Worked on the ros2/rviz repository to address a critical bug affecting the subscription lifecycle in ROS-based systems. Focused on C++ development and software debugging, the work involved implementing robust unsubscribe behavior to ensure that subscription callbacks were properly disconnected when unsubscribing. This approach prevented duplicate message processing and multiple invocations of handlers during resubscribe cycles, which previously led to performance issues and incorrect behavior. By refining the message processing path, the changes improved runtime reliability and stability in production deployments. The solution leveraged expertise in C++ and ROS development to enhance the correctness and efficiency of message handling workflows.