ros2/rclcpp

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rclcpp (ROS Client Library for C++)

Stars: 805
Forks: 564
Open beginner issues: 0
Indexed issues: 236
Avg merge: 1d 17h
Merged PRs (30d): 27

Dominant language: C++
License: Apache-2.0
Last GitHub push: Sep 18, 2026
Latest indexed: Sep 19, 2026
Contributing guide: Contributing guide
Code of conduct: No code of conduct
Beginner labels: help wanted

Beginner friendly Everything

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236 open issues indexed

Lifecycle rewrite for separation of concerns Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/rclcpp#2212 · 1 comment · Opened Jun 13, 2023
Rewrite Executor stress test Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#2207 · 1 reaction · Opened Jun 9, 2023
Avoid copies when combining intra-process communication and shared memory transports Open

ros2/rclcpp#2203 · 4 comments · 4 reactions · 1 assignee · Opened Jun 2, 2023
Add ignore-local-endpoints functionality to avoid double delivery Open

ros2/rclcpp#2202 · 6 comments · 1 assignee · Opened Jun 2, 2023
How to support standard messages with zero-copy transports Open

backlog

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/rclcpp#2201 · 11 comments · 2 reactions · Opened Jun 2, 2023
Poor CPU performance with Type Adapters when using references Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#2199 · 4 comments · Opened May 23, 2023
Exceptions cannot be caught in the multi-threaded executor Open

more-information-needed

Difficulty 4/5 3-5 days Newbie friendliness 42/100

ros2/rclcpp#2196 · 5 comments · Opened May 19, 2023
Feature Request: Allow to disable logger by name Open

enhancement help wanted

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#2190 · 8 comments · 1 reaction · Opened May 15, 2023
Should the `automatically_declare_parameters_from_overrides` node option be deprecated and removed? Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/rclcpp#2189 · 12 comments · 3 reactions · Opened May 12, 2023
subsequent nodes in a namespace in yaml don't get parameters applied Open

more-information-needed

Difficulty 3/5 1-2 days Newbie friendliness 42/100

ros2/rclcpp#2166 · 4 comments · Opened Apr 12, 2023
Exception thrown while waiting for action result: RCLError "failed to add guard condition to wait set" Open

ros2/rclcpp#2163 · 21 comments · 1 assignee · Opened Apr 10, 2023
MultiThreadedExecutor virtual run Open

Difficulty 2/5 1-3 hours Newbie friendliness 45/100

ros2/rclcpp#2157 · Opened Apr 4, 2023
[lifecycle_node] Add failure response in `ChangeState.srv` for client side transparency Open

Difficulty 5/5 Over a week Newbie friendliness 35/100

ros2/rclcpp#2154 · 1 comment · Opened Apr 3, 2023
Add support for a transaction window for adding subscriptions, clients, etc Open

backlog

ros2/rclcpp#2151 · 1 comment · 1 reaction · 1 assignee · Opened Mar 31, 2023
Global logger mutex acquisition should be scoped smaller than entire node initialization Open

backlog bug

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#2147 · 1 comment · Opened Mar 30, 2023
Service list is not refreshed after destroying the services and the executor is spinning in a different thread Open

ros2/rclcpp#2138 · 3 comments · 1 assignee · Opened Mar 22, 2023
Logger::set_level does not lock the logging mutex Open

help wanted

Difficulty 2/5 1-3 hours Newbie friendliness 35/100

ros2/rclcpp#2120 · 9 comments · Opened Mar 7, 2023
Consider exposing services to update Parameter Descriptor ranges at runtime Open

ros2/rclcpp#2118 · 2 comments · 1 assignee · Opened Mar 6, 2023
Time: Enable operators with different clock sources if one of the times is zero. Open

ros2/rclcpp#2113 · 1 comment · 1 assignee · Opened Feb 27, 2023
Latest Doxygen docs does not seem to include all files Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#2103 · 4 comments · Opened Feb 14, 2023
Disabled result caching: Result gets erased before result callback is registered Open

more-information-needed

ros2/rclcpp#2101 · 8 comments · 2 reactions · 1 assignee · Opened Feb 10, 2023
Update client API to be able to remove pending requests for ROS2 foxy Open

Difficulty 4/5 3-5 days Newbie friendliness 38/100

ros2/rclcpp#2100 · 1 comment · Opened Feb 7, 2023
Consider protecting Context (pre-)shutdown callback interface against use-after-frees Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/rclcpp#2099 · Opened Feb 7, 2023
Should `spin_once()` be called from multiple threads? Open

