Knowing the trajectory of each packet in a network enables a large range of network debugging and management tasks. Existing packet trajectory tracing approaches for software-defined networking (SDN) either require high message/computational overhead or only focus on one kind of network topology. In this paper, we propose UniROPE, a robust and lightweight packet trajectory tracing approach that supports various network topologies. Using the flow information, UniROPE dynamically selects one of the two proposed packet trajectory tracing algorithms to achieve a better tradeoff between accuracy and efficiency. We implement UniROPE using P4, a high-level language for programming SDN switch operations, and evaluate its performance in networks with different topologies, scales, and link failure probabilities. Results show that UniROPE achieves a high successful ratio of packet trajectory tracing with small message/computational overheads in various networks. We also use three case studies to show the effectiveness of the traced packet trajectory information for network debugging and management.