0.7.16

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,134 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.16 (2021-05-21)
+-------------------
+* Fix documented example in create_publisher. (`#1558 <https://github.com/ros2/rclcpp/issues/1558>`_) (`#1560 <https://github.com/ros2/rclcpp/issues/1560>`_)
+* Fix NodeOptions copy constructor. (`#1376 <https://github.com/ros2/rclcpp/issues/1376>`_) (`#1466 <https://github.com/ros2/rclcpp/issues/1466>`_)
+* Contributors: Ivan Santiago Paunovic, Jacob Perron
+
+0.7.15 (2020-11-24)
+-------------------
+* Fix implementation of NodeOptions::use_global_arguments(). (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_) (`#1206 <https://github.com/ros2/rclcpp/issues/1206>`_)
+* Fix conversion of negative durations to messages. (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_) (`#1207 <https://github.com/ros2/rclcpp/issues/1207>`_)
+* Type conversions fixes. (`#901 <https://github.com/ros2/rclcpp/issues/901>`_) (`#1209 <https://github.com/ros2/rclcpp/issues/1209>`_)
+* Add operator!= for duration (`#1236 <https://github.com/ros2/rclcpp/issues/1236>`_) (`#1277 <https://github.com/ros2/rclcpp/issues/1277>`_)
+* Contributors: Ivan Santiago Paunovic, Michel Hidalgo, Monika Idzik
+
+0.7.14 (2020-07-10)
+-------------------
+* Fixed doxygen warnings. (`#1208 <https://github.com/ros2/rclcpp/issues/1208>`_)
+* Check if context is valid when looping in spin_some. (`#1167 <https://github.com/ros2/rclcpp/issues/1167>`_)
+* Fix spin_until_future_complete: check spinning value. (`#1023 <https://github.com/ros2/rclcpp/issues/1023>`_)
+* Fix exception on rcl_clock_init. (`#1195 <https://github.com/ros2/rclcpp/issues/1195>`_)
+* Fix lock-order-inversion (potential deadlock). (`#1138 <https://github.com/ros2/rclcpp/issues/1138>`_)
+* Contributors: Alejandro Hernández Cordero, DongheeYe, Ivan Santiago Paunovic, tomoya
+
+0.7.13 (2020-03-12)
+-------------------
+* Don't specify calling convention in std::_Binder template. (`#1015 <https://github.com/ros2/rclcpp/issues/1015>`_)
+* Contributors: Jacob Perron, Sean Kelly
+
+0.7.12 (2019-12-05)
+-------------------
+
+0.7.11 (2019-10-11)
+-------------------
+* Fix `get_node_*_interface` functions taking a pointer (`#870 <https://github.com/ros2/rclcpp/pull/870>`_).
+* Fix hang with timers in `MultiThreadedExecutor` (`#869 <https://github.com/ros2/rclcpp/pull/869>`_).
+* Contributors: Todd Malsbary, ivanpauno
+
+0.7.10 (2019-09-23)
+-------------------
+
+0.7.9 (2019-09-20)
+------------------
+* add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy\_ (`#837 <https://github.com/ros2/rclcpp/issues/837>`_) (`#857 <https://github.com/ros2/rclcpp/issues/857>`_)
+* Contributors: Zachary Michaels
+
+0.7.8 (2019-09-06)
+------------------
+
+0.7.7 (2019-07-31)
+------------------
+* Enabled the creation of a parameter YAML file which is applied to each node. (`#805 <https://github.com/ros2/rclcpp/issues/805>`_)
+* Fixed a signed/unsigned integer comparison compiler warning. (`#804 <https://github.com/ros2/rclcpp/issues/804>`_)
+* Changed the QoS profile used when subscribing to parameter events to match the publishing side, i.e. ``rmw_qos_profile_parameter_events``. (`#798 <https://github.com/ros2/rclcpp/issues/798>`_)
+* Changed the logic in TimeSource to ignore use_sim_time parameter events coming from other nodes. (`#803 <https://github.com/ros2/rclcpp/issues/803>`_)
+* Added missing default values in the NodeParametersInterface. (`#794 <https://github.com/ros2/rclcpp/issues/794>`_)
+* Added support for const member callback functions. (`#763 <https://github.com/ros2/rclcpp/issues/763>`_)
+* Contributors: Esteve Fernandez, Gonzo, Karsten Knese, Michel Hidalgo, Scott K Logan
+
+0.7.6 (2019-06-12)
+------------------
+* Ignore parameters overrides in set parameter methods when allowing undeclared parameters (`#756 <https://github.com/ros2/rclcpp/issues/756>`_)
+* Add rclcpp::create_timer() (`#757 <https://github.com/ros2/rclcpp/issues/757>`_)
+* checking origin of intra-process msg before taking them (`#753 <https://github.com/ros2/rclcpp/issues/753>`_)
+* Contributors: Alberto Soragna, Shane Loretz, ivanpauno
+
+0.7.5 (2019-05-30)
+------------------
+* Avoid 'Intra process message no longer being stored when trying to handle it' warning (`#749 <https://github.com/ros2/rclcpp/issues/749>`_)
+* Contributors: ivanpauno
+
+0.7.4 (2019-05-29)
+------------------
+* Rename parameter options (`#745 <https://github.com/ros2/rclcpp/issues/745>`_)
+* Bionic use of strerror_r (`#742 <https://github.com/ros2/rclcpp/issues/742>`_)
+* Enforce parameter ranges (`#735 <https://github.com/ros2/rclcpp/issues/735>`_)
+* removed not used parameter client (`#740 <https://github.com/ros2/rclcpp/issues/740>`_)
+* ensure removal of guard conditions of expired nodes from memory strategy (`#741 <https://github.com/ros2/rclcpp/issues/741>`_)
+* Fix typo in log warning message (`#737 <https://github.com/ros2/rclcpp/issues/737>`_)
+* Throw nice errors when creating a publisher with intraprocess communication and incompatible qos policy (`#729 <https://github.com/ros2/rclcpp/issues/729>`_)
+* Contributors: Alberto Soragna, Dirk Thomas, Jacob Perron, William Woodall, ivanpauno, roderick-koehle
+
+0.7.3 (2019-05-20)
+------------------
+* Fixed misspelling, volitile -> volatile (`#724 <https://github.com/ros2/rclcpp/issues/724>`_), and then fixed that since it is a C++ keyword to be ``durability_volatile`` (`#725 <https://github.com/ros2/rclcpp/issues/725>`_)
+* Fixed a clang warning (`#723 <https://github.com/ros2/rclcpp/issues/723>`_)
+* Added ``on_parameter_event`` static method to the ``AsyncParametersClient`` (`#688 <https://github.com/ros2/rclcpp/issues/688>`_)
+* Added a guard against ``ParameterNotDeclaredException`` throwing from within the parameter service callbacks. (`#718 <https://github.com/ros2/rclcpp/issues/718>`_)
+* Added missing template functionality to lifecycle_node. (`#707 <https://github.com/ros2/rclcpp/issues/707>`_)
+* Fixed heap-use-after-free and memory leaks reported from ``test_node.cpp`` (`#719 <https://github.com/ros2/rclcpp/issues/719>`_)
+* Contributors: Alberto Soragna, Dirk Thomas, Emerson Knapp, Jacob Perron, Michael Jeronimo, Prajakta Gokhale
+
+0.7.2 (2019-05-08)
+------------------
+* Added new way to specify QoS settings for publishers and subscriptions. (`#713 <https://github.com/ros2/rclcpp/issues/713>`_)
+  * The new way requires that you specify a history depth when creating a publisher or subscription.
+  * In the past it was possible to create one without specifying any history depth, but these signatures have been deprecated.
+* Deprecated ``shared_ptr`` and raw pointer versions of ``Publisher<T>::publish()``. (`#709 <https://github.com/ros2/rclcpp/issues/709>`_)
+* Implemented API to set callbacks for liveliness and deadline QoS events for publishers and subscriptions. (`#695 <https://github.com/ros2/rclcpp/issues/695>`_)
+* Fixed a segmentation fault when publishing a parameter event when they ought to be disabled. (`#714 <https://github.com/ros2/rclcpp/issues/714>`_)
+* Changes required for upcoming pre-allocation API. (`#711 <https://github.com/ros2/rclcpp/issues/711>`_)
+* Changed ``Node::get_node_names()`` to return the full node names rather than just the base name. (`#698 <https://github.com/ros2/rclcpp/issues/698>`_)
+* Remove logic made redundant by the `ros2/rcl#255 <https://github.com/ros2/rcl/issues/255>`_ pull request. (`#712 <https://github.com/ros2/rclcpp/issues/712>`_)
+* Various improvements for ``rclcpp::Clock``. (`#696 <https://github.com/ros2/rclcpp/issues/696>`_)
+  * Fixed uninitialized bool in ``clock.cpp``.
+  * Fixed up includes of ``clock.hpp/cpp``.
+  * Added documentation for exceptions to ``clock.hpp``.
+  * Adjusted function signature of getters of ``clock.hpp/cpp``.
+  * Removed raw pointers to ``Clock::create_jump_callback``.
+  * Removed unnecessary ``rclcpp`` namespace reference from ``clock.cpp``.
+  * Changed exception to ``bad_alloc`` on ``JumpHandler`` allocation failure.
+  * Fixed missing ``nullptr`` check in ``Clock::on_time_jump``.
+  * Added ``JumpHandler::callback`` types.
+  * Added warning for lifetime of Clock and JumpHandler
+* Fixed bug left over from the `pull request #495 <https://github.com/ros2/rclcpp/pull/495>`_. (`#708 <https://github.com/ros2/rclcpp/issues/708>`_)
+* Changed the ``IntraProcessManager`` to be capable of storing ``shared_ptr<const T>`` in addition to ``unique_ptr<T>``. (`#690 <https://github.com/ros2/rclcpp/issues/690>`_)
+* Contributors: Alberto Soragna, Dima Dorezyuk, M. M, Michael Carroll, Michael Jeronimo, Tully Foote, William Woodall, ivanpauno, jhdcs
+
+0.7.1 (2019-04-26)
+------------------
+* Added read only parameters. (`#495 <https://github.com/ros2/rclcpp/issues/495>`_)
+* Fixed a concurrency problem in the multithreaded executor. (`#703 <https://github.com/ros2/rclcpp/issues/703>`_)
+* Fixup utilities. (`#692 <https://github.com/ros2/rclcpp/issues/692>`_)
+* Added method to read timer cancellation. (`#697 <https://github.com/ros2/rclcpp/issues/697>`_)
+* Added Exception Generator function for implementing "from_rcl_error". (`#678 <https://github.com/ros2/rclcpp/issues/678>`_)
+* Updated initialization of rmw_qos_profile_t struct instances. (`#691 <https://github.com/ros2/rclcpp/issues/691>`_)
+* Removed the const value from the logger before comparison. (`#680 <https://github.com/ros2/rclcpp/issues/680>`_)
+* Contributors: Devin Bonnie, Dima Dorezyuk, Guillaume Autran, M. M, Shane Loretz, Víctor Mayoral Vilches, William Woodall, jhdcs
+
 0.7.0 (2019-04-14)
 ------------------
 * Added Options-struct interfaces for creating publishers/subscribers (pre-QoS, standalone). (`#673 <https://github.com/ros2/rclcpp/issues/673>`_)

rclcpp/CMakeLists.txt

@@ -19,7 +19,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  # About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
+  # implicit sign conversions in rclcpp and gtest.cc, see https://ci.ros2.org/job/ci_osx/9265/.
+  # Hence disabling -Wsign-conversion for now until all those have eventually been fixed.
+  # (from https://github.com/ros2/rclcpp/pull/1188#issuecomment-650229140)
+  add_compile_options(-Wall -Wextra -Wconversion -Wno-sign-conversion -Wpedantic)
 endif()
 
 include_directories(include)
@@ -64,10 +68,12 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/parameter_events_filter.cpp
   src/rclcpp/parameter_map.cpp
   src/rclcpp/parameter_service.cpp
-  src/rclcpp/publisher.cpp
+  src/rclcpp/publisher_base.cpp
+  src/rclcpp/qos.cpp
+  src/rclcpp/qos_event.cpp
   src/rclcpp/service.cpp
   src/rclcpp/signal_handler.cpp
-  src/rclcpp/subscription.cpp
+  src/rclcpp/subscription_base.cpp
   src/rclcpp/time.cpp
   src/rclcpp/time_source.cpp
   src/rclcpp/timer.cpp
@@ -141,6 +147,8 @@ if(BUILD_TESTING)
 
   find_package(rmw_implementation_cmake REQUIRED)
 
