Preserve wait-set ownership when removal fails

[Miko997]

Description

Clear wait-set ownership only after storage removal succeeds, retaining shared pointers for the ownership update. Regression coverage exercises the same defect in guard-condition, timer, client, service, waitable and subscription-part removal.

Fixes #3293.

Is this user-facing behavior change?

Failed removal from a non-owner preserves ownership, so another wait set still rejects the entity. Successful removal by the owner permits reuse.

Did you use Generative AI?

Generated-by: OpenAI Codex (GPT-6).

The implementation, regression tests and PR text were generated with AI assistance.

Additional Information

Local validation on Ubuntu 26.04 x86_64, Rolling, rmw_fastrtps_cpp, using the rebuilt checkout:

• Both regressions fail on eee4b508 and pass with the fix.
• All 43 tests in test_wait_set, test_dynamic_storage, test_static_storage, test_storage_policy_common and test_thread_safe_synchronization pass.
• Copyright, cpplint, CMake lint, uncrustify and XML lint pass; git diff --check passes.
• The standalone issue reproducer exits 0 with all three checks true (CMake linking adapted for Rolling).
• Forced cppcheck 2.19.0 analysis reports three findings in untouched files, reproduced on the pristine base. The default ament check skips this version for known performance issues.

Tier-1 CI remains a maintainer-run gate.

[fujitatomoya]

Pulls: #3294
Gist: https://gist.githubusercontent.com/fujitatomoya/caa61e8a6dcb8ae292daafe1a62c5498/raw/1a5608fa76e7f3d53c443d76bbc9b4eead488a92/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/20641

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

[github-actions]

ABI Compliance Check

❌ Verdict: incompatible

Library	Verdict	Summary
libcomponent_manager.so	✅ compatible	No ABI changes detected.
librclcpp.so	❌ incompatible	ABI-incompatible changes detected.
librclcpp_action.so	❌ incompatible	ABI-incompatible 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 @ a0df585

(empty report — no differences printed by abidiff)

❌ librclcpp.so — full abidiff report

Compared:

• Base: lib-base/librclcpp.so
• Head: lib-pr/librclcpp.so @ a0df585

Functions changes summary: 10 Removed (46 filtered out), 2 Changed (134 filtered out), 2 Added (3 filtered out) functions
Variables changes summary: 0 Removed, 0 Changed, 0 Added variable
Function symbols changes summary: 4 Removed, 2 Added function symbols not referenced by debug info
Variable symbols changes summary: 0 Removed, 0 Added variable symbol not referenced by debug info

10 Removed functions:

  [D] 'method void rclcpp::executors::cbg_executor::CBGScheduler::block_worker_thread(rclcpp::executors::cbg_executor::Worker*)'    {_ZN6rclcpp9executors12cbg_executor12CBGScheduler19block_worker_threadEPNS1_6WorkerE}
  [D] 'method void rclcpp::executors::cbg_executor::CBGScheduler::block_worker_thread_for(rclcpp::executors::cbg_executor::Worker*, std::chrono::nanoseconds)'    {_ZN6rclcpp9executors12cbg_executor12CBGScheduler23block_worker_thread_forEPNS1_6WorkerENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE}
  [D] 'method bool rclcpp::executors::cbg_executor::CBGScheduler::prepare_and_enqueue_worker(rclcpp::executors::cbg_executor::Worker*)'    {_ZN6rclcpp9executors12cbg_executor12CBGScheduler26prepare_and_enqueue_workerEPNS1_6WorkerE}
  [D] 'method void rclcpp::executors::cbg_executor::CBGScheduler::suppress_thread_wakeup()'    {_ZN6rclcpp9executors12cbg_executor12CBGScheduler22suppress_thread_wakeupEv}
  [D] 'method void rclcpp::executors::cbg_executor::Worker::block()'    {_ZN6rclcpp9executors12cbg_executor6Worker5blockEv}
  [D] 'method void rclcpp::executors::cbg_executor::Worker::block_for(std::chrono::nanoseconds)'    {_ZN6rclcpp9executors12cbg_executor6Worker9block_forENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE}
  [D] 'method void rclcpp::executors::cbg_executor::Worker::unblock()'    {_ZN6rclcpp9executors12cbg_executor6Worker7unblockEv}
  [D] 'method void rclcpp::executors::cbg_executor::Worker::unblock_thread_safe()'    {_ZN6rclcpp9executors12cbg_executor6Worker19unblock_thread_safeEv}
  [D] 'method rclcpp::executors::cbg_executor::Worker* rclcpp::executors::cbg_executor::WorkerQueue::pop_blocked_worker_thread()'    {_ZN6rclcpp9executors12cbg_executor11WorkerQueue25pop_blocked_worker_threadEv}
  [D] 'method void rclcpp::executors::cbg_executor::WorkerQueue::remove_worker_thread(rclcpp::executors::cbg_executor::Worker*)'    {_ZN6rclcpp9executors12cbg_executor11WorkerQueue20remove_worker_threadEPNS1_6WorkerE}

