In January 2026, Rahat Chowdhury developed the Wait-for_message Custom Context feature for the ros2/rclcpp repository, enabling users to pass a custom context to wait_for_message for more flexible wait-set handling and reuse across different scenarios. He implemented context-aware wait set construction in C++, adding support for building wait sets with a provided context and ensuring correct context propagation throughout the process. His work focused on concurrency and robust context management, addressing reliability concerns in ROS2 applications. Although the contribution was limited to a single feature over one month, it demonstrated depth in C++ development and unit testing within distributed systems.