+  include(cmake/rclcpp_add_build_failure_test.cmake)
+
   ament_add_gtest(test_client test/test_client.cpp)
   if(TARGET test_client)
     ament_target_dependencies(test_client
@@ -151,6 +159,18 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_client ${PROJECT_NAME})
   endif()
+  ament_add_gtest(test_create_timer test/test_create_timer.cpp)
+  if(TARGET test_create_timer)
+    ament_target_dependencies(test_create_timer
+      "rcl_interfaces"
+      "rmw"
+      "rcl"
+      "rosidl_generator_cpp"
+      "rosidl_typesupport_cpp"
+    )
+    target_link_libraries(test_create_timer ${PROJECT_NAME})
+    target_include_directories(test_create_timer PRIVATE test/)
+  endif()
   ament_add_gtest(test_expand_topic_or_service_name test/test_expand_topic_or_service_name.cpp)
   if(TARGET test_expand_topic_or_service_name)
     ament_target_dependencies(test_expand_topic_or_service_name
@@ -200,6 +220,34 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_node ${PROJECT_NAME})
   endif()
+
+  ament_add_gtest(test_node_interfaces__get_node_interfaces
+    test/node_interfaces/test_get_node_interfaces.cpp)
+  if(TARGET test_node_interfaces__get_node_interfaces)
+    target_link_libraries(test_node_interfaces__get_node_interfaces ${PROJECT_NAME})
+  endif()
+
+  # TODO(wjwwood): reenable these build failure tests when I can get Jenkins to ignore their output
+  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_rclcpp_node.cpp)
+  # target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+  #   ${PROJECT_NAME})
+
+  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_rclcpp_node.cpp)
+  # target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+  #   ${PROJECT_NAME})
+
+  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_wrapped_node
+  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_wrapped_node.cpp)
+  # target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+  #   ${PROJECT_NAME})
+
+  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_wrapped_node
+  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_wrapped_node.cpp)
+  # target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+  #   ${PROJECT_NAME})
+
   ament_add_gtest(test_node_global_args test/test_node_global_args.cpp)
   if(TARGET test_node_global_args)
     ament_target_dependencies(test_node_global_args
@@ -210,9 +258,12 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_node_global_args ${PROJECT_NAME})
   endif()
-  ament_add_gtest(test_node_initial_parameters test/test_node_initial_parameters.cpp)
-  if(TARGET test_node_initial_parameters)
-    target_link_libraries(test_node_initial_parameters ${PROJECT_NAME})
+  ament_add_gtest(test_parameter_client test/test_parameter_client.cpp)
+  if(TARGET test_parameter_client)
+    ament_target_dependencies(test_parameter_client
+      "rcl_interfaces"
+    )
+    target_link_libraries(test_parameter_client ${PROJECT_NAME})
   endif()
   ament_add_gtest(test_parameter_events_filter test/test_parameter_events_filter.cpp)
   if(TARGET test_parameter_events_filter)
@@ -248,15 +299,6 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_publisher ${PROJECT_NAME})
   endif()
-  ament_add_gtest(test_pub_sub_option_interface test/test_pub_sub_option_interface.cpp)
-  if(TARGET test_pub_sub_option_interface)
-    ament_target_dependencies(test_pub_sub_option_interface
-      test_msgs
-    )
-    target_link_libraries(test_pub_sub_option_interface
-      ${PROJECT_NAME}
-    )
-  endif()
   ament_add_gtest(test_publisher_subscription_count_api test/test_publisher_subscription_count_api.cpp)
   if(TARGET test_publisher_subscription_count_api)
     ament_target_dependencies(test_publisher_subscription_count_api
@@ -397,6 +439,14 @@ if(BUILD_TESTING)
     target_link_libraries(test_time ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(test_timer test/test_timer.cpp
+    APPEND_LIBRARY_DIRS "${append_library_dirs}")
+  if(TARGET test_timer)
+    ament_target_dependencies(test_timer
+      "rcl")
+    target_link_libraries(test_timer ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(test_time_source test/test_time_source.cpp
     APPEND_LIBRARY_DIRS "${append_library_dirs}")
   if(TARGET test_time_source)

rclcpp/cmake/rclcpp_add_build_failure_test.cmake

@@ -0,0 +1,56 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Register a test which tries to compile a file and expects it to fail to build.
+#
+# This will create two targets, one by the given target name and a test target
+# which has the same name prefixed with `test_`.
+# For example, if target is `should_not_compile__use_const_argument` then there
+# will be an executable target called `should_not_compile__use_const_argument`
+# and a test target called `test_should_not_compile__use_const_argument`.
+#
+# :param target: the name of the target to be created
+# :type target: string
+# :param ARGN: the list of source files to be used to create the test executable
+# :type ARGN: list of strings
+#
+macro(rclcpp_add_build_failure_test target)
+  if(${ARGC} EQUAL 0)
+    message(
+      FATAL_ERROR
+      "rclcpp_add_build_failure_test() requires a target name and "
+      "at least one source file")
+  endif()
+
+  add_executable(${target} ${ARGN})
+  set_target_properties(${target}
+    PROPERTIES
+      EXCLUDE_FROM_ALL TRUE
+      EXCLUDE_FROM_DEFAULT_BUILD TRUE)
+
+  add_test(
+    NAME test_${target}
+    COMMAND
+      ${CMAKE_COMMAND}
+      --build .
+      --target ${target}
+      --config $<CONFIGURATION>
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
+  set_tests_properties(test_${target}
+    PROPERTIES
+      WILL_FAIL TRUE
+      LABELS "build_failure"
+  )
+endmacro()

rclcpp/include/rclcpp/allocator/allocator_common.hpp

@@ -65,7 +65,8 @@ void * retyped_reallocate(void * untyped_pointer, size_t size, void * untyped_al
 
 // Convert a std::allocator_traits-formatted Allocator into an rcl allocator
 template<
-  typename T, typename Alloc,
+  typename T,
+  typename Alloc,
   typename std::enable_if<!std::is_same<Alloc, std::allocator<void>>::value>::type * = nullptr>
 rcl_allocator_t get_rcl_allocator(Alloc & allocator)
 {
@@ -83,7 +84,8 @@ rcl_allocator_t get_rcl_allocator(Alloc & allocator)
 
 // TODO(jacquelinekay) Workaround for an incomplete implementation of std::allocator<void>
 template<
-  typename T, typename Alloc,
+  typename T,
+  typename Alloc,
   typename std::enable_if<std::is_same<Alloc, std::allocator<void>>::value>::type * = nullptr>
 rcl_allocator_t get_rcl_allocator(Alloc & allocator)
 {

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -36,6 +36,7 @@ class AnySubscriptionCallback
   using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
   using MessageAlloc = typename MessageAllocTraits::allocator_type;
   using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
+  using ConstMessageSharedPtr = std::shared_ptr<const MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
 
   using SharedPtrCallback = std::function<void (const std::shared_ptr<MessageT>)>;
@@ -154,7 +155,6 @@ public:
   void dispatch(
     std::shared_ptr<MessageT> message, const rmw_message_info_t & message_info)
   {
-    (void)message_info;
     if (shared_ptr_callback_) {
       shared_ptr_callback_(message);
     } else if (shared_ptr_with_info_callback_) {
@@ -177,30 +177,50 @@ public:
   }
 
   void dispatch_intra_process(
-    MessageUniquePtr & message, const rmw_message_info_t & message_info)
+    ConstMessageSharedPtr message, const rmw_message_info_t & message_info)
+  {
+    if (const_shared_ptr_callback_) {
+      const_shared_ptr_callback_(message);
+    } else if (const_shared_ptr_with_info_callback_) {
+      const_shared_ptr_with_info_callback_(message, message_info);
+    } else {
+      if (unique_ptr_callback_ || unique_ptr_with_info_callback_ ||
+        shared_ptr_callback_ || shared_ptr_with_info_callback_)
+      {
+        throw std::runtime_error("unexpected dispatch_intra_process const shared "
+                "message call with no const shared_ptr callback");
+      } else {
+        throw std::runtime_error("unexpected message without any callback set");
+      }
+    }
+  }
+
+  void dispatch_intra_process(
+    MessageUniquePtr message, const rmw_message_info_t & message_info)
   {
-    (void)message_info;
     if (shared_ptr_callback_) {
       typename std::shared_ptr<MessageT> shared_message = std::move(message);
       shared_ptr_callback_(shared_message);
     } else if (shared_ptr_with_info_callback_) {
       typename std::shared_ptr<MessageT> shared_message = std::move(message);
       shared_ptr_with_info_callback_(shared_message, message_info);
-    } else if (const_shared_ptr_callback_) {
-      typename std::shared_ptr<MessageT const> const_shared_message = std::move(message);
-      const_shared_ptr_callback_(const_shared_message);
-    } else if (const_shared_ptr_with_info_callback_) {
-      typename std::shared_ptr<MessageT const> const_shared_message = std::move(message);
-      const_shared_ptr_with_info_callback_(const_shared_message, message_info);
     } else if (unique_ptr_callback_) {
       unique_ptr_callback_(std::move(message));
     } else if (unique_ptr_with_info_callback_) {
       unique_ptr_with_info_callback_(std::move(message), message_info);
+    } else if (const_shared_ptr_callback_ || const_shared_ptr_with_info_callback_) {
+      throw std::runtime_error("unexpected dispatch_intra_process unique message call"
+              " with const shared_ptr callback");
     } else {
       throw std::runtime_error("unexpected message without any callback set");
     }
   }
 
+  bool use_take_shared_method()
+  {
+    return const_shared_ptr_callback_ || const_shared_ptr_with_info_callback_;
+  }
+
 private:
   std::shared_ptr<MessageAlloc> message_allocator_;
   MessageDeleter message_deleter_;

rclcpp/include/rclcpp/callback_group.hpp

@@ -21,6 +21,7 @@
 #include <vector>
 
 #include "rclcpp/client.hpp"
+#include "rclcpp/publisher.hpp"
 #include "rclcpp/service.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/timer.hpp"
@@ -92,6 +93,10 @@ public:
 protected:
   RCLCPP_DISABLE_COPY(CallbackGroup)
 
+  RCLCPP_PUBLIC
+  void
+  add_publisher(const rclcpp::PublisherBase::SharedPtr publisher_ptr);
+
   RCLCPP_PUBLIC
   void
   add_subscription(const rclcpp::SubscriptionBase::SharedPtr subscription_ptr);

rclcpp/include/rclcpp/clock.hpp

@@ -16,9 +16,6 @@
 #define RCLCPP__CLOCK_HPP_
 
 #include <functional>
-#include <memory>
-#include <mutex>
-#include <vector>
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/time.hpp"
@@ -35,13 +32,17 @@ class JumpHandler
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(JumpHandler)
+
+  using pre_callback_t = std::function<void ()>;
+  using post_callback_t = std::function<void (const rcl_time_jump_t &)>;
+
   JumpHandler(
-    std::function<void()> pre_callback,
-    std::function<void(const rcl_time_jump_t &)> post_callback,
+    pre_callback_t pre_callback,
+    post_callback_t post_callback,
     const rcl_jump_threshold_t & threshold);
 
-  std::function<void()> pre_callback;
-  std::function<void(const rcl_time_jump_t &)> post_callback;
+  pre_callback_t pre_callback;
+  post_callback_t post_callback;
   rcl_jump_threshold_t notice_threshold;
 };
 
@@ -50,38 +51,74 @@ class Clock
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(Clock)
 
+  /// Default c'tor
+  /**
+   * Initializes the clock instance with the given clock_type.
+   *
+   * \param clock_type type of the clock.
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
+   */
   RCLCPP_PUBLIC
   explicit Clock(rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
 
   RCLCPP_PUBLIC
   ~Clock();
 
+  /**
+   * Returns current time from the time source specified by clock_type.
+   *
+   * \return current time.
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
+   */
   RCLCPP_PUBLIC
   Time
   now();
 
+  /**
+   * Returns the clock of the type `RCL_ROS_TIME` is active.
+   *
+   * \return true if the clock is active
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw if
+   * the current clock does not have the clock_type `RCL_ROS_TIME`.
+   */
   RCLCPP_PUBLIC
   bool
   ros_time_is_active();
 
   RCLCPP_PUBLIC
   rcl_clock_t *
-  get_clock_handle();
+  get_clock_handle() noexcept;
 
   RCLCPP_PUBLIC
   rcl_clock_type_t
-  get_clock_type();
+  get_clock_type() const noexcept;
 
   // Add a callback to invoke if the jump threshold is exceeded.
   /**
    * These callback functions must remain valid as long as the
    * returned shared pointer is valid.
+   *
+   * Function will register callbacks to the callback queue. On time jump all
+   * callbacks will be executed whose threshold is greater then the time jump;
+   * The logic will first call selected pre_callbacks and then all selected
+   * post_callbacks.
+   *
+   * Function is only applicable if the clock_type is `RCL_ROS_TIME`
+   *
+   * \param pre_callback Must be non-throwing
+   * \param post_callback Must be non-throwing.
+   * \param threshold Callbacks will be triggered if the time jump is greater
+   * then the threshold.
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
+   * \throws std::bad_alloc if the allocation of the JumpHandler fails.
+   * \warning the instance of the clock must remain valid as long as any created
+   * JumpHandler.
    */
   RCLCPP_PUBLIC
   JumpHandler::SharedPtr
   create_jump_callback(
-    std::function<void()> pre_callback,
-    std::function<void(const rcl_time_jump_t &)> post_callback,
+    JumpHandler::pre_callback_t pre_callback,
+    JumpHandler::post_callback_t post_callback,
     const rcl_jump_threshold_t & threshold);
 
 private:

rclcpp/include/rclcpp/create_publisher.hpp

@@ -18,19 +18,30 @@
 #include <memory>
 #include <string>
 
+#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/node_options.hpp"
 #include "rclcpp/publisher_factory.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
 #include "rmw/qos_profiles.h"
 
 namespace rclcpp
 {
 
-template<typename MessageT, typename AllocatorT, typename PublisherT>
+template<
+  typename MessageT,
+  typename AllocatorT = std::allocator<void>,
+  typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
+// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+[[deprecated("use alternative rclcpp::create_publisher() signatures")]]
 std::shared_ptr<PublisherT>
 create_publisher(
   rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
   const std::string & topic_name,
   const rmw_qos_profile_t & qos_profile,
+  const PublisherEventCallbacks & event_callbacks,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
   bool use_intra_process_comms,
   std::shared_ptr<AllocatorT> allocator)
 {
@@ -39,10 +50,69 @@ create_publisher(
 
