[mergify]

Description

Fixes #3342

EventsCBGExecutor timers can stall after backward ROS time jumps or when use_sim_time is enabled at runtime because TimerQueue retains stale deadlines.

This PR uses the new schedule change callback from ros2/rcl#1352 to update timer deadlines. The callback only flags timers for rescheduling to avoid deadlocks.

test_executors_time_jump verifies both scenarios. It fails on Rolling and passes with both fixes.

Depends-On: ros2/rcl#1352

Is this user-facing behavior change?

Yes. Timers continue working after backward /clock jumps (e.g., ros2 bag play --loop --clock) and when use_sim_time is enabled at runtime.

Did you use Generative AI?

Yes. Claude Code (Claude Fable 5.1) assisted with investigation, implementation, and tests. Changes were reviewed and tested manually.

Additional Information

Reusing the on-reset callback causes a deadlock with TimeSource::set_clock().

---

This is an automatic backport of pull request #3344 done by Mergify.

[mergify]

Cherry-pick of ae09d1b has failed:

On branch mergify/bp/lyrical/pr-3344
Your branch is up to date with 'origin/lyrical'.

You are currently cherry-picking commit ae09d1b.
  (fix conflicts and run "git cherry-pick --continue")
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  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   rclcpp/test/rclcpp/CMakeLists.txt
	new file:   rclcpp/test/rclcpp/executors/test_executors_time_jump.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/timer_manager.hpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[ahcorde]

Pulls: #3405
Gist: https://gist.githubusercontent.com/ahcorde/799e44bf60119d1b8a8de194f4259484/raw/73fb205e381041a38d9766982164ba2fd553d93c/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: lyrical
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/21056

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

[github-actions]

ABI Compliance Check

✅ Verdict: compatible

Library	Verdict	Summary
libcomponent_manager.so	✅ compatible	No ABI changes detected.
librclcpp.so	✅ compatible	No ABI changes detected.
librclcpp_action.so	✅ compatible	No ABI 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 @ d5f5acd

(empty report — no differences printed by abidiff)

✅ librclcpp.so — full abidiff report

Compared:

• Base: lib-base/librclcpp.so
• Head: lib-pr/librclcpp.so @ d5f5acd

Functions changes summary: 0 Removed (1 filtered out), 0 Changed (104 filtered out), 0 Added (3 filtered out) functions
Variables changes summary: 0 Removed, 0 Changed, 0 Added variable

✅ librclcpp_action.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_action.so
• Head: lib-pr/librclcpp_action.so @ d5f5acd

(empty report — no differences printed by abidiff)

✅ librclcpp_lifecycle.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_lifecycle.so
• Head: lib-pr/librclcpp_lifecycle.so @ d5f5acd

(empty report — no differences printed by abidiff)

_{Updated for commit d5f5acd · check run · suppressions: /home/runner/work/_temp/ros2-abi-suppressions.txt}