2 Added functions:

  [A] 'method void rclcpp::executors::cbg_executor::CBGScheduler::block_worker_thread()'    {_ZN6rclcpp9executors12cbg_executor12CBGScheduler19block_worker_threadEv}
  [A] 'method void rclcpp::executors::cbg_executor::CBGScheduler::block_worker_thread_for(std::chrono::nanoseconds)'    {_ZN6rclcpp9executors12cbg_executor12CBGScheduler23block_worker_thread_forENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE}

2 functions with some indirect sub-type change:

  [C] 'method rclcpp::executors::cbg_executor::CBGScheduler::CBGScheduler(std::function<void()>)' at scheduler.hpp:326:1 has some indirect sub-type changes:
    implicit parameter 0 of type 'rclcpp::executors::cbg_executor::CBGScheduler*' has sub-type changes:
      in pointed to type 'class rclcpp::executors::cbg_executor::CBGScheduler' at scheduler.hpp:32:1:
        type size changed from 2624 to 1984 (in bits)
        1 member function insertion:
          'method virtual rclcpp::executors::cbg_executor::CBGScheduler::~CBGScheduler()' at scheduler.hpp:199:1
        no member function changes (6 filtered);
        2 data member insertions:
          'bool release_workers', at offset 1344 (in bits) at scheduler.hpp:393:1
          'bool release_worker_once', at offset 1352 (in bits) at scheduler.hpp:394:1
        3 data member changes (1 filtered):
          name of 'rclcpp::executors::cbg_executor::CBGScheduler::worker_queue' changed to 'rclcpp::executors::cbg_executor::CBGScheduler::work_ready_conditional' at scheduler.hpp:397:1, size changed from 1024 to 384 (in bits) (by -640 bits)
          'bool worker_checking_for_work' offset changed from 1344 to 1360 (in bits) (by +16 bits)
          'std::__cxx11::list<std::unique_ptr<rclcpp::executors::cbg_executor::CBGScheduler::CallbackGroupHandle, std::default_delete<rclcpp::executors::cbg_executor::CBGScheduler::CallbackGroupHandle> >, std::allocator<std::unique_ptr<rclcpp::executors::cbg_executor::CBGScheduler::CallbackGroupHandle, std::default_delete<rclcpp::executors::cbg_executor::CBGScheduler::CallbackGroupHandle> > > > callback_groups' offset changed from 2432 to 1792 (in bits) (by -640 bits)