   auto pub = node_topics->create_publisher(
     topic_name,
-    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(allocator),
+    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(event_callbacks, allocator),
     publisher_options,
     use_intra_process_comms);
-  node_topics->add_publisher(pub);
+
+  node_topics->add_publisher(pub, group);
+
+  return std::dynamic_pointer_cast<PublisherT>(pub);
+}
+
+/// Create and return a publisher of the given MessageT type.
+/**
+ * The NodeT type only needs to have a method called get_node_topics_interface()
+ * which returns a shared_ptr to a NodeTopicsInterface.
+ */
+template<
+  typename MessageT,
+  typename AllocatorT = std::allocator<void>,
+  typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>,
+  typename NodeT>
+std::shared_ptr<PublisherT>
+create_publisher(
+  NodeT & node,
+  const std::string & topic_name,
+  const rclcpp::QoS & qos,
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
+))
+{
+  using rclcpp::node_interfaces::get_node_topics_interface;
+  auto node_topics = get_node_topics_interface(node);
+
+  std::shared_ptr<AllocatorT> allocator = options.allocator;
+  if (!allocator) {
+    allocator = std::make_shared<AllocatorT>();
+  }
+
+  bool use_intra_process;
+  switch (options.use_intra_process_comm) {
+    case IntraProcessSetting::Enable:
+      use_intra_process = true;
+      break;
+    case IntraProcessSetting::Disable:
+      use_intra_process = false;
+      break;
+    case IntraProcessSetting::NodeDefault:
+      use_intra_process = node_topics->get_node_base_interface()->get_use_intra_process_default();
+      break;
+    default:
+      throw std::runtime_error("Unrecognized IntraProcessSetting value");
+      break;
+  }
+
+  // TODO(wjwwood): convert all of the interfaces to use QoS and PublisherOptionsBase
+  auto pub = node_topics->create_publisher(
+    topic_name,
+    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(
+      options.event_callbacks,
+      allocator
+    ),
+    options.template to_rcl_publisher_options<MessageT>(qos),
+    use_intra_process
+  );
+  node_topics->add_publisher(pub, options.callback_group);
   return std::dynamic_pointer_cast<PublisherT>(pub);
 }
 

rclcpp/include/rclcpp/create_subscription.hpp

@@ -19,8 +19,11 @@
 #include <string>
 #include <utility>
 
+#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 #include "rclcpp/subscription_factory.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/qos.hpp"
 #include "rmw/qos_profiles.h"
 
 namespace rclcpp
@@ -32,12 +35,15 @@ template<
   typename AllocatorT,
   typename CallbackMessageT,
   typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>>
+// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+[[deprecated("use alternative rclcpp::create_subscription() signatures")]]
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
   rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
   const std::string & topic_name,
   CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
+  const SubscriptionEventCallbacks & event_callbacks,
   rclcpp::callback_group::CallbackGroup::SharedPtr group,
   bool ignore_local_publications,
   bool use_intra_process_comms,
@@ -52,7 +58,10 @@ create_subscription(
 
   auto factory = rclcpp::create_subscription_factory
     <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
-    std::forward<CallbackT>(callback), msg_mem_strat, allocator);
+    std::forward<CallbackT>(callback),
+    event_callbacks,
+    msg_mem_strat,
+    allocator);
 
   auto sub = node_topics->create_subscription(
     topic_name,
@@ -63,6 +72,75 @@ create_subscription(
   return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }
 
+/// Create and return a subscription of the given MessageT type.
+/**
+ * The NodeT type only needs to have a method called get_node_topics_interface()
+ * which returns a shared_ptr to a NodeTopicsInterface, or be a
+ * NodeTopicsInterface pointer itself.
+ */
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename AllocatorT = std::allocator<void>,
+  typename CallbackMessageT =
+  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+  typename NodeT>
+typename std::shared_ptr<SubscriptionT>
+create_subscription(
+  NodeT && node,
+  const std::string & topic_name,
+  const rclcpp::QoS & qos,
+  CallbackT && callback,
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
+  ),
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT, AllocatorT>::SharedPtr
+  msg_mem_strat = nullptr)
+{
+  using rclcpp::node_interfaces::get_node_topics_interface;
+  auto node_topics = get_node_topics_interface(std::forward<NodeT>(node));
+
+  if (!msg_mem_strat) {
+    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
+    msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, AllocatorT>::create_default();
+  }
+
+  std::shared_ptr<AllocatorT> allocator = options.allocator;
+  if (!allocator) {
+    allocator = std::make_shared<AllocatorT>();
+  }
+  auto factory = rclcpp::create_subscription_factory
+    <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
+    std::forward<CallbackT>(callback), options.event_callbacks, msg_mem_strat, allocator);
+
+  bool use_intra_process;
+  switch (options.use_intra_process_comm) {
+    case IntraProcessSetting::Enable:
+      use_intra_process = true;
+      break;
+    case IntraProcessSetting::Disable:
+      use_intra_process = false;
+      break;
+    case IntraProcessSetting::NodeDefault:
+      use_intra_process = node_topics->get_node_base_interface()->get_use_intra_process_default();
+      break;
+    default:
+      throw std::runtime_error("Unrecognized IntraProcessSetting value");
+      break;
+  }
+
+  // TODO(wjwwood): convert all of the interfaces to use QoS and SubscriptionOptionsBase
+  auto sub = node_topics->create_subscription(
+    topic_name,
+    factory,
+    options.template to_rcl_subscription_options<MessageT>(qos),
+    use_intra_process);
+  node_topics->add_subscription(sub, options.callback_group);
+  return std::dynamic_pointer_cast<SubscriptionT>(sub);
+}
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CREATE_SUBSCRIPTION_HPP_

rclcpp/include/rclcpp/create_timer.hpp

@@ -0,0 +1,73 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__CREATE_TIMER_HPP_
+#define RCLCPP__CREATE_TIMER_HPP_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/duration.hpp"
+# include "rclcpp/node_interfaces/get_node_base_interface.hpp"
+# include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
+
+namespace rclcpp
+{
+/// Create a timer with a given clock
+/// \internal
+template<typename CallbackT>
+typename rclcpp::TimerBase::SharedPtr
+create_timer(
+  node_interfaces::NodeBaseInterface * node_base,
+  node_interfaces::NodeTimersInterface * node_timers,
+  rclcpp::Clock::SharedPtr clock,
+  rclcpp::Duration period,
+  CallbackT && callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+{
+  auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
+    clock,
+    period.to_chrono<std::chrono::nanoseconds>(),
+    std::forward<CallbackT>(callback),
+    node_base->get_context());
+
+  node_timers->add_timer(timer, group);
+  return timer;
+}
+
+/// Create a timer with a given clock
+template<typename NodeT, typename CallbackT>
+typename rclcpp::TimerBase::SharedPtr
+create_timer(
+  NodeT node,
+  rclcpp::Clock::SharedPtr clock,
+  rclcpp::Duration period,
+  CallbackT && callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+{
+  return create_timer(
+    rclcpp::node_interfaces::get_node_base_interface(node),
+    rclcpp::node_interfaces::get_node_timers_interface(node),
+    clock,
+    period,
+    std::forward<CallbackT>(callback),
+    group);
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_TIMER_HPP_

rclcpp/include/rclcpp/duration.hpp

@@ -23,91 +23,90 @@
 
 namespace rclcpp
 {
-class Duration
+class RCLCPP_PUBLIC Duration
 {
 public:
-  RCLCPP_PUBLIC
   Duration(int32_t seconds, uint32_t nanoseconds);
 
-  RCLCPP_PUBLIC
-  explicit Duration(
-    rcl_duration_value_t nanoseconds);
+  explicit Duration(rcl_duration_value_t nanoseconds);
 
-  RCLCPP_PUBLIC
-  explicit Duration(
-    std::chrono::nanoseconds nanoseconds);
+  explicit Duration(std::chrono::nanoseconds nanoseconds);
 
-  RCLCPP_PUBLIC
-  Duration(
-    const builtin_interfaces::msg::Duration & duration_msg);
+  // intentionally not using explicit to create a conversion constructor
+  template<class Rep, class Period>
+  // cppcheck-suppress noExplicitConstructor
+  Duration(const std::chrono::duration<Rep, Period> & duration)  // NOLINT(runtime/explicit)
+  : Duration(std::chrono::duration_cast<std::chrono::nanoseconds>(duration))
+  {}
+
+  // cppcheck-suppress noExplicitConstructor
+  Duration(const builtin_interfaces::msg::Duration & duration_msg);  // NOLINT(runtime/explicit)
 
-  RCLCPP_PUBLIC
   explicit Duration(const rcl_duration_t & duration);
 
-  RCLCPP_PUBLIC
   Duration(const Duration & rhs);
 
-  RCLCPP_PUBLIC
-  virtual ~Duration();
+  virtual ~Duration() = default;
 
-  RCLCPP_PUBLIC
   operator builtin_interfaces::msg::Duration() const;
 
-  RCLCPP_PUBLIC
+  // cppcheck-suppress operatorEq // this is a false positive from cppcheck
   Duration &
   operator=(const Duration & rhs);
 
-  RCLCPP_PUBLIC
   Duration &
-  operator=(const builtin_interfaces::msg::Duration & Duration_msg);
+  operator=(const builtin_interfaces::msg::Duration & duration_msg);
 
-  RCLCPP_PUBLIC
   bool
   operator==(const rclcpp::Duration & rhs) const;
 
-  RCLCPP_PUBLIC
+  bool
+  operator!=(const rclcpp::Duration & rhs) const;
+
   bool
   operator<(const rclcpp::Duration & rhs) const;
 
-  RCLCPP_PUBLIC
   bool
   operator<=(const rclcpp::Duration & rhs) const;
 
-  RCLCPP_PUBLIC
   bool
   operator>=(const rclcpp::Duration & rhs) const;
 
-  RCLCPP_PUBLIC
   bool
   operator>(const rclcpp::Duration & rhs) const;
 
-  RCLCPP_PUBLIC
   Duration
   operator+(const rclcpp::Duration & rhs) const;
 
-  RCLCPP_PUBLIC
   Duration
   operator-(const rclcpp::Duration & rhs) const;
 
-  RCLCPP_PUBLIC
-  static Duration
+  static
+  Duration
   max();
 
-  RCLCPP_PUBLIC
   Duration
   operator*(double scale) const;
 
-  RCLCPP_PUBLIC
   rcl_duration_value_t
   nanoseconds() const;
 
   /// \return the duration in seconds as a floating point number.
   /// \warning Depending on sizeof(double) there could be significant precision loss.
   /// When an exact time is required use nanoseconds() instead.
-  RCLCPP_PUBLIC
   double
   seconds() const;
 
+  template<class DurationT>
+  DurationT
+  to_chrono() const
+  {
+    return std::chrono::duration_cast<DurationT>(std::chrono::nanoseconds(this->nanoseconds()));
+  }
+
+  rmw_time_t
+  to_rmw_time() const;
+
 private:
   rcl_duration_t rcl_duration_;
 };

rclcpp/include/rclcpp/exceptions.hpp

@@ -110,13 +110,15 @@ public:
  * \throws std::runtime_error if the rcl_get_error_state returns 0
  * \throws RCLErrorBase some child class exception based on ret
  */
+/* *INDENT-OFF* */  // Uncrustify cannot yet understand [[noreturn]] properly
 RCLCPP_PUBLIC
 void
-throw_from_rcl_error(
+throw_from_rcl_error [[noreturn]] (
   rcl_ret_t ret,
   const std::string & prefix = "",
   const rcl_error_state_t * error_state = nullptr,
   void (* reset_error)() = rcl_reset_error);
+/* *INDENT-ON* */
 
 class RCLErrorBase
 {
@@ -185,14 +187,35 @@ public:
 class InvalidParametersException : public std::runtime_error
 {
 public:
-  // Inherit constructors from runtime_error;
+  // Inherit constructors from runtime_error.
   using std::runtime_error::runtime_error;
 };
 
-/// Throwing if passed parameter value is invalid.
+/// Thrown if passed parameter value is invalid.
 class InvalidParameterValueException : public std::runtime_error
 {
-  // Inherit constructors from runtime_error;
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is already declared.
+class ParameterAlreadyDeclaredException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is not declared, e.g. either set or get was called without first declaring.
+class ParameterNotDeclaredException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is immutable and therefore cannot be undeclared.
+class ParameterImmutableException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
   using std::runtime_error::runtime_error;
 };
 

rclcpp/include/rclcpp/executor.hpp

@@ -22,6 +22,7 @@
 #include <iostream>
 #include <list>
 #include <memory>
+#include <mutex>
 #include <string>
 #include <vector>
 
@@ -34,6 +35,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
@@ -242,9 +244,14 @@ public:
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
-    while (rclcpp::ok(this->context_)) {
+    if (spinning.exchange(true)) {
+      throw std::runtime_error("spin_until_future_complete() called while already spinning");
+    }
+    RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+    while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
-      spin_once(timeout_left);
+      spin_once_impl(timeout_left);
+
       // Check if the future is set, return SUCCESS if it is.
       status = future.wait_for(std::chrono::seconds(0));
       if (status == std::future_status::ready) {
@@ -355,6 +362,9 @@ protected:
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 
+  // Mutex to protect the subsequent memory_strategy_.
+  std::mutex memory_strategy_mutex_;
+
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
   memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 
@@ -364,7 +374,12 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(Executor)
 
-  std::vector<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout);
+
+  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
 };
 
