026-03-04T19:21:53Z")

</div>

Hi all, We’d like to start a design discussion about a lifecycle-related gap that shows up in Nav2 but seems fundamentally ROS 2 / rclcpp-level. Context / links Nav2 PR where this surfaced: nav2\_ros\_common: add lifecy…

---

## [Rclcpp\_async: Header-only C++20 async/await for ROS 2](https://discourse.openrobotics.org/t/rclcpp-async-header-only-c-20-async-await-for-ros-2/52397)

<div class="topic-metadata">

**Author:** [@otamachan](https://discourse.openrobotics.org/u/otamachan)\
**Replies:** 2\
**Last updated:** [February 8, 2026, 11:43pm UTC](https://discourse.openrobotics.org/t/rclcpp-async-header-only-c-20-async-await-for-ros-2/52397 "2026-02-08T23:43:47Z")

</div>

Hi! Inspired by icey (great library!), I put together a quick prototype of something similar – a header-only library that lets you write ROS 2 async code with C++20 coroutines. GitHub: GitHub - otamachan/rclcpp\_async M…

---

## [Ros2\_yolos\_cpp High-Performance ROS 2 Wrappers for YOLOs-CPP \[All models + All tasks\]](https://discourse.openrobotics.org/t/ros2-yolos-cpp-high-performance-ros-2-wrappers-for-yolos-cpp-all-models-all-tasks/51964)

<div class="topic-metadata">

**Author:** [@Geekgineer](https://discourse.openrobotics.org/u/Geekgineer)\
**Replies:** 0\
**Last updated:** [January 21, 2026, 3:58pm UTC](https://discourse.openrobotics.org/t/ros2-yolos-cpp-high-performance-ros-2-wrappers-for-yolos-cpp-all-models-all-tasks/51964 "2026-01-21T15:58:12Z")

</div>

Hi everyone! :waving\_hand: I’m the author of ros2\_yolos\_cpp and YOLOs-CPP. I’m excited to share the first public release of this ROS 2 package! :link: Repository: ros2\_yolos\_cpp :brain: What Is ros2\_yolos\_cpp? ros2\_y…

---

## [ICEY: A new ROS 2 client API for modern asynchronous programming using async/await in C++ 20](https://discourse.openrobotics.org/t/icey-a-new-ros-2-client-api-for-modern-asynchronous-programming-using-async-await-in-c-20/49716)

<div class="topic-metadata">

**Author:** [@iv461](https://discourse.openrobotics.org/u/iv461)\
**Replies:** 0\
**Last updated:** [August 24, 2025, 1:32pm UTC](https://discourse.openrobotics.org/t/icey-a-new-ros-2-client-api-for-modern-asynchronous-programming-using-async-await-in-c-20/49716 "2025-08-24T13:32:29Z")

</div>

Hello everyone! Today I want to present a new client API build on top of rclcpp that allows to use modern asynchronous programming with async/await syntax in C++: Github It is licensed under Apache-2. Problems ICEY …

---

## [New documentation on how to take a message from a subscriber without executing a callback function](https://discourse.openrobotics.org/t/new-documentation-on-how-to-take-a-message-from-a-subscriber-without-executing-a-callback-function/38430)

<div class="topic-metadata">

**Author:** [@takamine](https://discourse.openrobotics.org/u/takamine)\
**Replies:** 12\
**Last updated:** [August 7, 2025, 9:35am UTC](https://discourse.openrobotics.org/t/new-documentation-on-how-to-take-a-message-from-a-subscriber-without-executing-a-callback-function/38430 "2025-08-07T09:35:15Z")

</div>

Hello everyone! Autoware Documentation provides a guideline to take a message from Subscription without executing any callback function. I believe that the document must be helpful for many users and projects even th…

---

## [\[First Release\] rtest - ROS 2 Unit Tests Framework](https://discourse.openrobotics.org/t/first-release-rtest-ros-2-unit-tests-framework/43831)

