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fix wait_for_message for custom ros contexts #3021

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fix wait_for_message for custom ros contexts #3021

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@rahatchd rahatchd commented Jan 20, 2026

Description

  • use the context passed in to wait_for_message to construct wait set
    • this lets users use wait_for_message with custom ros context
  • add unit test for custom ros context

Fixes #3020

Is this user-facing behavior change?

  • users are able to use custom ros context with wait_for_message
  • previously users have to use global default context

Did you use Generative AI?

no

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fujitatomoya
fujitatomoya approved these changes Jan 21, 2026
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thanks for the fix, i think this is inconsistent bug to manage context.

lgtm with green CI.

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fujitatomoya commented Jan 21, 2026

@rahatchd can you fix DCO error?

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fujitatomoya commented Jan 21, 2026

Pulls: #3021
Gist: https://gist.githubusercontent.com/fujitatomoya/bae49577c927add9219975134a799d91/raw/aced9d55325344995a5492734267fe3ea318d8cf/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/18005

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

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wait_for_message uses default ros context instead of passed node's context

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@rahatchd @fujitatomoya