 }  // namespace executor

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -48,6 +48,7 @@ public:
    * \param number_of_threads number of threads to have in the thread pool,
    *   the default 0 will use the number of cpu cores found instead
    * \param yield_before_execute if true std::this_thread::yield() is called
+   * \param timeout maximum time to wait
    */
   RCLCPP_PUBLIC
   MultiThreadedExecutor(

rclcpp/include/rclcpp/function_traits.hpp

@@ -88,8 +88,24 @@ struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...)>>
 struct function_traits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args ...)>(FArgs ...)>>
 #elif defined _MSC_VER  // MS Visual Studio
 struct function_traits<
-  std::_Binder<std::_Unforced, ReturnTypeT(__cdecl ClassT::*)(Args ...), FArgs ...>
->
+  std::_Binder<std::_Unforced, ReturnTypeT (ClassT::*)(Args ...), FArgs ...>>
+#else
+#error "Unsupported C++ compiler / standard library"
+#endif
+  : function_traits<ReturnTypeT(Args ...)>
+{};
+
+// std::bind for object const methods
+template<typename ClassT, typename ReturnTypeT, typename ... Args, typename ... FArgs>
+#if defined _LIBCPP_VERSION  // libc++ (Clang)
+struct function_traits<std::__bind<ReturnTypeT (ClassT::*)(Args ...) const, FArgs ...>>
+#elif defined _GLIBCXX_RELEASE  // glibc++ (GNU C++ >= 7.1)
+struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...) const>>
+#elif defined __GLIBCXX__  // glibc++ (GNU C++)
+struct function_traits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args ...) const>(FArgs ...)>>
+#elif defined _MSC_VER  // MS Visual Studio
+struct function_traits<
+  std::_Binder<std::_Unforced, ReturnTypeT (ClassT::*)(Args ...) const, FArgs ...>>
 #else
 #error "Unsupported C++ compiler / standard library"
 #endif
@@ -103,7 +119,7 @@ struct function_traits<std::__bind<ReturnTypeT( &)(Args ...), FArgs ...>>
 #elif defined __GLIBCXX__  // glibc++ (GNU C++)
 struct function_traits<std::_Bind<ReturnTypeT(*(FArgs ...))(Args ...)>>
 #elif defined _MSC_VER  // MS Visual Studio
-struct function_traits<std::_Binder<std::_Unforced, ReturnTypeT(__cdecl &)(Args ...), FArgs ...>>
+struct function_traits<std::_Binder<std::_Unforced, ReturnTypeT( &)(Args ...), FArgs ...>>
 #else
 #error "Unsupported C++ compiler / standard library"
 #endif

rclcpp/include/rclcpp/intra_process_manager.hpp

@@ -25,14 +25,15 @@
 #include <memory>
 #include <mutex>
 #include <unordered_map>
+#include <utility>
 #include <set>
 
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/intra_process_manager_impl.hpp"
 #include "rclcpp/mapped_ring_buffer.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/publisher.hpp"
-#include "rclcpp/subscription.hpp"
+#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -184,21 +185,11 @@ public:
    * \param buffer_size if 0 (default) a size is calculated based on the QoS.
    * \return an unsigned 64-bit integer which is the publisher's unique id.
    */
-  template<typename MessageT, typename Alloc>
+  RCLCPP_PUBLIC
   uint64_t
   add_publisher(
-    typename Publisher<MessageT, Alloc>::SharedPtr publisher,
-    size_t buffer_size = 0)
-  {
-    auto id = IntraProcessManager::get_next_unique_id();
-    size_t size = buffer_size > 0 ? buffer_size : publisher->get_queue_size();
-    auto mrb = mapped_ring_buffer::MappedRingBuffer<
-      MessageT,
-      typename Publisher<MessageT, Alloc>::MessageAlloc
-      >::make_shared(size, publisher->get_allocator());
-    impl_->add_publisher(id, publisher, mrb, size);
-    return id;
-  }
+    rclcpp::PublisherBase::SharedPtr publisher,
+    size_t buffer_size = 0);
 
   /// Unregister a publisher using the publisher's unique id.
   /**
@@ -242,12 +233,11 @@ public:
    * \return the message sequence number.
    */
   template<
-    typename MessageT, typename Alloc = std::allocator<void>,
-    typename Deleter = std::default_delete<MessageT>>
+    typename MessageT, typename Alloc = std::allocator<void>>
   uint64_t
   store_intra_process_message(
     uint64_t intra_process_publisher_id,
-    std::unique_ptr<MessageT, Deleter> & message)
+    std::shared_ptr<const MessageT> message)
   {
     using MRBMessageAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<MessageT>;
     using TypedMRB = typename mapped_ring_buffer::MappedRingBuffer<MessageT, MRBMessageAlloc>;
@@ -270,6 +260,35 @@ public:
     return message_seq;
   }
 
+  template<
+    typename MessageT, typename Alloc = std::allocator<void>,
+    typename Deleter = std::default_delete<MessageT>>
+  uint64_t
+  store_intra_process_message(
+    uint64_t intra_process_publisher_id,
+    std::unique_ptr<MessageT, Deleter> message)
+  {
+    using MRBMessageAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<MessageT>;
+    using TypedMRB = typename mapped_ring_buffer::MappedRingBuffer<MessageT, MRBMessageAlloc>;
+    uint64_t message_seq = 0;
+    mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer = impl_->get_publisher_info_for_id(
+      intra_process_publisher_id, message_seq);
+    typename TypedMRB::SharedPtr typed_buffer = std::static_pointer_cast<TypedMRB>(buffer);
+    if (!typed_buffer) {
+      throw std::runtime_error("Typecast failed due to incorrect message type");
+    }
+
+    // Insert the message into the ring buffer using the message_seq to identify it.
+    bool did_replace = typed_buffer->push_and_replace(message_seq, std::move(message));
+    // TODO(wjwwood): do something when a message was displaced. log debug?
+    (void)did_replace;  // Avoid unused variable warning.
+
+    impl_->store_intra_process_message(intra_process_publisher_id, message_seq);
+
+    // Return the message sequence which is sent to the subscription.
+    return message_seq;
+  }
+
   /// Take an intra process message.
   /**
    * The intra_process_publisher_id and message_sequence_number parameters
@@ -334,10 +353,45 @@ public:
     // Return a copy or the unique_ptr (ownership) depending on how many subscriptions are left.
     if (target_subs_size) {
       // There are more subscriptions to serve, return a copy.
-      typed_buffer->get_copy_at_key(message_sequence_number, message);
+      typed_buffer->get(message_sequence_number, message);
     } else {
       // This is the last one to be returned, transfer ownership.
-      typed_buffer->pop_at_key(message_sequence_number, message);
+      typed_buffer->pop(message_sequence_number, message);
+    }
+  }
+
+  template<
+    typename MessageT, typename Alloc = std::allocator<void>>
+  void
+  take_intra_process_message(
+    uint64_t intra_process_publisher_id,
+    uint64_t message_sequence_number,
+    uint64_t requesting_subscriptions_intra_process_id,
+    std::shared_ptr<const MessageT> & message)
+  {
+    using MRBMessageAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<MessageT>;
+    using TypedMRB = mapped_ring_buffer::MappedRingBuffer<MessageT, MRBMessageAlloc>;
+    message = nullptr;
+
+    size_t target_subs_size = 0;
+    std::lock_guard<std::mutex> lock(take_mutex_);
+    mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer = impl_->take_intra_process_message(
+      intra_process_publisher_id,
+      message_sequence_number,
+      requesting_subscriptions_intra_process_id,
+      target_subs_size
+    );
+    typename TypedMRB::SharedPtr typed_buffer = std::static_pointer_cast<TypedMRB>(buffer);
+    if (!typed_buffer) {
+      return;
+    }
+    // Return a copy or the unique_ptr (ownership) depending on how many subscriptions are left.
+    if (target_subs_size) {
+      // There are more subscriptions to serve, return a copy.
+      typed_buffer->get(message_sequence_number, message);
+    } else {
+      // This is the last one to be returned, transfer ownership.
+      typed_buffer->pop(message_sequence_number, message);
     }
   }
 

rclcpp/include/rclcpp/intra_process_manager_impl.hpp

@@ -34,8 +34,8 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/mapped_ring_buffer.hpp"
-#include "rclcpp/publisher.hpp"
-#include "rclcpp/subscription.hpp"
+#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp

rclcpp/include/rclcpp/mapped_ring_buffer.hpp

@@ -20,6 +20,7 @@
 #include <cstdint>
 #include <memory>
 #include <mutex>
+#include <stdexcept>
 #include <utility>
 #include <vector>
 
@@ -38,7 +39,7 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS(MappedRingBufferBase)
 };
 
-/// Ring buffer container of unique_ptr's of T, which can be accessed by a key.
+/// Ring buffer container of shared_ptr's or unique_ptr's of T, which can be accessed by a key.
 /**
  * T must be a CopyConstructable and CopyAssignable.
  * This class can be used in a container by using the base class MappedRingBufferBase.
@@ -64,6 +65,7 @@ public:
   using ElemAlloc = typename ElemAllocTraits::allocator_type;
   using ElemDeleter = allocator::Deleter<ElemAlloc, T>;
 
+  using ConstElemSharedPtr = std::shared_ptr<const T>;
   using ElemUniquePtr = std::unique_ptr<T, ElemDeleter>;
 
   /// Constructor.
@@ -101,57 +103,33 @@ public:
    * \param value if the key is found, the value is stored in this parameter
    */
   void
-  get_copy_at_key(uint64_t key, ElemUniquePtr & value)
+  get(uint64_t key, ElemUniquePtr & value)
   {
     std::lock_guard<std::mutex> lock(data_mutex_);
     auto it = get_iterator_of_key(key);
     value = nullptr;
     if (it != elements_.end() && it->in_use) {
-      auto ptr = ElemAllocTraits::allocate(*allocator_.get(), 1);
-      ElemAllocTraits::construct(*allocator_.get(), ptr, *it->value);
-      value = ElemUniquePtr(ptr);
+      if (it->unique_value) {
+        ElemDeleter deleter = it->unique_value.get_deleter();
+        auto ptr = ElemAllocTraits::allocate(*allocator_.get(), 1);
+        ElemAllocTraits::construct(*allocator_.get(), ptr, *it->unique_value);
+        value = ElemUniquePtr(ptr, deleter);
+      } else if (it->shared_value) {
+        ElemDeleter * deleter = std::get_deleter<ElemDeleter, const T>(it->shared_value);
+        auto ptr = ElemAllocTraits::allocate(*allocator_.get(), 1);
+        ElemAllocTraits::construct(*allocator_.get(), ptr, *it->shared_value);
+        if (deleter) {
+          value = ElemUniquePtr(ptr, *deleter);
+        } else {
+          value = ElemUniquePtr(ptr);
+        }
+      } else {
+        throw std::runtime_error("Unexpected empty MappedRingBuffer element.");
+      }
     }
   }
 
-  /// Return ownership of the value stored in the ring buffer, leaving a copy.
-  /**
-   * The key is matched if an element in the ring bufer has a matching key.
-   * This method will allocate in order to store a copy.
-   *
-   * The key is not guaranteed to be unique, see the class docs for more.
-   *
-   * The ownership of the currently stored object is returned, but a copy is
-   * made and stored in its place.
-   * This means that multiple calls to this function for a particular element
-   * will result in returning the copied and stored object not the original.
-   * This also means that later calls to pop_at_key will not return the
-   * originally stored object, since it was returned by the first call to this
-   * method.
-   *
-   * The contents of value before the method is called are discarded.
-   *
-   * \param key the key associated with the stored value
-   * \param value if the key is found, the value is stored in this parameter
-   */
-  void
-  get_ownership_at_key(uint64_t key, ElemUniquePtr & value)
-  {
-    std::lock_guard<std::mutex> lock(data_mutex_);
-    auto it = get_iterator_of_key(key);
-    value = nullptr;
-    if (it != elements_.end() && it->in_use) {
-      // Make a copy.
-      auto ptr = ElemAllocTraits::allocate(*allocator_.get(), 1);
-      ElemAllocTraits::construct(*allocator_.get(), ptr, *it->value);
-      auto copy = ElemUniquePtr(ptr);
-      // Return the original.
-      value.swap(it->value);
-      // Store the copy.
-      it->value.swap(copy);
-    }
-  }
-
-  /// Return ownership of the value stored in the ring buffer at the given key.
+  /// Share ownership of the value stored in the ring buffer at the given key.
   /**
    * The key is matched if an element in the ring buffer has a matching key.
    *
@@ -163,13 +141,90 @@ public:
    * \param value if the key is found, the value is stored in this parameter
    */
   void
-  pop_at_key(uint64_t key, ElemUniquePtr & value)
+  get(uint64_t key, ConstElemSharedPtr & value)
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    auto it = get_iterator_of_key(key);
+    value.reset();
+    if (it != elements_.end() && it->in_use) {
+      if (!it->shared_value) {
+        // The stored unique_ptr is upgraded to a shared_ptr here.
+        // All the remaining get and pop calls done with unique_ptr
+        // signature will receive a copy.
+        if (!it->unique_value) {
+          throw std::runtime_error("Unexpected empty MappedRingBuffer element.");
+        }
+        it->shared_value = std::move(it->unique_value);
+      }
+      value = it->shared_value;
+    }
+  }
+
+  /// Give the ownership of the stored value to the caller if possible, or copy and release.
+  /**
+   * The key is matched if an element in the ring buffer has a matching key.
+   * This method may allocate in order to return a copy.
+   *
+   * If the stored value is a shared_ptr, it is not possible to downgrade it to a unique_ptr.
+   * In that case, a copy is returned and the stored value is released.
+   *
+   * The key is not guaranteed to be unique, see the class docs for more.
+   *
+   * The contents of value before the method is called are discarded.
+   *
+   * \param key the key associated with the stored value
+   * \param value if the key is found, the value is stored in this parameter
+   */
+  void
+  pop(uint64_t key, ElemUniquePtr & value)
   {
     std::lock_guard<std::mutex> lock(data_mutex_);
     auto it = get_iterator_of_key(key);
     value = nullptr;
     if (it != elements_.end() && it->in_use) {
-      value.swap(it->value);
+      if (it->unique_value) {
+        value = std::move(it->unique_value);
+      } else if (it->shared_value) {
+        auto ptr = ElemAllocTraits::allocate(*allocator_.get(), 1);
+        ElemAllocTraits::construct(*allocator_.get(), ptr, *it->shared_value);
+        auto deleter = std::get_deleter<ElemDeleter, const T>(it->shared_value);
+        if (deleter) {
+          value = ElemUniquePtr(ptr, *deleter);
+        } else {
+          value = ElemUniquePtr(ptr);
+        }
+        it->shared_value.reset();
+      } else {
+        throw std::runtime_error("Unexpected empty MappedRingBuffer element.");
+      }
+      it->in_use = false;
+    }
+  }
+
+  /// Give the ownership of the stored value to the caller, at the given key.
+  /**
+   * The key is matched if an element in the ring buffer has a matching key.
+   *
+   * The key is not guaranteed to be unique, see the class docs for more.
+   *
+   * The contents of value before the method is called are discarded.
+   *
+   * \param key the key associated with the stored value
+   * \param value if the key is found, the value is stored in this parameter
+   */
+  void
+  pop(uint64_t key, ConstElemSharedPtr & value)
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    auto it = get_iterator_of_key(key);
+    if (it != elements_.end() && it->in_use) {
+      if (it->shared_value) {
+        value = std::move(it->shared_value);
+      } else if (it->unique_value) {
+        value = std::move(it->unique_value);
+      } else {
+        throw std::runtime_error("Unexpected empty MappedRingBuffer element.");
+      }
       it->in_use = false;
     }
   }
@@ -180,29 +235,44 @@ public:
    * It is up to the user to ensure the key is unique.
    * This method should not allocate memory.
    *
-   * After insertion, if a pair was replaced, then value will contain ownership
-   * of that displaced value. Otherwise it will be a nullptr.
+   * After insertion the value will be a nullptr.
+   * If a pair were replaced, its smart pointer is reset.
    *
    * \param key the key associated with the value to be stored
    * \param value the value to store, and optionally the value displaced
    */
   bool
-  push_and_replace(uint64_t key, ElemUniquePtr & value)
+  push_and_replace(uint64_t key, ConstElemSharedPtr value)
   {
     std::lock_guard<std::mutex> lock(data_mutex_);
     bool did_replace = elements_[head_].in_use;
-    elements_[head_].key = key;
-    elements_[head_].value.swap(value);
-    elements_[head_].in_use = true;
+    Element & element = elements_[head_];
+    element.key = key;
+    element.unique_value.reset();
+    element.shared_value.reset();
+    element.shared_value = value;
+    element.in_use = true;
     head_ = (head_ + 1) % elements_.size();
     return did_replace;
   }
 
