[ahcorde]

Description

Executor(const std::shared_ptr<Context>&) lets derived executors skip the base implementation. It leaves notify_waitable_ null and registers no shutdown callback, but ~Executor dereferenced notify_waitable_ unconditionally, so destroying such an executor segfaulted.

This PR only removes the guard conditions and the shutdown callback when notify_waitable_ was set, and adds a test that constructs and destroys an executor through that constructor.

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Claude Opus 5.5

[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 @ f4def90

(empty report — no differences printed by abidiff)

✅ librclcpp.so — full abidiff report

Compared:

• Base: lib-base/librclcpp.so
• Head: lib-pr/librclcpp.so @ f4def90

Functions changes summary: 0 Removed (41 filtered out), 0 Changed (79 filtered out), 0 Added (19 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 @ f4def90

(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 @ f4def90

(empty report — no differences printed by abidiff)

_{Updated for commit f4def90 · check run · suppressions: /home/runner/work/_temp/ros2-abi-suppressions.txt}

[ahcorde]

Pulls: #3350
Gist: https://gist.githubusercontent.com/ahcorde/64aae22178febd4e43823e795a876f90/raw/9bef69dc03eecc2de46ba1211829ee2fc72acf8a/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/20773

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