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

Exiting a subscriber causes subsequent subscribers to no longer receive messages Open

more-information-needed

Difficulty 5/5 Over a week Newbie friendliness 20/100

ros2/rclcpp#1831 · 7 comments · Opened Nov 27, 2021
spin until timeout Open

help wanted

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

ros2/rclcpp#1821 · 13 comments · 1 reaction · Opened Nov 10, 2021
Lifecycle node should publish a transition event when instantiated Open

more-information-needed

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

ros2/rclcpp#1812 · 3 comments · Opened Oct 28, 2021
Support loaned message passed by intraprocess Open

backlog

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

ros2/rclcpp#1769 · 6 comments · 1 reaction · Opened Sep 9, 2021
Static ROS 2 subscription causes segmentation fault Open

more-information-needed

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

ros2/rclcpp#1766 · 6 comments · 3 reactions · Opened Sep 3, 2021
Reconsider lifecycle state transition when returning FAILURE for on_shutdown transition. Open

help wanted

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

ros2/rclcpp#1763 · 2 comments · Opened Sep 2, 2021
Allow to undeclare statically typed or read-only parameters from host node Open

enhancement question

ros2/rclcpp#1762 · 6 comments · 1 assignee · Opened Sep 2, 2021
Issues around use_sim_time parameter callback handling in TimeSource Open

more-information-needed question

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

ros2/rclcpp#1758 · 2 comments · Opened Aug 26, 2021
Status of today's ROS 2 message delivery mechanisms Open

help wanted

Difficulty 5/5 Over a week Newbie friendliness 15/100

ros2/rclcpp#1750 · 18 comments · 4 reactions · Opened Aug 19, 2021
Function template version of declare_parameter does not work with uint32_t and uint64_t Open

backlog

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

ros2/rclcpp#1743 · 3 comments · Opened Aug 4, 2021
QNX support: can_be_nullptr causes build failure with packages using create_service() Open

bug help wanted

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

ros2/rclcpp#1742 · 10 comments · Opened Aug 4, 2021
Inter-process communication causes increased latency of intra-process communication Open

bug

ros2/rclcpp#1722 · 9 comments · 2 reactions · 1 assignee · Opened Jul 19, 2021
intra-process communication with serialized message Open

enhancement help wanted

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

ros2/rclcpp#1710 · 2 comments · 1 reaction · Opened Jul 12, 2021
Intra-process services and actions Open

enhancement help wanted

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

ros2/rclcpp#1703 · 2 comments · Opened Jun 30, 2021
Prefer lambda to std::bind Open

help wanted question

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

ros2/rclcpp#1701 · 2 comments · Opened Jun 25, 2021
Add take_loaned() method in Subscription class Open

enhancement help wanted

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

ros2/rclcpp#1699 · 1 comment · 4 reactions · Opened Jun 22, 2021
`declare_parameter<T>(param_name)` fails Open

bug

ros2/rclcpp#1691 · 8 comments · 1 assignee · Opened Jun 9, 2021
Action client feedback callback does not reliably trigger Open

help wanted

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

ros2/rclcpp#1679 · 28 comments · 1 reaction · Opened May 19, 2021
Type Adaptation for Actions Open

backlog enhancement

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

ros2/rclcpp#1667 · Opened May 11, 2021
Type Adaptation for Services Open

backlog enhancement

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

ros2/rclcpp#1666 · Opened May 11, 2021
Support Serialize/Deserialize Functions in Type Adaption Open

backlog enhancement

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

ros2/rclcpp#1665 · 3 comments · 3 reactions · Opened May 11, 2021
Parameter Descriptor simplification for generic types Open

backlog documentation enhancement

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

ros2/rclcpp#1660 · 2 comments · Opened May 6, 2021
High CPU usage when using DDS intra-process communication Open

backlog

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

ros2/rclcpp#1642 · 27 comments · 4 reactions · Opened Apr 26, 2021
High CPU use of executor Open

ros2/rclcpp#1637 · 2 comments · 1 reaction · 1 assignee · Opened Apr 19, 2021
rclcpp::LifecycleNode is not on par with rclcpp::Node Open

backlog

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

ros2/rclcpp#1614 · Opened Apr 2, 2021
Throwing exception while creating a service or a subscription on request can cause clients to wait forever Open