+  /// Insert a key-value pair, displacing an existing pair if necessary.
+  /**
+   * See `bool push_and_replace(uint64_t key, const ConstElemSharedPtr & value)`.
+   */
   bool
-  push_and_replace(uint64_t key, ElemUniquePtr && value)
+  push_and_replace(uint64_t key, ElemUniquePtr value)
   {
-    ElemUniquePtr temp = std::move(value);
-    return push_and_replace(key, temp);
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    bool did_replace = elements_[head_].in_use;
+    Element & element = elements_[head_];
+    element.key = key;
+    element.unique_value.reset();
+    element.shared_value.reset();
+    element.unique_value = std::move(value);
+    element.in_use = true;
+    head_ = (head_ + 1) % elements_.size();
+    return did_replace;
   }
 
   /// Return true if the key is found in the ring buffer, otherwise false.
@@ -216,27 +286,28 @@ public:
 private:
   RCLCPP_DISABLE_COPY(MappedRingBuffer<T, Alloc>)
 
-  struct element
+  struct Element
   {
     uint64_t key;
-    ElemUniquePtr value;
+    ElemUniquePtr unique_value;
+    ConstElemSharedPtr shared_value;
     bool in_use;
   };
 
-  using VectorAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<element>;
+  using VectorAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<Element>;
 
-  typename std::vector<element, VectorAlloc>::iterator
+  typename std::vector<Element, VectorAlloc>::iterator
   get_iterator_of_key(uint64_t key)
   {
     auto it = std::find_if(
       elements_.begin(), elements_.end(),
-      [key](element & e) -> bool {
+      [key](Element & e) -> bool {
         return e.key == key && e.in_use;
       });
     return it;
   }
 
-  std::vector<element, VectorAlloc> elements_;
+  std::vector<Element, VectorAlloc> elements_;
   size_t head_;
   std::shared_ptr<ElemAlloc> allocator_;
   std::mutex data_mutex_;

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -15,8 +15,8 @@
 #ifndef RCLCPP__MEMORY_STRATEGY_HPP_
 #define RCLCPP__MEMORY_STRATEGY_HPP_
 
+#include <list>
 #include <memory>
-#include <vector>
 
 #include "rcl/allocator.h"
 #include "rcl/wait.h"
@@ -42,15 +42,16 @@ class RCLCPP_PUBLIC MemoryStrategy
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy)
-  using WeakNodeVector = std::vector<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
+  using WeakNodeList = std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
 
   virtual ~MemoryStrategy() = default;
 
-  virtual bool collect_entities(const WeakNodeVector & weak_nodes) = 0;
+  virtual bool collect_entities(const WeakNodeList & weak_nodes) = 0;
 
   virtual size_t number_of_ready_subscriptions() const = 0;
   virtual size_t number_of_ready_services() const = 0;
   virtual size_t number_of_ready_clients() const = 0;
+  virtual size_t number_of_ready_events() const = 0;
   virtual size_t number_of_ready_timers() const = 0;
   virtual size_t number_of_guard_conditions() const = 0;
   virtual size_t number_of_waitables() const = 0;
@@ -66,22 +67,22 @@ public:
   virtual void
   get_next_subscription(
     rclcpp::executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_service(
     rclcpp::executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_client(
     rclcpp::executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_waitable(
     rclcpp::executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual rcl_allocator_t
   get_allocator() = 0;
@@ -89,42 +90,42 @@ public:
   static rclcpp::SubscriptionBase::SharedPtr
   get_subscription_by_handle(
     std::shared_ptr<const rcl_subscription_t> subscriber_handle,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::ServiceBase::SharedPtr
   get_service_by_handle(
     std::shared_ptr<const rcl_service_t> service_handle,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::ClientBase::SharedPtr
   get_client_by_handle(
     std::shared_ptr<const rcl_client_t> client_handle,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
     rclcpp::callback_group::CallbackGroup::SharedPtr group,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_service(
     rclcpp::ServiceBase::SharedPtr service,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_client(
     rclcpp::ClientBase::SharedPtr client,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_waitable(
     rclcpp::Waitable::SharedPtr waitable,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 };
 
 }  // namespace memory_strategy

rclcpp/include/rclcpp/node.hpp

@@ -23,6 +23,7 @@
 #include <mutex>
 #include <string>
 #include <tuple>
+#include <utility>
 #include <vector>
 
 #include "rcl/error_handling.h"
@@ -41,7 +42,6 @@
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
-#include "rclcpp/node_options.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_clock_interface.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
@@ -52,9 +52,11 @@
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 #include "rclcpp/node_interfaces/node_waitables_interface.hpp"
+#include "rclcpp/node_options.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/publisher.hpp"
 #include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/service.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/subscription_options.hpp"
@@ -143,8 +145,27 @@ public:
 
   /// Create and return a Publisher.
   /**
+   * The rclcpp::QoS has several convenient constructors, including a
+   * conversion constructor for size_t, which mimics older API's that
+   * allows just a string and size_t to create a publisher.
+   *
+   * For example, all of these cases will work:
+   *
+   *   pub = node->create_publisher<MsgT>("chatter", 10);  // implicitly KeepLast
+   *   pub = node->create_publisher<MsgT>("chatter", QoS(10));  // implicitly KeepLast
+   *   pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
+   *   pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
+   *   pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().durability_volatile());
+   *   {
+   *     rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
+   *     pub = node->create_publisher<MsgT>("chatter", custom_qos);
+   *   }
+   *
+   * The publisher options may optionally be passed as the third argument for
+   * any of the above cases.
+   *
    * \param[in] topic_name The topic for this publisher to publish on.
-   * \param[in] qos_history_depth The depth of the publisher message queue.
+   * \param[in] qos The Quality of Service settings for the publisher.
    * \param[in] options Additional options for the created Publisher.
    * \return Shared pointer to the created publisher.
    */
@@ -155,30 +176,29 @@ public:
   std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name,
-    size_t qos_history_depth,
-    const PublisherOptionsWithAllocator<AllocatorT> &
-    options = PublisherOptionsWithAllocator<AllocatorT>());
+    const rclcpp::QoS & qos,
+    const PublisherOptionsWithAllocator<AllocatorT> & options =
+    PublisherOptionsWithAllocator<AllocatorT>()
+  );
 
   /// Create and return a Publisher.
   /**
    * \param[in] topic_name The topic for this publisher to publish on.
    * \param[in] qos_history_depth The depth of the publisher message queue.
-   * \param[in] allocator Optional custom allocator.
+   * \param[in] allocator Custom allocator.
    * \return Shared pointer to the created publisher.
    */
   template<
-    typename MessageT, typename Alloc = std::allocator<void>,
-    typename PublisherT = ::rclcpp::Publisher<MessageT, Alloc>>
+    typename MessageT,
+    typename AllocatorT = std::allocator<void>,
+    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
   // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated(
-    "use the create_publisher(const std::string &, size_t, const PublisherOptions<Alloc> & = "
-    "PublisherOptions<Alloc>()) signature instead")]]
+  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
   std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name,
     size_t qos_history_depth,
-    std::shared_ptr<Alloc> allocator,
-    IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault);
+    std::shared_ptr<AllocatorT> allocator);
 
   /// Create and return a Publisher.
   /**
@@ -188,14 +208,16 @@ public:
    * \return Shared pointer to the created publisher.
    */
   template<
-    typename MessageT, typename Alloc = std::allocator<void>,
-    typename PublisherT = ::rclcpp::Publisher<MessageT, Alloc>>
+    typename MessageT,
+    typename AllocatorT = std::allocator<void>,
+    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
+  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
   std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
-    std::shared_ptr<Alloc> allocator = nullptr,
-    IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault);
+    std::shared_ptr<AllocatorT> allocator = nullptr);
 
   /// Create and return a Subscription.
   /**
@@ -219,10 +241,10 @@ public:
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
+    const rclcpp::QoS & qos,
     CallbackT && callback,
-    size_t qos_history_depth,
-    const SubscriptionOptionsWithAllocator<AllocatorT> &
-    options = SubscriptionOptionsWithAllocator<AllocatorT>(),
+    const SubscriptionOptionsWithAllocator<AllocatorT> & options =
+    SubscriptionOptionsWithAllocator<AllocatorT>(),
     typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
       typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT
     >::SharedPtr
@@ -249,6 +271,10 @@ public:
     typename Alloc = std::allocator<void>,
     typename SubscriptionT = rclcpp::Subscription<
       typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
+  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+  [[deprecated(
+    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
+  )]]
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
@@ -259,8 +285,7 @@ public:
     typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
       typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
     msg_mem_strat = nullptr,
-    std::shared_ptr<Alloc> allocator = nullptr,
-    IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault);
+    std::shared_ptr<Alloc> allocator = nullptr);
 
   /// Create and return a Subscription.
   /**
@@ -283,21 +308,21 @@ public:
     typename Alloc = std::allocator<void>,
     typename SubscriptionT = rclcpp::Subscription<
       typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
+  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
   [[deprecated(
-    "use the create_subscription(const std::string &, CallbackT &&, size_t, "
-    "const SubscriptionOptions<Alloc> & = SubscriptionOptions<Alloc>(), ...) signature instead")]]
+    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
+  )]]
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
     CallbackT && callback,
     size_t qos_history_depth,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
     bool ignore_local_publications = false,
     typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
       typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
     msg_mem_strat = nullptr,
-    std::shared_ptr<Alloc> allocator = nullptr,
-    IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault);
+    std::shared_ptr<Alloc> allocator = nullptr);
 
