ros2clifecycle_set and ros2service_call_change_state in lifecycle management is too slow.

Bug report

Required Info:

• Operating System:
  • ubuntu22.04
• Installation type:
  • binary
• Version or commit hash:
  • Humble
• DDS implementation:
  • rmw_fastrtps_cpp
• Client library (if applicable):
  • ros2cli

Steps to reproduce issue

the simple lifecycle node can be seen in https://github.com/micro-ROS/system_modes/tree/master/system_modes_examples

time ros2 lifecycle set /drive_base activate
Transitioning successful
real    0m2.030s
user    0m0.334s
sys     0m0.113s

time ros2 lifecycle set /drive_base deactivate
Transitioning successful
real    0m2.089s
user    0m0.419s
sys     0m0.083s

time ros2 service call /drive_base/change_state lifecycle_msgs/ChangeState "{transition: {id: 3, label: activate}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=3, label='activate'))
response:
lifecycle_msgs.srv.ChangeState_Response(success=True)
real    0m2.128s
user    0m0.379s
sys     0m0.082s

time ros2 service call /drive_base/change_state lifecycle_msgs/ChangeState "{transition: {id: 4, label: deactivate}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=4, label='deactivate'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=True)


real    0m2.776s
user    0m0.343s
sys     0m0.096s

Additional information

repeated test of the same cmd can make it quicker, see the complete test log below

zs@zs-vm-2204:~/zs_ws/ga_ros$ time ros2 service call /drive_base/change_state lifecycle_msgs/ChangeState "{transition: {id: 3, label: activate}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=3, label='activate'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=True)


real    0m2.128s
user    0m0.379s
sys     0m0.082s
zs@zs-vm-2204:~/zs_ws/ga_ros$ time ros2 service call /drive_base/change_state lifecycle_msgs/ChangeState "{transition: {id: 3, label: activate}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=3, label='activate'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=False)


real    0m1.231s
user    0m0.536s
sys     0m0.117s
zs@zs-vm-2204:~/zs_ws/ga_ros$ time ros2 service call /drive_base/change_state lifecycle_msgs/ChangeState "{transition: {id: 4, label: deactivate}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=4, label='deactivate'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=True)


real    0m2.776s
user    0m0.343s
sys     0m0.096s
zs@zs-vm-2204:~/zs_ws/ga_ros$ time ros2 service call /drive_base/change_state lifecycle_msgs/ChangeState "{transition: {id: 3, label: activate}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=3, label='activate'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=True)


real    0m1.017s
user    0m0.354s
sys     0m0.075s
zs@zs-vm-2204:~/zs_ws/ga_ros$ time ros2 service call /drive_base/change_state lifecycle_msgs/ChangeState "{transition: {id: 4, label: deactivate}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=4, label='deactivate'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=True)


real    0m2.737s
user    0m0.560s
sys     0m0.113s
zs@zs-vm-2204:~/zs_ws/ga_ros$ time ros2 service call /drive_base/change_state lifecycle_msgs/ChangeState "{transition: {id: 3, label: activate}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=3, label='activate'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=True)


real    0m3.112s
user    0m0.370s
sys     0m0.076s
zs@zs-vm-2204:~/zs_ws/ga_ros$ 

Thanks.

Start by reproducing the reported ros2 lifecycle set and ros2 service call /drive_base/change_state timings with the linked simple lifecycle node. Trace the lifecycle and service-call CLI entry points to determine where the wait occurs; done means identifying and addressing the delay while preserving successful transition behavior.