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Update rclcpp section in Lyrical release notes with disable_callbacks() API (backport #6490) #6494

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ahcorde merged 1 commit into from
Apr 30, 2026
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Update rclcpp section in Lyrical release notes with disable_callbacks() API (backport #6490) #6494

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33 changes: 27 additions & 6 deletions source/Releases/Release-Lyrical-Luth.rst
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Expand Up @@ -161,13 +161,34 @@ See https://github.com/ros2/rcl/issues/1178, https://github.com/ros2/rcl/pull/12

``rclcpp``
^^^^^^^^^^
Added new `Callback Group Events Executor <https://github.com/ros2/rclcpp/pull/3097>`__.
Like its predecessor the experimental ``EventsExecutor``, the ``EventsCBGExecutor`` uses an events queue to process ready entities.
Builds on the experimental ``EventsExecutor`` by adding support for multiple sources of ROS time and multiple threads.
Compared to the Single and Multithreaded Executors, the ``EventsCBGExecutor`` exhibits around 10 to 15% less CPU usage.
Note: The experimental ``EventsExecutor`` is now deprecated. For similar performance, use the ``EventsCBGExecutor`` with one thread.

`Unified component container interface <https://github.com/ros2/rclcpp/pull/3134>`__ - ``component_container`` is now the single entrypoint for launching both regular and isolated component containers with all types of executors.
* Added new `Callback Group Events Executor <https://github.com/ros2/rclcpp/pull/3097>`__.
Like its predecessor the experimental ``EventsExecutor``, the ``EventsCBGExecutor`` uses
an events queue to process ready entities.
Builds on the experimental ``EventsExecutor`` by adding support for multiple sources of
ROS time and multiple threads.
Compared to the Single and Multithreaded Executors, the ``EventsCBGExecutor`` exhibits
around 10 to 15% less CPU usage.
Note: The experimental ``EventsExecutor`` is now deprecated. For similar performance, use
the ``EventsCBGExecutor`` with one thread.

* `Unified component container interface <https://github.com/ros2/rclcpp/pull/3134>`__ -
``component_container`` is now the single entrypoint for launching both regular and
isolated component containers with all types of executors.

* Added ``disable_callbacks()`` and ``enable_callbacks()`` APIs to ``SubscriptionBase``.
By design the subscription itself is a shared pointer and its callbacks are propagated to
the executor, making it difficult to manage subscription lifecycle from the application
side.
When a subscription is deleted at the application layer, it may still be referenced by
the node and executor, causing callbacks to be invoked unexpectedly.
This can lead to undefined behavior when the callback accesses resources that have been
cleaned up.
The new APIs allow users to disable subscription callbacks at runtime without destroying
the subscription, preventing unexpected callback invocations.

See `ros2/rclcpp#2984 <https://github.com/ros2/rclcpp/issues/2984>`__ and
`ros2/rclcpp#2985 <https://github.com/ros2/rclcpp/pull/2985>`__ for more details.

``rosidl_python``
^^^^^^^^^^^^^^^^^
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