   /// Create a timer.
   /**
@@ -312,7 +337,13 @@ public:
     CallbackT callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  /* Create and return a Client. */
+  /// Create and return a Client.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] group Callback group to call the service.
+   * \return Shared pointer to the created client.
+   */
   template<typename ServiceT>
   typename rclcpp::Client<ServiceT>::SharedPtr
   create_client(
@@ -320,7 +351,14 @@ public:
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  /* Create and return a Service. */
+  /// Create and return a Service.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] callback User-defined callback function.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] group Callback group to call the service.
+   * \return Shared pointer to the created service.
+   */
   template<typename ServiceT, typename CallbackT>
   typename rclcpp::Service<ServiceT>::SharedPtr
   create_service(
@@ -329,96 +367,438 @@ public:
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
+  /// Declare and initialize a parameter, return the effective value.
+  /**
+   * This method is used to declare that a parameter exists on this node.
+   * If, at run-time, the user has provided an initial value then it will be
+   * set in this method, otherwise the given default_value will be set.
+   * In either case, the resulting value is returned, whether or not it is
+   * based on the default value or the user provided initial value.
+   *
+   * If no parameter_descriptor is given, then the default values from the
+   * message definition will be used, e.g. read_only will be false.
+   *
+   * The name and type in the given rcl_interfaces::msg::ParameterDescriptor
+   * are ignored, and should be specified using the name argument to this
+   * function and the default value's type instead.
+   *
+   * This method, if successful, will result in any callback registered with
+   * set_on_parameters_set_callback to be called.
+   * If that callback prevents the initial value for the parameter from being
+   * set then rclcpp::exceptions::InvalidParameterValueException is thrown.
+   *
+   * The returned reference will remain valid until the parameter is
+   * undeclared.
+   *
+   * \param[in] name The name of the parameter.
+   * \param[in] default_value An initial value to be used if at run-time user
+   *   did not override it.
+   * \param[in] parameter_descriptor An optional, custom description for
+   *   the parameter.
+   * \return A const reference to the value of the parameter.
+   * \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
+   *   has already been declared.
+   * \throws rclcpp::exceptions::InvalidParametersException if a parameter
+   *   name is invalid.
+   * \throws rclcpp::exceptions::InvalidParameterValueException if initial
+   *   value fails to be set.
+   */
+  RCLCPP_PUBLIC
+  const rclcpp::ParameterValue &
+  declare_parameter(
+    const std::string & name,
+    const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
+    rcl_interfaces::msg::ParameterDescriptor());
+
+  /// Declare and initialize a parameter with a type.
+  /**
+   * See the non-templated declare_parameter() on this class for details.
+   *
+   * If the type of the default value, and therefore also the type of return
+   * value, differs from the initial value provided in the node options, then
+   * a rclcpp::ParameterTypeException may be thrown.
+   * To avoid this, use the declare_parameter() method which returns an
+   * rclcpp::ParameterValue instead.
+   *
+   * Note, this method cannot return a const reference, because extending the
+   * lifetime of a temporary only works recursively with member initializers,
+   * and cannot be extended to members of a class returned.
+   * The return value of this class is a copy of the member of a ParameterValue
+   * which is returned by the other version of declare_parameter().
+   * See also:
+   *
+   *   - https://en.cppreference.com/w/cpp/language/lifetime
+   *   - https://herbsutter.com/2008/01/01/gotw-88-a-candidate-for-the-most-important-const/
+   *   - https://www.youtube.com/watch?v=uQyT-5iWUow (cppnow 2018 presentation)
+   */
+  template<typename ParameterT>
+  auto
+  declare_parameter(
+    const std::string & name,
+    const ParameterT & default_value,
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
+    rcl_interfaces::msg::ParameterDescriptor());
+
+  /// Declare and initialize several parameters with the same namespace and type.
+  /**
+   * For each key in the map, a parameter with a name of "namespace.key"
+   * will be set to the value in the map.
+   * The resulting value for each declared parameter will be returned.
+   *
+   * The name expansion is naive, so if you set the namespace to be "foo.",
+   * then the resulting parameter names will be like "foo..key".
+   * However, if the namespace is an empty string, then no leading '.' will be
+   * placed before each key, which would have been the case when naively
+   * expanding "namespace.key".
+   * This allows you to declare several parameters at once without a namespace.
+   *
+   * The map may either contain default values for parameters, or a std::pair
+   * where the first element is a default value and the second is a
+   * parameter descriptor.
+   * This function only takes the default value, but there is another overload
+   * which takes the std::pair with the default value and descriptor.
+   *
+   * This method, if successful, will result in any callback registered with
+   * set_on_parameters_set_callback to be called, once for each parameter.
+   * If that callback prevents the initial value for any parameter from being
+   * set then rclcpp::exceptions::InvalidParameterValueException is thrown.
+   *
+   * \param[in] namespace_ The namespace in which to declare the parameters.
+   * \param[in] parameters The parameters to set in the given namespace.
+   * \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
+   *   has already been declared.
+   * \throws rclcpp::exceptions::InvalidParametersException if a parameter
+   *   name is invalid.
+   * \throws rclcpp::exceptions::InvalidParameterValueException if initial
+   *   value fails to be set.
+   */
+  template<typename ParameterT>
+  std::vector<ParameterT>
+  declare_parameters(
+    const std::string & namespace_,
+    const std::map<std::string, ParameterT> & parameters);
+
+  /// Declare and initialize several parameters with the same namespace and type.
+  /**
+   * This version will take a map where the value is a pair, with the default
+   * parameter value as the first item and a parameter descriptor as the second.
+   *
+   * See the simpler declare_parameters() on this class for more details.
+   */
+  template<typename ParameterT>
+  std::vector<ParameterT>
+  declare_parameters(
+    const std::string & namespace_,
+    const std::map<
+      std::string,
+      std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
+    > & parameters);
+
+  /// Undeclare a previously declared parameter.
+  /**
+   * This method will not cause a callback registered with
+   * set_on_parameters_set_callback to be called.
+   *
+   * \param[in] name The name of the parameter to be undeclared.
+   * \throws rclcpp::exceptions::ParameterNotDeclaredException if the parameter
+   *   has not been declared.
+   * \throws rclcpp::exceptions::ParameterImmutableException if the parameter
+   *   was create as read_only (immutable).
+   */
+  RCLCPP_PUBLIC
+  void
+  undeclare_parameter(const std::string & name);
+
+  /// Return true if a given parameter is declared.
+  /**
+   * \param[in] name The name of the parameter to check for being declared.
+   * \return true if the parameter name has been declared, otherwise false.
+   */
+  RCLCPP_PUBLIC
+  bool
+  has_parameter(const std::string & name) const;
+
+  /// Set a single parameter.
+  /**
+   * Set the given parameter and then return result of the set action.
+   *
+   * If the parameter has not been declared this function may throw the
+   * rclcpp::exceptions::ParameterNotDeclaredException exception, but only if
+   * the node was not created with the
+   * rclcpp::NodeOptions::allow_undeclared_parameters set to true.
+   * If undeclared parameters are allowed, then the parameter is implicitly
+   * declared with the default parameter meta data before being set.
+   * Parameter overrides are ignored by set_parameter.
+   *
+   * This method will result in any callback registered with
+   * set_on_parameters_set_callback to be called.
+   * If the callback prevents the parameter from being set, then it will be
+   * reflected in the SetParametersResult that is returned, but no exception
+   * will be thrown.
+   *
+   * If the value type of the parameter is rclcpp::PARAMETER_NOT_SET, and the
+   * existing parameter type is something else, then the parameter will be
+   * implicitly undeclared.
+   * This will result in a parameter event indicating that the parameter was
+   * deleted.
+   *
+   * \param[in] parameter The parameter to be set.
+   * \return The result of the set action.
+   * \throws rclcpp::exceptions::ParameterNotDeclaredException if the parameter
+   *   has not been declared and undeclared parameters are not allowed.
+   */
+  RCLCPP_PUBLIC
+  rcl_interfaces::msg::SetParametersResult
+  set_parameter(const rclcpp::Parameter & parameter);
+
+  /// Set one or more parameters, one at a time.
+  /**
+   * Set the given parameters, one at a time, and then return result of each
+   * set action.
+   *
+   * Parameters are set in the order they are given within the input vector.
+   *
+   * Like set_parameter, if any of the parameters to be set have not first been
+   * declared, and undeclared parameters are not allowed (the default), then
+   * this method will throw rclcpp::exceptions::ParameterNotDeclaredException.
+   *
+   * If setting a parameter fails due to not being declared, then the
+   * parameters which have already been set will stay set, and no attempt will
+   * be made to set the parameters which come after.
+   *
+   * If a parameter fails to be set due to any other reason, like being
+   * rejected by the user's callback (basically any reason other than not
+   * having been declared beforehand), then that is reflected in the
+   * corresponding SetParametersResult in the vector returned by this function.
+   *
+   * This method will result in any callback registered with
+   * set_on_parameters_set_callback to be called, once for each parameter.
+   * If the callback prevents the parameter from being set, then, as mentioned
+   * before, it will be reflected in the corresponding SetParametersResult
+   * that is returned, but no exception will be thrown.
+   *
+   * Like set_parameter() this method will implicitly undeclare parameters
+   * with the type rclcpp::PARAMETER_NOT_SET.
+   *
+   * \param[in] parameters The vector of parameters to be set.
+   * \return The results for each set action as a vector.
+   * \throws rclcpp::exceptions::ParameterNotDeclaredException if any parameter
+   *   has not been declared and undeclared parameters are not allowed.
+   */
   RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
   set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
+  /// Set one or more parameters, all at once.
+  /**
+   * Set the given parameters, all at one time, and then aggregate result.
+   *
+   * Behaves like set_parameter, except that it sets multiple parameters,
+   * failing all if just one of the parameters are unsuccessfully set.
+   * Either all of the parameters are set or none of them are set.
+   *
+   * Like set_parameter and set_parameters, this method may throw an
+   * rclcpp::exceptions::ParameterNotDeclaredException exception if any of the
+   * parameters to be set have not first been declared.
+   * If the exception is thrown then none of the parameters will have been set.
+   *
+   * This method will result in any callback registered with
+   * set_on_parameters_set_callback to be called, just one time.
+   * If the callback prevents the parameters from being set, then it will be
+   * reflected in the SetParametersResult which is returned, but no exception
+   * will be thrown.
+   *
+   * If you pass multiple rclcpp::Parameter instances with the same name, then
+   * only the last one in the vector (forward iteration) will be set.
+   *
+   * Like set_parameter() this method will implicitly undeclare parameters
+   * with the type rclcpp::PARAMETER_NOT_SET.
+   *
+   * \param[in] parameters The vector of parameters to be set.
+   * \return The aggregate result of setting all the parameters atomically.
+   * \throws rclcpp::exceptions::ParameterNotDeclaredException if any parameter
+   *   has not been declared and undeclared parameters are not allowed.
+   */
   RCLCPP_PUBLIC
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
+  /// Set one parameter, unless that parameter has already been set.
+  /**
+   * Set the given parameter unless already set.
+   *
+   * Deprecated, instead use declare_parameter().
+   *
+   * \param[in] parameters The vector of parameters to be set.
+   * \return The result of each set action as a vector.
+   */
   template<typename ParameterT>
+  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+  [[deprecated("use declare_parameter() instead")]]
   void
-  set_parameter_if_not_set(
-    const std::string & name,
-    const ParameterT & value);
+  set_parameter_if_not_set(const std::string & name, const ParameterT & value);
 
   /// Set a map of parameters with the same prefix.
   /**
    * For each key in the map, a parameter with a name of "name.key" will be set
    * to the value in the map.
    *
+   * Deprecated, instead use declare_parameters().
+   *
    * \param[in] name The prefix of the parameters to set.
    * \param[in] values The parameters to set in the given prefix.
    */
-  template<typename MapValueT>
+  template<typename ParameterT>
+  [[deprecated("use declare_parameters() instead")]]
   void
   set_parameters_if_not_set(
     const std::string & name,
-    const std::map<std::string, MapValueT> & values);
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::Parameter>
-  get_parameters(const std::vector<std::string> & names) const;
+    const std::map<std::string, ParameterT> & values);
 
+  /// Return the parameter by the given name.
+  /**
+   * If the parameter has not been declared, then this method may throw the
+   * rclcpp::exceptions::ParameterNotDeclaredException exception.
+   *
+   * If undeclared parameters are allowed, see the node option
+   * rclcpp::NodeOptions::allow_undeclared_parameters, then this method will
+   * not throw an exception, and instead return a default initialized
+   * rclcpp::Parameter, which has a type of
+   * rclcpp::ParameterType::PARAMETER_NOT_SET.
+   *
+   * \param[in] name The name of the parameter to get.
+   * \return The requested parameter inside of a rclcpp parameter object.
+   * \throws rclcpp::exceptions::ParameterNotDeclaredException if the parameter
+   *   has not been declared and undeclared parameters are not allowed.
+   */
   RCLCPP_PUBLIC
   rclcpp::Parameter
   get_parameter(const std::string & name) const;
 
-  RCLCPP_PUBLIC
-  bool
-  get_parameter(
-    const std::string & name,
-    rclcpp::Parameter & parameter) const;
-
-  /// Assign the value of the parameter if set into the parameter argument.
+  /// Get the value of a parameter by the given name, and return true if it was set.
   /**
-   * If the parameter was not set, then the "parameter" argument is never assigned a value.
+   * This method will never throw the
+   * rclcpp::exceptions::ParameterNotDeclaredException exception, but will
+   * instead return false if the parameter has not be previously declared.
+   *
+   * If the parameter was not declared, then the output argument for this
+   * method which is called "parameter" will not be assigned a value.
+   * If the parameter was declared, and therefore has a value, then it is
+   * assigned into the "parameter" argument of this method.
    *
    * \param[in] name The name of the parameter to get.
-   * \param[out] parameter The output where the value of the parameter should be assigned.
-   * \returns true if the parameter was set, false otherwise
+   * \param[out] parameter The output storage for the parameter being retrieved.
+   * \return true if the parameter was previously declared, otherwise false.
+   */
+  RCLCPP_PUBLIC
+  bool
+  get_parameter(const std::string & name, rclcpp::Parameter & parameter) const;
+
+  /// Get the value of a parameter by the given name, and return true if it was set.
+  /**
+   * Identical to the non-templated version of this method, except that when
+   * assigning the output argument called "parameter", this method will attempt
+   * to coerce the parameter value into the type requested by the given
+   * template argument, which may fail and throw an exception.
+   *
+   * If the parameter has not been declared, it will not attempt to coerce the
+   * value into the requested type, as it is known that the type is not set.
+   *
+   * \throws rclcpp::ParameterTypeException if the requested type does not
+   *   match the value of the parameter which is stored.
    */
   template<typename ParameterT>
   bool
   get_parameter(const std::string & name, ParameterT & parameter) const;
 