Difficulty 3/5 1-2 days Newbie friendliness 38/100

ros2/rclcpp#2098 · Opened Feb 6, 2023
[feature] easier user control over action goal id's Open

backlog enhancement

Difficulty 5/5 Over a week Newbie friendliness 35/100

ros2/rclcpp#2073 · 3 comments · 1 reaction · Opened Dec 29, 2022
[ROS2] Missing lazy subscription headers Open

backlog

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/rclcpp#2060 · 3 comments · Opened Dec 9, 2022
LifeCycle pattern dosn't work (for me at least) Open

more-information-needed

Difficulty 4/5 3-5 days Newbie friendliness 25/100

ros2/rclcpp#2057 · 4 comments · Opened Dec 6, 2022
MultiThreadedExecutor should use assigned CPUs in the process space if possible. Open

backlog enhancement

Difficulty 4/5 3-5 days Newbie friendliness 42/100

ros2/rclcpp#2037 · 8 comments · 2 reactions · Opened Oct 31, 2022
Time: Differentiating Between Uninitialized and Zero-Initialized Open

enhancement

ros2/rclcpp#2025 · 1 comment · 2 reactions · 1 assignee · Opened Oct 14, 2022
A timer that can be triggered a finite number of times. Open

help wanted

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#1990 · 10 comments · 1 reaction · Opened Aug 12, 2022
Custom allocators for Service/Clients Open

backlog

Difficulty 4/5 3-5 days Newbie friendliness 45/100

ros2/rclcpp#1989 · Opened Aug 11, 2022
MessagePoolMemoryStrategy may not compile Open

backlog

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#1972 · 3 comments · Opened Jul 12, 2022
Batch parameter events on node startup Open

backlog

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#1970 · 23 comments · 2 reactions · Opened Jul 12, 2022
ClientGoalHandle can throw in the destructor Open

help wanted

Difficulty 4/5 3-5 days Newbie friendliness 42/100

ros2/rclcpp#1960 · 3 comments · Opened Jun 29, 2022
Make it possible to use empty lists/arrays as parameter values everywhere Open

backlog

Difficulty 5/5 Over a week Newbie friendliness 35/100

ros2/rclcpp#1955 · 44 reactions · Opened Jun 24, 2022
[Proposal] Adding single message getting API to rclcpp Open

enhancement help wanted

Difficulty 5/5 Over a week Newbie friendliness 35/100

ros2/rclcpp#1953 · 26 comments · 2 reactions · Opened Jun 13, 2022
Compilation performance is rather slow Open

help wanted

Difficulty 4/5 3-5 days Newbie friendliness 42/100

ros2/rclcpp#1949 · 11 comments · 6 reactions · Opened Jun 7, 2022
Creating a Node in Galactic/Rolling results in ASAN errors Open

ros2/rclcpp#1948 · 2 comments · 2 reactions · 1 assignee · Opened Jun 6, 2022
Make throttle log macros accept a rclcpp::Duration Open

help wanted

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#1929 · 5 comments · 9 reactions · Opened May 13, 2022
Empty node creates asan AddressSanitizer: new-delete-type-mismatch abort on construction Open

backlog bug

ros2/rclcpp#1925 · 7 comments · 1 assignee · Opened May 4, 2022
GuardCondition should have a callback that gets handled by the executor Open

enhancement help wanted

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#1917 · 2 comments · 1 reaction · Opened Apr 7, 2022
spin_until_future_complete may block forever if nothing wakes the executor after the future completes Open

backlog bug

Difficulty 4/5 3-5 days Newbie friendliness 38/100

ros2/rclcpp#1916 · 9 comments · Opened Apr 7, 2022
parameter_overrides() returns an empty vector Open

question

ros2/rclcpp#1907 · 10 comments · 1 assignee · Opened Mar 26, 2022
Failures in lifecycle transitions are not correctly handled Open

ros2/rclcpp#1880 · 1 assignee · Opened Jan 31, 2022
Automatic/adaptive subscription QoS Open

ros2/rclcpp#1868 · 7 comments · 6 reactions · 1 assignee · Opened Jan 19, 2022
Component container fail unexpected Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/rclcpp#1866 · 7 comments · Opened Jan 14, 2022
Additional improvements to TypeAdapted intra-process comms Open

backlog

Difficulty 5/5 Over a week Newbie friendliness 30/100

ros2/rclcpp#1860 · 1 comment · 1 reaction · Opened Jan 10, 2022
[enhancement] Lifecycle Component Wrapper Open

backlog

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/rclcpp#1851 · 3 reactions · Opened Dec 28, 2021
cppcoreguidelines-pro-bounds-array-to-pointer-decay on RCLCPP_* macros Open

backlog

Difficulty 4/5 3-5 days Newbie friendliness 42/100

ros2/rclcpp#1848 · 12 comments · Opened Dec 19, 2021
LifecycleNode: implement service request filtering of inactive managed nodes. Open

backlog in progress

Difficulty 4/5 3-5 days Newbie friendliness 20/100

ros2/rclcpp#1838 · Opened Dec 7, 2021

ros2/rclcpp

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