Tomoya Fujita

+1 👍 for using `inject_on_return`

@CursedRock17 CC: @alsora i think @alsora just wants the message like ```bash [rcl_lifecycle]: No transition matching "activate" (ID:3) found for current state unconfigured ``` i think that this is `nice-to-have`....

This issue has no activity more than 6 months, i will go ahead to close this.

@iuhilnehc-ynos this includes https://github.com/ros2/rcl/pull/894, right? it should depend on https://github.com/ros2/rcl/pull/894, so that this PR can be dedicated to `action feedback subscription`?

> I think we can combine the part1(Just CFT interfaces) and part2(CFT for parameter_event and action feedback topics). Do you think the #894 can be closed? yeah, i guess so...

@bpwilcox are you planning to work on this?

I think https://github.com/ros2/rclcpp/pull/1995 can fix this problem, duplicated with https://github.com/ros2/rclcpp/issues/1996

> confirmed that https://github.com/ros2/rclcpp/pull/1995 fixes the Mismatched free problem. this has been addressed. everything else, with my local environment. - 1 of 9 is `rmw_fastrtps` related. - 8 of 9...

> 1 of 9 is rmw_fastrtps related. https://github.com/eProsima/Fast-DDS/pull/2954 can address above.

> It's easier to use a type that allows fini'ing twice, because cleanup logic can be setup unconditionally at the beginning of the type creation instead of conditionally only when...