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Add rcl_subscription_options_set_acceptable_buffer_backends with proper lifetime management#1308

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ahcorde merged 1 commit intorollingfrom
native_buffer/6.5-rcl
Mar 31, 2026
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Add rcl_subscription_options_set_acceptable_buffer_backends with proper lifetime management#1308
ahcorde merged 1 commit intorollingfrom
native_buffer/6.5-rcl

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@nvcyc nvcyc commented Mar 24, 2026

Description

This pull request adds rcl_subscription_options_set_acceptable_buffer_backends() to properly manage the lifetime of the acceptable_buffer_backends string in subscription options, following the same pattern used by rcl_subscription_options_set_content_filter_options().

This PR introduces the following changes:

  • New function rcl_subscription_options_set_acceptable_buffer_backends(): Allocates an owned copy of the string using rcutils_strdup() with the rcl allocator, matching the lifetime management pattern of content filter options.
  • Updated rcl_subscription_options_fini(): Frees the allocated acceptable_buffer_backends string when subscription options are finalized.

This change is part of the broader ROS 2 native buffer feature.
It addresses review feedback on ros2/rclcpp#3098.

Is this user-facing behavior change?

No. This is an internal lifetime safety improvement.

Did you use Generative AI?

Yes. Claude (claude-4.6-opus) via Cursor was used to assist with creating an initial prototype version of the changes contained in this PR.

Additional Information

This PR is a dependency for the acceptable_buffer_backends changes in:

@nvcyc nvcyc mentioned this pull request Mar 24, 2026
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tfoote
tfoote approved these changes Mar 25, 2026
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lgtm

hidmic
hidmic approved these changes Mar 25, 2026
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LGTM2

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ahcorde commented Mar 26, 2026

Pulls: #1308
Gist: https://gist.githubusercontent.com/ahcorde/d8737efa4c6975ff1e49f8e6d6bae1d3/raw/4fb5352c65111b5ac429b0647d8ebecc0bb59662/ros2.repos
BUILD args: --packages-above-and-dependencies rcl
TEST args: --packages-above rcl
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18673

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nvcyc commented Mar 30, 2026

Pulls: #1308
Gist: https://gist.githubusercontent.com/nvcyc/1a514a175642b77ac66a4902aec2aee9/raw/4fb5352c65111b5ac429b0647d8ebecc0bb59662/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies rcl
TEST args: --packages-above rcl
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18700

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

@nvcyc
Add rcl_subscription_options_set_acceptable_buffer_backends with prop…
730a4ed 
…er lifetime management

Signed-off-by: CY Chen <cyc@nvidia.com>
@nvcyc nvcyc force-pushed the native_buffer/6.5-rcl branch from ca37add to 730a4ed Compare March 30, 2026 01:40
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nvcyc commented Mar 30, 2026

Pulls: #1308
Gist: https://gist.githubusercontent.com/nvcyc/606ab6ca1278bb55448b58c7297aaef4/raw/4fb5352c65111b5ac429b0647d8ebecc0bb59662/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies rcl
TEST args: --packages-above rcl
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18702

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

hidmic
hidmic approved these changes Mar 30, 2026
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LGTM

@ahcorde ahcorde merged commit 2b2d063 into rolling Mar 31, 2026
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@ahcorde ahcorde deleted the native_buffer/6.5-rcl branch March 31, 2026 07:27
@ahcorde ahcorde mentioned this pull request Apr 1, 2026
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@tfoote tfoote tfoote approved these changes

@ahcorde ahcorde ahcorde approved these changes

@hidmic hidmic hidmic approved these changes

@mjcarroll mjcarroll Awaiting requested review from mjcarroll

@karsten-nvidia karsten-nvidia Awaiting requested review from karsten-nvidia

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