Support events-based executors in DrainWaitable - #54
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CoContext::post() defers work onto a DrainWaitable guard condition, but its set_on_ready_callback() was a no-op. Events-based executors (EventsExecutor / EventsCBGExecutor) learn a waitable is ready only through that callback, never by polling the wait set, so posted resumptions were dropped. A coroutine suspended in send_goal (whose goal_response_callback resumes via post()) then hung forever. Forward the guard condition's trigger notifications to the on-ready callback. GuardCondition replays triggers that raced ahead of registration, so no post() is lost. Add a regression test that drives send_goal under a single-threaded EventsCBGExecutor. It is skipped where EventsCBGExecutor is unavailable (rolling on noble, rclcpp 31.x). CI now also builds against lyrical (Ubuntu 26.04). Claude-Session: https://claude.ai/code/session_01WY7MQS2YtHghAxhhv7wsG1
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CoContext::post() defers work onto a DrainWaitable guard condition, but its set_on_ready_callback() was a no-op. Events-based executors (EventsExecutor / EventsCBGExecutor) learn a waitable is ready only through that callback, never by polling the wait set, so posted resumptions were dropped. A coroutine suspended in send_goal (whose goal_response_callback resumes via post()) then hung forever.
Forward the guard condition's trigger notifications to the on-ready callback. GuardCondition replays triggers that raced ahead of registration, so no post() is lost.
Add a regression test that drives send_goal under a single-threaded EventsCBGExecutor. CI now also builds against lyrical (Ubuntu 26.04).