<div class="topic-metadata">

**Author:** [@Szymon\_Dzwonczyk](https://discourse.openrobotics.org/u/Szymon_Dzwonczyk)\
**Replies:** 4\
**Last updated:** [June 4, 2025, 10:24am UTC](https://discourse.openrobotics.org/t/first-release-rtest-ros-2-unit-tests-framework/43831 "2025-06-04T10:24:04Z")

</div>

Hello everyone, Happy to share that at Spyrosoft we’ve convinced the right people and just released a first version of our ROS 2 Unit Tests Framework (rtest) open-source! rtest enables writing reliable, fully repea…

---

## [Update REP-2017 prototype and executor using OS native threads](https://discourse.openrobotics.org/t/update-rep-2017-prototype-and-executor-using-os-native-threads/43457)

<div class="topic-metadata">

**Author:** [@k-yokoyama-esol](https://discourse.openrobotics.org/u/k-yokoyama-esol)\
**Replies:** 0\
**Last updated:** [April 30, 2025, 8:07am UTC](https://discourse.openrobotics.org/t/update-rep-2017-prototype-and-executor-using-os-native-threads/43457 "2025-04-30T08:07:15Z")

</div>

We’ve made several proposals to add scheduling parameters to ROS Executor. This post introduces updated repositories of the feature additions to match the latest versions of Jazzy and Rolling. Background Our previous d…

---

## [Multi-Threaded Executor Task Starvation Fix](https://discourse.openrobotics.org/t/multi-threaded-executor-task-starvation-fix/42190)

<div class="topic-metadata">

**Author:** [@HarunTeper](https://discourse.openrobotics.org/u/HarunTeper)\
**Replies:** 2\
**Last updated:** [February 24, 2025, 8:41am UTC](https://discourse.openrobotics.org/t/multi-threaded-executor-task-starvation-fix/42190 "2025-02-24T08:41:36Z")

</div>

Hi everyone, I’d like to bring attention to an issue I’ve encountered in the ROS 2 multi-threaded executor that can lead to task starvation when using mutually-exclusive callback groups. This problem has been observed i…

---

## [C++ for ROS and Robotics Live Stream - KroNton Robotics](https://discourse.openrobotics.org/t/c-for-ros-and-robotics-live-stream-kronton-robotics/39451)

<div class="topic-metadata">

**Author:** [@KroNton](https://discourse.openrobotics.org/u/KroNton)\
**Replies:** 0\
**Last updated:** [September 3, 2024, 10:44pm UTC](https://discourse.openrobotics.org/t/c-for-ros-and-robotics-live-stream-kronton-robotics/39451 "2024-09-03T22:44:48Z")

</div>

Many people are passionate about getting into the field of robotics and ROS, but they often face significant challenges when it comes to learning programming languages like C++ or Python. That’s why we’ve decided to …

---

## [The ROS 2 C++ Executors](https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296)

<div class="topic-metadata">

**Author:** [@alsora](https://discourse.openrobotics.org/u/alsora)\
**Replies:** 25\
**Last updated:** [September 27, 2024, 11:18pm UTC](https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296 "2024-09-27T23:18:33Z")

</div>

Hi, starting this topic to spread some awareness around the current status of ROS 2 executors in the rclcpp C++ client library and to discuss their future. Let’s have a quick look at the available executor classes. Fi…

---

## [On the \`rclcpp::experimental\` namespace](https://discourse.openrobotics.org/t/on-the-rclcpp-experimental-namespace/38295)

<div class="topic-metadata">

**Author:** [@alsora](https://discourse.openrobotics.org/u/alsora)\
**Replies:** 11\
**Last updated:** [June 25, 2024, 11:14pm UTC](https://discourse.openrobotics.org/t/on-the-rclcpp-experimental-namespace/38295 "2024-06-25T23:14:58Z")

