Populate Transitions in Transition Events (continuation)

[SuperJappie08]

Description

Original author: @CursedRock17
Original reviewers: @fujitatomoya @audrow @ivanpauno @wjwwood

Continuation of #1140.
Implemented most feedback.

Fixes #1019

Is this user-facing behavior change?

Yes, Lifecycle transition events are now filled.
This comes with a small change in function signatures to support timestamping.

Did you use Generative AI?

No.

Additional Information

I would also recommend merging ros2/rcl_interfaces#185 to limit the amount of breaking changes.

I noticed that the node_handle field of rcl_lifecycle_com_interface_t is never filled or used as far as I can see.

[fujitatomoya]

Pulls: ros2/rcl_interfaces#185, #1269, ros2/rclcpp#2967, ros2/rclpy#1528
Gist: https://gist.githubusercontent.com/fujitatomoya/43f97e6f8303a55ef1fdd1c645c51dd1/raw/feab0bba51e7c64b9f07536c61c03781c6dcd1e2/ros2.repos
BUILD args: --packages-above-and-dependencies lifecycle_msgs rcl_lifecycle rclcpp_lifecycle rclpy
TEST args: --packages-above lifecycle_msgs rcl_lifecycle rclcpp_lifecycle rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17335

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

[SuperJappie08]

@fujitatomoya, this patch did not yet include compatibility with ros2/rcl_interfaces#185, but I have it (just not part of the PR yet)

I will fix it now

[SuperJappie08]

@fujitatomoya friendly ping, could you rerun the tests?

[fujitatomoya]

Pulls: ros2/rcl_interfaces#185, #1269, ros2/rclcpp#2967, ros2/rclpy#1528
Gist: https://gist.githubusercontent.com/fujitatomoya/7419b9893cf173e26ca59097d1d673aa/raw/feab0bba51e7c64b9f07536c61c03781c6dcd1e2/ros2.repos
BUILD args: --packages-above-and-dependencies lifecycle_msgs rcl_lifecycle rclcpp_lifecycle rclpy
TEST args: --packages-above lifecycle_msgs rcl_lifecycle rclcpp_lifecycle rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17401

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

[SuperJappie08]

@fujitatomoya, I added the explicit conversions, as required by CMake.

Two things to note:
rcl_lifecycle has stricter compile flags than rcl, is that intended?

rcl/rcl_lifecycle/CMakeLists.txt

Line 29 in e70d040

-Wformat=2 -Wconversion -Wshadow -Wsign-conversion

Instead of adding the second conversion, it might make sense to update the id field of rcl_lifecycle_transition_s match the type of id field in the message, as I cannot instantly think of a reason to make those differ.

rcl/rcl_lifecycle/include/rcl_lifecycle/data_types.h

Line 52 in e70d040

unsigned int id;