-  /// Assign the value of the map parameter if set into the values argument.
+  /// Get the parameter value, or the "alternative_value" if not set, and assign it to "parameter".
   /**
-   * Parameter names that are part of a map are of the form "name.member".
-   * This API gets all parameters that begin with "name", storing them into the
-   * map with the name of the parameter and their value.
-   * If there are no members in the named map, then the "values" argument is not changed.
-   *
-   * \param[in] name The prefix of the parameters to get.
-   * \param[out] values The map of output values, with one std::string,MapValueT
-   *                    per parameter.
-   * \returns true if values was changed, false otherwise
-   */
-  template<typename MapValueT>
-  bool
-  get_parameters(
-    const std::string & name,
-    std::map<std::string, MapValueT> & values) const;
-
-  /// Get the parameter value, or the "alternative value" if not set, and assign it to "value".
-  /**
-   * If the parameter was not set, then the "value" argument is assigned
+   * If the parameter was not set, then the "parameter" argument is assigned
    * the "alternative_value".
-   * In all cases, the parameter remains not set after this function is called.
+   *
+   * Like the version of get_parameter() which returns a bool, this method will
+   * not throw the rclcpp::exceptions::ParameterNotDeclaredException exception.
+   *
+   * In all cases, the parameter is never set or declared within the node.
    *
    * \param[in] name The name of the parameter to get.
-   * \param[out] value The output where the value of the parameter should be assigned.
+   * \param[out] parameter The output where the value of the parameter should be assigned.
    * \param[in] alternative_value Value to be stored in output if the parameter was not set.
-   * \returns true if the parameter was set, false otherwise
+   * \returns true if the parameter was set, false otherwise.
    */
   template<typename ParameterT>
   bool
   get_parameter_or(
     const std::string & name,
-    ParameterT & value,
+    ParameterT & parameter,
     const ParameterT & alternative_value) const;
 
+  /// Return the parameters by the given parameter names.
+  /**
+   * Like get_parameters(), this method may throw the
+   * rclcpp::exceptions::ParameterNotDeclaredException exception if the
+   * requested parameter has not been declared and undeclared parameters are
+   * not allowed.
+   *
+   * Also like get_parameters(), if undeclared parameters are allowed and the
+   * parameter has not been declared, then the corresponding rclcpp::Parameter
+   * will be default initialized and therefore have the type
+   * rclcpp::ParameterType::PARAMETER_NOT_SET.
+   *
+   * \param[in] names The names of the parameters to be retrieved.
+   * \return The parameters that were retrieved.
+   * \throws rclcpp::exceptions::ParameterNotDeclaredException if any of the
+   *   parameters have not been declared and undeclared parameters are not
+   *   allowed.
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::Parameter>
+  get_parameters(const std::vector<std::string> & names) const;
+
+  /// Get the parameter values for all parameters that have a given prefix.
+  /**
+   * The "prefix" argument is used to list the parameters which are prefixed
+   * with that prefix, see also list_parameters().
+   *
+   * The resulting list of parameter names are used to get the values of the
+   * parameters.
+   *
+   * The names which are used as keys in the values map have the prefix removed.
+   * For example, if you use the prefix "foo" and the parameters "foo.ping" and
+   * "foo.pong" exist, then the returned map will have the keys "ping" and
+   * "pong".
+   *
+   * An empty string for the prefix will match all parameters.
+   *
+   * If no parameters with the prefix are found, then the output parameter
+   * "values" will be unchanged and false will be returned.
+   * Otherwise, the parameter names and values will be stored in the map and
+   * true will be returned to indicate "values" was mutated.
+   *
+   * This method will never throw the
+   * rclcpp::exceptions::ParameterNotDeclaredException exception because the
+   * action of listing the parameters is done atomically with getting the
+   * values, and therefore they are only listed if already declared and cannot
+   * be undeclared before being retrieved.
+   *
+   * Like the templated get_parameter() variant, this method will attempt to
+   * coerce the parameter values into the type requested by the given
+   * template argument, which may fail and throw an exception.
+   *
+   * \param[in] prefix The prefix of the parameters to get.
+   * \param[out] values The map used to store the parameter names and values,
+   *   respectively, with one entry per parameter matching prefix.
+   * \returns true if output "values" was changed, false otherwise.
+   * \throws rclcpp::ParameterTypeException if the requested type does not
+   *   match the value of the parameter which is stored.
+   */
+  template<typename ParameterT>
+  bool
+  get_parameters(
+    const std::string & prefix,
+    std::map<std::string, ParameterT> & values) const;
+
   /// Get the parameter value; if not set, set the "alternative value" and store it in the node.
   /**
    * If the parameter is set, then the "value" argument is assigned the value
@@ -426,39 +806,159 @@ public:
    * If the parameter is not set, then the "value" argument is assigned the "alternative_value",
    * and the parameter is set to the "alternative_value" on the node.
    *
+   * Deprecated, instead use declare_parameter()'s return value, or use
+   * has_parameter() to ensure it exists before getting it.
+   *
    * \param[in] name The name of the parameter to get.
    * \param[out] value The output where the value of the parameter should be assigned.
-   * \param[in] alternative_value Value to be stored in output and parameter if the parameter was not set.
+   * \param[in] alternative_value Value to be used if the parameter was not set.
    */
   template<typename ParameterT>
+  [[deprecated("use declare_parameter() and it's return value instead")]]
   void
   get_parameter_or_set(
     const std::string & name,
     ParameterT & value,
     const ParameterT & alternative_value);
 
+  /// Return the parameter descriptor for the given parameter name.
+  /**
+   * Like get_parameters(), this method may throw the
+   * rclcpp::exceptions::ParameterNotDeclaredException exception if the
+   * requested parameter has not been declared and undeclared parameters are
+   * not allowed.
+   *
+   * If undeclared parameters are allowed, then a default initialized
+   * descriptor will be returned.
+   *
+   * \param[in] name The name of the parameter to describe.
+   * \return The descriptor for the given parameter name.
+   * \throws rclcpp::exceptions::ParameterNotDeclaredException if the
+   *   parameter has not been declared and undeclared parameters are not
+   *   allowed.
+   */
+  RCLCPP_PUBLIC
+  rcl_interfaces::msg::ParameterDescriptor
+  describe_parameter(const std::string & name) const;
+
+  /// Return a vector of parameter descriptors, one for each of the given names.
+  /**
+   * Like get_parameters(), this method may throw the
+   * rclcpp::exceptions::ParameterNotDeclaredException exception if any of the
+   * requested parameters have not been declared and undeclared parameters are
+   * not allowed.
+   *
+   * If undeclared parameters are allowed, then a default initialized
+   * descriptor will be returned for the undeclared parameter's descriptor.
+   *
+   * If the names vector is empty, then an empty vector will be returned.
+   *
+   * \param[in] names The list of parameter names to describe.
+   * \return A list of parameter descriptors, one for each parameter given.
+   * \throws rclcpp::exceptions::ParameterNotDeclaredException if any of the
+   *   parameters have not been declared and undeclared parameters are not
+   *   allowed.
+   */
   RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::ParameterDescriptor>
   describe_parameters(const std::vector<std::string> & names) const;
 
+  /// Return a vector of parameter types, one for each of the given names.
+  /**
+   * Like get_parameters(), this method may throw the
+   * rclcpp::exceptions::ParameterNotDeclaredException exception if any of the
+   * requested parameters have not been declared and undeclared parameters are
+   * not allowed.
+   *
+   * If undeclared parameters are allowed, then the default type
+   * rclcpp::ParameterType::PARAMETER_NOT_SET will be returned.
+   *
+   * \param[in] names The list of parameter names to get the types.
+   * \return A list of parameter types, one for each parameter given.
+   * \throws rclcpp::exceptions::ParameterNotDeclaredException if any of the
+   *   parameters have not been declared and undeclared parameters are not
+   *   allowed.
+   */
   RCLCPP_PUBLIC
   std::vector<uint8_t>
   get_parameter_types(const std::vector<std::string> & names) const;
 
+  /// Return a list of parameters with any of the given prefixes, up to the given depth.
+  /**
+   * \todo: properly document and test this method.
+   */
   RCLCPP_PUBLIC
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
+  using OnParametersSetCallbackType =
+    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
+
+  /// Register a callback to be called anytime a parameter is about to be changed.
+  /**
+   * The callback signature is designed to allow handling of any of the above
+   * `set_parameter*` or `declare_parameter*` methods, and so it takes a const
+   * reference to a vector of parameters to be set, and returns an instance of
+   * rcl_interfaces::msg::SetParametersResult to indicate whether or not the
+   * parameter should be set or not, and if not why.
+   *
+   * For an example callback:
+   *
+   *   rcl_interfaces::msg::SetParametersResult
+   *   my_callback(const std::vector<rclcpp::Parameter> & parameters)
+   *   {
+   *     rcl_interfaces::msg::SetParametersResult result;
+   *     result.successful = true;
+   *     for (const auto & parameter : parameters) {
+   *       if (!some_condition) {
+   *         result.successful = false;
+   *         result.reason = "the reason it could not be allowed";
+   *       }
+   *     }
+   *     return result;
+   *   }
+   *
+   * You can see that the SetParametersResult is a boolean flag for success
+   * and an optional reason that can be used in error reporting when it fails.
+   *
+   * This allows the node developer to control which parameters may be changed.
+   *
+   * Note that the callback is called when declare_parameter() and its variants
+   * are called, and so you cannot assume the parameter has been set before
+   * this callback, so when checking a new value against the existing one, you
+   * must account for the case where the parameter is not yet set.
+   *
+   * Some constraints like read_only are enforced before the callback is called.
+   *
+   * There may only be one callback set at a time, so the previously set
+   * callback is returned when this method is used, or nullptr will be returned
+   * if no callback was previously set.
+   *
+   * \param[in] callback The callback to be called when the value for a
+   *   parameter is about to be set.
+   * \return The previous callback that was registered, if there was one,
+   *   otherwise nullptr.
+   */
+  RCLCPP_PUBLIC
+  rclcpp::Node::OnParametersSetCallbackType
+  set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
+
   /// Register the callback for parameter changes
   /**
    * \param[in] callback User defined callback function.
    *   It is expected to atomically set parameters.
-   * \note Repeated invocations of this function will overwrite previous callbacks
+   * \note Repeated invocations of this function will overwrite previous callbacks.
    */
   template<typename CallbackT>
+  [[deprecated("use set_on_parameters_set_callback() instead")]]
   void
   register_param_change_callback(CallbackT && callback);
 
+  /// Get the fully-qualified names of all available nodes.
+  /**
+   * The fully-qualified name includes the local namespace and name of the node.
+   * \return A vector of fully-qualified names of nodes.
+   */
   RCLCPP_PUBLIC
   std::vector<std::string>
   get_node_names() const;
@@ -655,14 +1155,27 @@ public:
    *   with a leading '/'.
    */
   RCLCPP_PUBLIC
-  Node::SharedPtr
+  rclcpp::Node::SharedPtr
   create_sub_node(const std::string & sub_namespace);
 
   /// Return the NodeOptions used when creating this node.
   RCLCPP_PUBLIC
-  const NodeOptions &
+  const rclcpp::NodeOptions &
   get_node_options() const;
 
+  /// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
+  /**
+   * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE, the creator
+   * of this node may manually call `assert_liveliness` at some point in time to signal to the rest
+   * of the system that this Node is still alive.
+   *
+   * \return `true` if the liveliness was asserted successfully, otherwise `false`
+   */
+  RCLCPP_PUBLIC
+  RCUTILS_WARN_UNUSED
+  bool
+  assert_liveliness() const;
+
 protected:
   /// Construct a sub-node, which will extend the namespace of all entities created with it.
   /**
@@ -694,7 +1207,7 @@ private:
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
-  const NodeOptions node_options_;
+  const rclcpp::NodeOptions node_options_;
   const std::string sub_namespace_;
   const std::string effective_namespace_;
 };

rclcpp/include/rclcpp/node_impl.hpp

@@ -36,11 +36,12 @@
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/intra_process_manager.hpp"
-#include "rclcpp/parameter.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"
 #include "rclcpp/create_subscription.hpp"
+#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -67,66 +68,42 @@ template<typename MessageT, typename AllocatorT, typename PublisherT>
 std::shared_ptr<PublisherT>
 Node::create_publisher(
   const std::string & topic_name,
-  size_t qos_history_depth,
+  const rclcpp::QoS & qos,
   const PublisherOptionsWithAllocator<AllocatorT> & options)
 {
-  std::shared_ptr<AllocatorT> allocator = options.allocator;
-  if (!allocator) {
-    allocator = std::make_shared<AllocatorT>();
-  }
-  rmw_qos_profile_t qos_profile = options.qos_profile;
-  qos_profile.depth = qos_history_depth;
-
-  bool use_intra_process;
-  switch (options.use_intra_process_comm) {
-    case IntraProcessSetting::Enable:
-      use_intra_process = true;
-      break;
-    case IntraProcessSetting::Disable:
-      use_intra_process = false;
-      break;
-    case IntraProcessSetting::NodeDefault:
-      use_intra_process = this->get_node_options().use_intra_process_comms();
-      break;
-    default:
-      throw std::runtime_error("Unrecognized IntraProcessSetting value");
-      break;
-  }
-
   return rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
-    this->node_topics_.get(),
+    *this,
     extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
-    qos_profile,
-    use_intra_process,
-    allocator);
+    qos,
+    options);
 }
 