</div>

Hi, I would like to bring up a discussion about the meaning, purpose and guidelines around the rclcpp::experimental namespace in the rclcpp repository. This topic was started in last week meeting of the ROS 2 Client Li…

---

## [ROS2 C++ Generic Action / Service Client](https://discourse.openrobotics.org/t/ros2-c-generic-action-service-client/14671)

<div class="topic-metadata">

**Author:** [@rokel\_race](https://discourse.openrobotics.org/u/rokel_race)\
**Replies:** 5\
**Last updated:** [April 27, 2023, 11:17am UTC](https://discourse.openrobotics.org/t/ros2-c-generic-action-service-client/14671 "2023-04-27T11:17:34Z")

</div>

Hello, I’m trying to make a generic C++ application for controlling ROS robots. The idea is to allow design of GUIs in a higher-level language (QML) without requiring modifying the C++ when integrating new ROS systems. S…

---

## [Launch wrapper for rclcpp::Node to make it a LifecycleNode](https://discourse.openrobotics.org/t/launch-wrapper-for-rclcpp-node-to-make-it-a-lifecyclenode/23106)

<div class="topic-metadata">

**Author:** [@msmcconnell](https://discourse.openrobotics.org/u/msmcconnell)\
**Replies:** 2\
**Last updated:** [November 22, 2021, 2:24pm UTC](https://discourse.openrobotics.org/t/launch-wrapper-for-rclcpp-node-to-make-it-a-lifecyclenode/23106 "2021-11-22T14:24:17Z")

</div>

I have a proposal to run by the ROS2 community. Recently, I have been trying to integrate some in-house ROS2 Lifecycle nodes (rclcpp\_lifecycle::LifecycleNode in Foxy) with regular non-lifecycle nodes (rclcpp::Node) that …

---

## [Looking for feedback on ROS 2 Type Adaptation REP](https://discourse.openrobotics.org/t/looking-for-feedback-on-ros-2-type-adaptation-rep/20465)

<div class="topic-metadata">

**Author:** [@audrow](https://discourse.openrobotics.org/u/audrow)\
**Replies:** 0\
**Last updated:** [May 18, 2021, 11:06pm UTC](https://discourse.openrobotics.org/t/looking-for-feedback-on-ros-2-type-adaptation-rep/20465 "2021-05-18T23:06:02Z")

</div>

We’ve been working on a REP that proposes a feature in rclcpp to make it easier to convert between ROS types and custom, user-defined types. This will be especially useful when mapping complex types like OpenCV’s cv::Map …

---

## [Which message type is needed for sending an action cancel request()?](https://discourse.openrobotics.org/t/which-message-type-is-needed-for-sending-an-action-cancel-request/19585)

<div class="topic-metadata">

**Author:** [@JanWielemaker](https://discourse.openrobotics.org/u/JanWielemaker)\
**Replies:** 0\
**Last updated:** [March 22, 2021, 5:13pm UTC](https://discourse.openrobotics.org/t/which-message-type-is-needed-for-sending-an-action-cancel-request/19585 "2021-03-22T17:13:00Z")

</div>

I’m working on rclswi, a ROS2 client library for SWI-Prolog. In general progress is good. While trying to get action cancellation to work it seems I have a misunderstanding. I though the request must be send using r…

---

## [Adding image transport message filter subscription to callback group](https://discourse.openrobotics.org/t/adding-image-transport-message-filter-subscription-to-callback-group/12413)

<div class="topic-metadata">

**Author:** [@ruffsl](https://discourse.openrobotics.org/u/ruffsl)\
**Replies:** 1\
**Last updated:** [January 21, 2020, 2:51pm UTC](https://discourse.openrobotics.org/t/adding-image-transport-message-filter-subscription-to-callback-group/12413 "2020-01-21T14:51:04Z")

</div>

Correct me if I’m mistaken, but there currently doesn’t seem to be a good way of associating image transport message filters subscriptions to a node’s specific callback group. I’m using image transport message filter to …