backlog

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

ros2/rclcpp#1581 · 7 comments · Opened Mar 16, 2021
Inconsistent behaviour of spin_some after closing and reopening publisher Open

more-information-needed

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

ros2/rclcpp#1580 · 6 comments · 1 reaction · Opened Mar 12, 2021
SyncParametersClient can't be used in component node Open

ros2/rclcpp#1553 · 2 comments · 1 assignee · Opened Feb 12, 2021
add_on_set_parameters_callback callback takes vector of parameters but only returns a single SetParametersResult Open

more-information-needed question

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

ros2/rclcpp#1550 · 8 comments · Opened Feb 11, 2021
get_action_names_and_types not exposed in NodeGraph Open

help wanted

ros2/rclcpp#1473 · 2 comments · 1 reaction · 1 assignee · Opened Nov 22, 2020
Executor quick destruction after spin hangs Open

backlog enhancement

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

ros2/rclcpp#1454 · 18 comments · Opened Nov 13, 2020
Streamline creation of subscriptions in callback groups Open

enhancement help wanted

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

ros2/rclcpp#1392 · 4 comments · Opened Oct 8, 2020
rclcpp::Time and rclcpp::Duration max values not near max int64_t Open

backlog enhancement

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

ros2/rclcpp#1351 · 2 comments · Opened Sep 29, 2020
Should rclcpp::Parameter throw if trying to stringify an unset parameter? Open

question

ros2/rclcpp#1348 · 5 comments · 1 assignee · Opened Sep 29, 2020
foonathan memory leak reported Open

bug

ros2/rclcpp#1288 · 1 comment · 1 assignee · Opened Sep 3, 2020
[rclcpp] refactor Executor::add_callback_group to not need a node pointer Open

enhancement

ros2/rclcpp#1287 · 1 assignee · Opened Sep 2, 2020
support wildcards for just namespaces, or just nodes Open

backlog

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

ros2/rclcpp#1265 · 13 comments · 7 reactions · Opened Aug 9, 2020
[api review] Scoped Versus Non-Scoped Entities (e.g. Publishers/Subscriptions) Open

help wanted more-information-needed

Difficulty 5/5 Over a week Newbie friendliness 20/100

ros2/rclcpp#1260 · Opened Aug 4, 2020
[api review] Calling Syntax and Keeping Node-like Class APIs in Sync Open

more-information-needed

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

ros2/rclcpp#1259 · 2 comments · Opened Aug 4, 2020
allocator_common.hpp overallocates 100x memory & invokes UB on dealloc Open

help wanted

ros2/rclcpp#1254 · 8 comments · 1 reaction · 1 assignee · Opened Aug 3, 2020
StaticSingleThreadedExecutor throws rcl error (couldn't add guard condition to wait set) if node goes out of scope before spin Open

backlog

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

ros2/rclcpp#1231 · Opened Jul 15, 2020
Inconsistent namespaces for memory strategies Open

ros2/rclcpp#1186 · 2 comments · 1 assignee · Opened Jun 18, 2020
Multiple wakes caused by wait_mutex in MultiThreadedExecutor Open

enhancement

ros2/rclcpp#1148 · 7 comments · 1 assignee · Opened May 30, 2020
Reevaluate the const-ness of the classes and interfaces to rcl Open

backlog

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

ros2/rclcpp#1143 · Opened May 28, 2020
Enhance ABI stability Open

backlog enhancement

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

ros2/rclcpp#1142 · 4 comments · Opened May 28, 2020
Asynchronously shutting down while using `rclcpp::spin` `rclcpp:spin_some` in another thread throws an exception Open

backlog

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

ros2/rclcpp#1139 · 36 comments · 1 reaction · Opened May 27, 2020
rclcpp_actions: Add preempted ResultCode for WrappedResult and preempt API for ServerGoalHandle Open

enhancement

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

ros2/rclcpp#1104 · 7 comments · 1 reaction · Opened May 5, 2020
none of the API compiles for message types using a custom allocator Open

backlog bug

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

ros2/rclcpp#1061 · Opened Apr 10, 2020
Programmatically loading parameters from yaml files into nodes dynamically Open

enhancement help wanted

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

ros2/rclcpp#1029 · 11 comments · 2 reactions · Opened Mar 20, 2020
ParameterClient request is not finished although executor is canceled. Open

ros2/rclcpp#1022 · 1 assignee · Opened Mar 11, 2020

ros2/rclcpp

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