  [C] 'method virtual std::unique_ptr<rclcpp::executors::cbg_executor::CBGScheduler::CallbackGroupHandle, std::default_delete<rclcpp::executors::cbg_executor::CBGScheduler::CallbackGroupHandle> > rclcpp::executors::cbg_executor::FirstInFirstOutScheduler::get_handle_for_callback_group(const rclcpp::CallbackGroup::SharedPtr&)' at first_in_first_out_scheduler.cpp:149:1 has some indirect sub-type changes:
    implicit parameter 0 of type 'rclcpp::executors::cbg_executor::FirstInFirstOutScheduler*' has sub-type changes:
      in pointed to type 'class rclcpp::executors::cbg_executor::FirstInFirstOutScheduler' at first_in_first_out_scheduler.hpp:66:1:
        type size changed from 2816 to 2176 (in bits)
        1 base class change:
          'class rclcpp::executors::cbg_executor::CBGScheduler' at scheduler.hpp:163:1 changed:
            details were reported earlier
        no member function changes (3 filtered);
        1 data member change:
          'std::vector<std::unique_ptr<rclcpp::executors::cbg_executor::FirstInFirstOutCallbackGroupHandle, std::default_delete<rclcpp::executors::cbg_executor::FirstInFirstOutCallbackGroupHandle> >, std::allocator<std::unique_ptr<rclcpp::executors::cbg_executor::FirstInFirstOutCallbackGroupHandle, std::default_delete<rclcpp::executors::cbg_executor::FirstInFirstOutCallbackGroupHandle> > > > callback_group_handles' offset changed from 2624 to 1984 (in bits) (by -640 bits)

4 Removed function symbols not referenced by debug info:

  [D] _ZN6rclcpp9executors12cbg_executor11WorkerQueueC1Ev
  [D] _ZN6rclcpp9executors12cbg_executor11WorkerQueueC2Ev, aliases _ZN6rclcpp9executors12cbg_executor11WorkerQueueC1Ev
  [D] _ZN6rclcpp9executors12cbg_executor6WorkerC1Ev, aliases _ZN6rclcpp9executors12cbg_executor6WorkerC2Ev
  [D] _ZN6rclcpp9executors12cbg_executor6WorkerC2Ev

2 Added function symbols not referenced by debug info:

  [A] _ZZN6rclcpp9executors12cbg_executor12CBGScheduler19block_worker_threadEvENKUlvE_clEv
  [A] _ZZN6rclcpp9executors12cbg_executor12CBGScheduler23block_worker_thread_forENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEEENKUlvE_clEv

❌ librclcpp_action.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_action.so
• Head: lib-pr/librclcpp_action.so @ a0df585

Functions changes summary: 2 Removed (5 filtered out), 0 Changed, 0 Added functions
Variables changes summary: 0 Removed, 0 Changed, 0 Added variable
Function symbols changes summary: 3 Removed, 0 Added function symbols not referenced by debug info
Variable symbols changes summary: 3 Removed, 0 Added variable symbols not referenced by debug info

2 Removed functions:

  [D] 'method rclcpp_action::GoalStatusCode rclcpp_action::GenericClientGoalHandle::get_status_code()'    {_ZN13rclcpp_action23GenericClientGoalHandle15get_status_codeEv}
  [D] 'method rclcpp_action::exceptions::InvalidGoalStatusError::InvalidGoalStatusError(int8_t)'    {_ZN13rclcpp_action10exceptions22InvalidGoalStatusErrorC2Ea, aliases _ZN13rclcpp_action10exceptions22InvalidGoalStatusErrorC1Ea}

3 Removed function symbols not referenced by debug info:

  [D] _ZN13rclcpp_action10exceptions22InvalidGoalStatusErrorD0Ev
  [D] _ZN13rclcpp_action10exceptions22InvalidGoalStatusErrorD1Ev
  [D] _ZN13rclcpp_action10exceptions22InvalidGoalStatusErrorD2Ev, aliases _ZN13rclcpp_action10exceptions22InvalidGoalStatusErrorD1Ev

3 Removed variable symbols not referenced by debug info:

  [D] _ZTIN13rclcpp_action10exceptions22InvalidGoalStatusErrorE
  [D] _ZTSN13rclcpp_action10exceptions22InvalidGoalStatusErrorE
  [D] _ZTVN13rclcpp_action10exceptions22InvalidGoalStatusErrorE

✅ librclcpp_lifecycle.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_lifecycle.so
• Head: lib-pr/librclcpp_lifecycle.so @ a0df585

(empty report — no differences printed by abidiff)

_{Updated for commit a0df585 · suppressions: /home/runner/work/_temp/ros2-abi-suppressions.txt}