Support generic subscription callbacks in LifecycleNode

rclcpp_lifecycle/CMakeLists.txt

@@ -109,6 +109,16 @@ if(BUILD_TESTING)
   if(TARGET test_lifecycle_publisher)
     target_link_libraries(test_lifecycle_publisher ${PROJECT_NAME} rcl_lifecycle::rcl_lifecycle rclcpp::rclcpp test_msgs::test_msgs)
   endif()
+  ament_add_gtest(
+    test_lifecycle_generic_subscription
+    test/test_lifecycle_generic_subscription.cpp)
+  if(TARGET test_lifecycle_generic_subscription)
+    target_link_libraries(
+      test_lifecycle_generic_subscription
+      ${PROJECT_NAME}
+      rclcpp::rclcpp
+      test_msgs::test_msgs)
+  endif()
   ament_add_gtest(test_lifecycle_service_client test/test_lifecycle_service_client.cpp TIMEOUT 120)
   ament_add_test_label(test_lifecycle_service_client mimick)
   if(TARGET test_lifecycle_service_client)

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -324,12 +324,14 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   /**
    * \sa rclcpp::Node::create_generic_subscription
    */
-  template<typename AllocatorT = std::allocator<void>>
+  template<
+    typename CallbackT,
+    typename AllocatorT = std::allocator<void>>
   std::shared_ptr<rclcpp::GenericSubscription> create_generic_subscription(
     const std::string & topic_name,
     const std::string & topic_type,
     const rclcpp::QoS & qos,
-    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+    CallbackT && callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
     )

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp

@@ -165,13 +165,13 @@ LifecycleNode::create_generic_publisher(
   );
 }
 
-template<typename AllocatorT>
+template<typename CallbackT, typename AllocatorT>
 std::shared_ptr<rclcpp::GenericSubscription>
 LifecycleNode::create_generic_subscription(
   const std::string & topic_name,
   const std::string & topic_type,
   const rclcpp::QoS & qos,
-  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+  CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
 {
   return rclcpp::create_generic_subscription(
@@ -181,7 +181,7 @@ LifecycleNode::create_generic_subscription(
     topic_name,
     topic_type,
     qos,
-    std::move(callback),
+    std::forward<CallbackT>(callback),
     options
   );
 }

rclcpp_lifecycle/test/test_lifecycle_generic_subscription.cpp

@@ -0,0 +1,64 @@
+// Copyright 2026 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+class TestLifecycleGenericSubscription : public ::testing::Test
+{
+public:
+  static void SetUpTestSuite()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestSuite()
+  {
+    rclcpp::shutdown();
+  }
+
+protected:
+  void TearDown() override
+  {
+    node_->shutdown();
+    node_.reset();
+  }
+
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node_ =
+    std::make_shared<rclcpp_lifecycle::LifecycleNode>("test_lifecycle_generic_subscription");
+};
+
+TEST_F(TestLifecycleGenericSubscription, supports_serialized_message_callback_types)
+{
+  constexpr char topic_type[] = "test_msgs/msg/Strings";
+  const auto qos = rclcpp::QoS(1);
+
+  auto unique_ptr_subscription = node_->create_generic_subscription(
+    "unique_ptr_callback",
+    topic_type,
+    qos,
+    [](std::unique_ptr<rclcpp::SerializedMessage>) {});
+  EXPECT_NE(nullptr, unique_ptr_subscription);
+
+  auto with_info_subscription = node_->create_generic_subscription(
+    "callback_with_message_info",
+    topic_type,
+    qos,
+    [](const rclcpp::SerializedMessage &, const rclcpp::MessageInfo &) {});
+  EXPECT_NE(nullptr, with_info_subscription);
+}