Jorge J. Perez

Overlay Rci job up-to `rclcpp_lifecycle` without this PR: [](https://build.ros2.org/view/Rci/job/Rci__overlay_ubuntu_jammy_amd64/4/)

This is the reason why the test passes: https://github.com/ros2/performance_test_fixture/blob/d736c276d292a78f9750aba39108d5222bf9629e/cmake/add_performance_test.cmake#L22 Although the test it's there, it's being skipped because google benchmark wasn't included. Reconfiguring the job to include the needed packages.

Overlay Rci using benchmark jobs configuration, without this PR: [](https://build.ros2.org/view/Rci/job/Rci__overlay_ubuntu_jammy_amd64/5/)

Re build without the PR: [](https://build.ros2.org/view/Rci/job/Rci__overlay_ubuntu_jammy_amd64/6/) Re build with the PR: [](https://build.ros2.org/view/Rci/job/Rci__overlay_ubuntu_jammy_amd64/7/)

Rebuild + PR, added extra commit to figure out if the problem it's a timeout [](https://build.ros2.org/view/Rci/job/Rci__overlay_ubuntu_jammy_amd64/8/)

@clalancette I thought this just required an API adjustment with the usage of future, but I've replicated the job locally and it's flaky. I'll mark this PR as draft for...

I think those runtime errors are caused by `colcon test` closing the test, not by the package itself. As you can see in the log, the test is being skipped...

@cottsay Just checked your bug report and you are right, the problem it's the same. I think it should be tracked there.

I remember I didn't push any further on this because I ended up working on something else. But as it is, I think it can be merged. @grasmanek94 Feel free...

@Lobotuerk and I moved and tested part of this implementation to `devel_bullet` branch. This is a summary of some things we have tested at the moment with bullet's Featherstone implementation:...