[Quchaosheng]

Ordinary executors emit rclcpp_executor_execute from Executor::execute_any_executable(). EventsCBGExecutor calls the shared execute_subscription() / execute_timer() methods directly, so tracing consumers do not see the corresponding execution events.

This moves the existing timer and subscription tracepoints into those shared execution methods. Ordinary executors retain the same tracepoint semantics, EventsCBGExecutor gains parity, and the deprecated EventsExecutor also emits the subscription tracepoint through the same path. No duplicate tracepoints are introduced.

Service/client/waitable tracepoints are intentionally not added because the ordinary executor path does not emit them today.

Validation

• DCO: passed.
• Rpr__rclcpp__ubuntu_resolute_amd64: passed (compile and test).
• No runtime tracepoint assertion was added; the change is verified by build/test plus source review of the two call paths.

[fujitatomoya]

i think this is correct fix.

@jmachowinski can you also take a look?

[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 @ 39ef1a5

(empty report — no differences printed by abidiff)

✅ librclcpp.so — full abidiff report

Compared:

• Base: lib-base/librclcpp.so
• Head: lib-pr/librclcpp.so @ 39ef1a5

Functions changes summary: 0 Removed (7 filtered out), 0 Changed (6 filtered out), 0 Added (1 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 @ 39ef1a5

(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 @ 39ef1a5

(empty report — no differences printed by abidiff)

_{Updated for commit 39ef1a5 · check run · suppressions: /home/runner/work/_temp/ros2-abi-suppressions.txt}