-template<typename MessageT, typename Alloc, typename PublisherT>
+template<typename MessageT, typename AllocatorT, typename PublisherT>
 std::shared_ptr<PublisherT>
 Node::create_publisher(
-  const std::string & topic_name, size_t qos_history_depth,
-  std::shared_ptr<Alloc> allocator,
-  IntraProcessSetting use_intra_process_comm)
+  const std::string & topic_name,
+  size_t qos_history_depth,
+  std::shared_ptr<AllocatorT> allocator)
 {
-  PublisherOptionsWithAllocator<Alloc> pub_options;
+  PublisherOptionsWithAllocator<AllocatorT> pub_options;
   pub_options.allocator = allocator;
-  pub_options.use_intra_process_comm = use_intra_process_comm;
-  return this->create_publisher<MessageT, Alloc, PublisherT>(
-    topic_name, qos_history_depth, pub_options);
+  return this->create_publisher<MessageT, AllocatorT, PublisherT>(
+    topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), pub_options);
 }
 
-template<typename MessageT, typename Alloc, typename PublisherT>
+template<typename MessageT, typename AllocatorT, typename PublisherT>
 std::shared_ptr<PublisherT>
 Node::create_publisher(
-  const std::string & topic_name, const rmw_qos_profile_t & qos_profile,
-  std::shared_ptr<Alloc> allocator, IntraProcessSetting use_intra_process_comm)
+  const std::string & topic_name,
+  const rmw_qos_profile_t & qos_profile,
+  std::shared_ptr<AllocatorT> allocator)
 {
-  PublisherOptionsWithAllocator<Alloc> pub_options;
-  pub_options.qos_profile = qos_profile;
+  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
+  qos.get_rmw_qos_profile() = qos_profile;
+
+  PublisherOptionsWithAllocator<AllocatorT> pub_options;
   pub_options.allocator = allocator;
-  pub_options.use_intra_process_comm = use_intra_process_comm;
-  return this->create_publisher<MessageT, Alloc, PublisherT>(
-    topic_name, qos_profile.depth, pub_options);
+  return this->create_publisher<MessageT, AllocatorT, PublisherT>(topic_name, qos, pub_options);
 }
 
 template<
@@ -137,55 +114,20 @@ template<
 std::shared_ptr<SubscriptionT>
 Node::create_subscription(
   const std::string & topic_name,
+  const rclcpp::QoS & qos,
   CallbackT && callback,
-  size_t qos_history_depth,
   const SubscriptionOptionsWithAllocator<AllocatorT> & options,
   typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
     typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>::SharedPtr
   msg_mem_strat)
 {
-  using CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type;
-
-  std::shared_ptr<AllocatorT> allocator = options.allocator;
-  if (!allocator) {
-    allocator = std::make_shared<AllocatorT>();
-  }
-
-  rmw_qos_profile_t qos_profile = options.qos_profile;
-  qos_profile.depth = qos_history_depth;
-
-  if (!msg_mem_strat) {
-    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
-    msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, AllocatorT>::create_default();
-  }
-
-  bool use_intra_process;
-  switch (options.use_intra_process_comm) {
-    case IntraProcessSetting::Enable:
-      use_intra_process = true;
-      break;
-    case IntraProcessSetting::Disable:
-      use_intra_process = false;
-      break;
-    case IntraProcessSetting::NodeDefault:
-      use_intra_process = this->get_node_options().use_intra_process_comms();
-      break;
-    default:
-      throw std::runtime_error("Unrecognized IntraProcessSetting value");
-      break;
-  }
-
-  return rclcpp::create_subscription<
-    MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
-    this->node_topics_.get(),
+  return rclcpp::create_subscription<MessageT>(
+    *this,
     extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
+    qos,
     std::forward<CallbackT>(callback),
-    qos_profile,
-    options.callback_group,
-    options.ignore_local_publications,
-    use_intra_process,
-    msg_mem_strat,
-    allocator);
+    options,
+    msg_mem_strat);
 }
 
 template<
@@ -203,18 +145,18 @@ Node::create_subscription(
   typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
     typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
   msg_mem_strat,
-  std::shared_ptr<Alloc> allocator,
-  IntraProcessSetting use_intra_process_comm)
+  std::shared_ptr<Alloc> allocator)
 {
+  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
+  qos.get_rmw_qos_profile() = qos_profile;
+
   SubscriptionOptionsWithAllocator<Alloc> sub_options;
-  sub_options.qos_profile = qos_profile;
   sub_options.callback_group = group;
   sub_options.ignore_local_publications = ignore_local_publications;
   sub_options.allocator = allocator;
-  sub_options.use_intra_process_comm = use_intra_process_comm;
 
   return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
-    topic_name, std::forward<CallbackT>(callback), qos_profile.depth, sub_options, msg_mem_strat);
+    topic_name, qos, std::forward<CallbackT>(callback), sub_options, msg_mem_strat);
 }
 
 template<
@@ -232,17 +174,19 @@ Node::create_subscription(
   typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
     typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
   msg_mem_strat,
-  std::shared_ptr<Alloc> allocator,
-  IntraProcessSetting use_intra_process_comm)
+  std::shared_ptr<Alloc> allocator)
 {
   SubscriptionOptionsWithAllocator<Alloc> sub_options;
   sub_options.callback_group = group;
   sub_options.ignore_local_publications = ignore_local_publications;
   sub_options.allocator = allocator;
-  sub_options.use_intra_process_comm = use_intra_process_comm;
 
   return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
-    topic_name, std::forward<CallbackT>(callback), qos_history_depth, sub_options, msg_mem_strat);
+    topic_name,
+    rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
+    std::forward<CallbackT>(callback),
+    sub_options,
+    msg_mem_strat);
 }
 
 template<typename DurationRepT, typename DurationT, typename CallbackT>
@@ -301,11 +245,60 @@ Node::create_service(
     group);
 }
 
-template<typename CallbackT>
-void
-Node::register_param_change_callback(CallbackT && callback)
+template<typename ParameterT>
+auto
+Node::declare_parameter(
+  const std::string & name,
+  const ParameterT & default_value,
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
 {
-  this->node_parameters_->register_param_change_callback(std::forward<CallbackT>(callback));
+  return this->declare_parameter(
+    name,
+    rclcpp::ParameterValue(default_value),
+    parameter_descriptor
+  ).get<ParameterT>();
+}
+
+template<typename ParameterT>
+std::vector<ParameterT>
+Node::declare_parameters(
+  const std::string & namespace_,
+  const std::map<std::string, ParameterT> & parameters)
+{
+  std::vector<ParameterT> result;
+  std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
+  std::transform(
+    parameters.begin(), parameters.end(), std::back_inserter(result),
+    [this, &normalized_namespace](auto element) {
+      return this->declare_parameter(normalized_namespace + element.first, element.second);
+    }
+  );
+  return result;
+}
+
+template<typename ParameterT>
+std::vector<ParameterT>
+Node::declare_parameters(
+  const std::string & namespace_,
+  const std::map<
+    std::string,
+    std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
+  > & parameters)
+{
+  std::vector<ParameterT> result;
+  std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
+  std::transform(
+    parameters.begin(), parameters.end(), std::back_inserter(result),
+    [this, &normalized_namespace](auto element) {
+      return static_cast<ParameterT>(
+        this->declare_parameter(
+          normalized_namespace + element.first,
+          element.second.first,
+          element.second.second)
+      );
+    }
+  );
+  return result;
 }
 
 template<typename ParameterT>
@@ -314,33 +307,32 @@ Node::set_parameter_if_not_set(
   const std::string & name,
   const ParameterT & value)
 {
-  std::string parameter_name_with_sub_namespace =
-    extend_name_with_sub_namespace(name, this->get_sub_namespace());
-
-  rclcpp::Parameter parameter;
-  if (!this->get_parameter(parameter_name_with_sub_namespace, parameter)) {
-    this->set_parameters({
-        rclcpp::Parameter(parameter_name_with_sub_namespace, value),
-      });
+  if (
+    !this->has_parameter(name) ||
+    this->describe_parameter(name).type == PARAMETER_NOT_SET)
+  {
+    this->set_parameter(rclcpp::Parameter(name, value));
   }
 }
 
 // this is a partially-specialized version of set_parameter_if_not_set above,
 // where our concrete type for ParameterT is std::map, but the to-be-determined
 // type is the value in the map.
-template<typename MapValueT>
+template<typename ParameterT>
 void
 Node::set_parameters_if_not_set(
   const std::string & name,
-  const std::map<std::string, MapValueT> & values)
+  const std::map<std::string, ParameterT> & values)
 {
   std::vector<rclcpp::Parameter> params;
 
   for (const auto & val : values) {
-    std::string param_name = name + "." + val.first;
-    rclcpp::Parameter parameter;
-    if (!this->get_parameter(param_name, parameter)) {
-      params.push_back(rclcpp::Parameter(param_name, val.second));
+    std::string parameter_name = name + "." + val.first;
+    if (
+      !this->has_parameter(parameter_name) ||
+      this->describe_parameter(parameter_name).type == PARAMETER_NOT_SET)
+    {
+      params.push_back(rclcpp::Parameter(parameter_name, val.second));
     }
   }
 
@@ -349,35 +341,15 @@ Node::set_parameters_if_not_set(
 
 template<typename ParameterT>
 bool
-Node::get_parameter(const std::string & name, ParameterT & value) const
+Node::get_parameter(const std::string & name, ParameterT & parameter) const
 {
   std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
 
-  rclcpp::Parameter parameter;
+  rclcpp::Parameter parameter_variant;
 
-  bool result = get_parameter(sub_name, parameter);
+  bool result = get_parameter(sub_name, parameter_variant);
   if (result) {
-    value = parameter.get_value<ParameterT>();
-  }
-
-  return result;
-}
-
-// this is a partially-specialized version of get_parameter above,
-// where our concrete type for ParameterT is std::map, but the to-be-determined
-// type is the value in the map.
-template<typename MapValueT>
-bool
-Node::get_parameters(
-  const std::string & name,
-  std::map<std::string, MapValueT> & values) const
-{
-  std::map<std::string, rclcpp::Parameter> params;
-  bool result = node_parameters_->get_parameters_by_prefix(name, params);
-  if (result) {
-    for (const auto & param : params) {
-      values[param.first] = param.second.get_value<MapValueT>();
-    }
+    parameter = static_cast<ParameterT>(parameter_variant.get_value<ParameterT>());
   }
 
   return result;
@@ -387,18 +359,38 @@ template<typename ParameterT>
 bool
 Node::get_parameter_or(
   const std::string & name,
-  ParameterT & value,
+  ParameterT & parameter,
   const ParameterT & alternative_value) const
 {
   std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
 
-  bool got_parameter = get_parameter(sub_name, value);
+  bool got_parameter = get_parameter(sub_name, parameter);
   if (!got_parameter) {
-    value = alternative_value;
+    parameter = alternative_value;
   }
   return got_parameter;
 }
 
+// this is a partially-specialized version of get_parameter above,
+// where our concrete type for ParameterT is std::map, but the to-be-determined
+// type is the value in the map.
+template<typename ParameterT>
+bool
+Node::get_parameters(
+  const std::string & prefix,
+  std::map<std::string, ParameterT> & values) const
+{
+  std::map<std::string, rclcpp::Parameter> params;
+  bool result = node_parameters_->get_parameters_by_prefix(prefix, params);
+  if (result) {
+    for (const auto & param : params) {
+      values[param.first] = static_cast<ParameterT>(param.second.get_value<ParameterT>());
+    }
+  }
+
+  return result;
+}
+
 template<typename ParameterT>
 void
 Node::get_parameter_or_set(
@@ -417,6 +409,13 @@ Node::get_parameter_or_set(
   }
 }
 
+template<typename CallbackT>
+void
+Node::register_param_change_callback(CallbackT && callback)
+{
+  this->node_parameters_->register_param_change_callback(std::forward<CallbackT>(callback));
+}
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__NODE_IMPL_HPP_

rclcpp/include/rclcpp/node_interfaces/get_node_base_interface.hpp

@@ -0,0 +1,149 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
+
+#include <memory>
+#include <utility>
+#include <type_traits>
+
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+
+/// This header provides the get_node_base_interface() template function.
+/**
+ * This function is useful for getting the NodeBaseInterface pointer from
+ * various kinds of Node-like classes.
+ *
+ * It's able to get the NodeBaseInterface pointer so long as the class
+ * has a method called ``get_node_base_interface()`` which returns
+ * either a pointer (const or not) to a NodeBaseInterface or a
+ * std::shared_ptr to a NodeBaseInterface.
+ */
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+namespace detail
+{
+
+// This is a meta-programming checker for if a given Node-like object has a
+// getter called get_node_base_interface() which returns various types,
+// e.g. const pointer or a shared pointer.
+template<typename NodeType, typename ReturnType>
+struct has_get_node_base_interface
+{
+private:
+  template<typename T>
+  static constexpr
+  auto
+  check(T *)->typename std::is_same<
+    decltype(std::declval<T>().get_node_base_interface()),
+    ReturnType
+  >::type;
+
+  template<typename>
+  static constexpr
+  std::false_type
+  check(...);
+
+public:
+  using type = decltype(check<NodeType>(nullptr));
+  static constexpr bool value = type::value;
+};
+
+// If NodeType is a pointer to NodeBaseInterface already (just normal function overload).
+inline
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface_from_pointer(rclcpp::node_interfaces::NodeBaseInterface * pointer)
+{
+  return pointer;
+}
+
+// If NodeType has a method called get_node_base_interface() which returns a shared pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_get_node_base_interface<
+    typename std::remove_pointer<NodeType>::type,
+    std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface_from_pointer(NodeType node_pointer)
+{
+  return node_pointer->get_node_base_interface().get();
+}
+
+// If NodeType has a method called get_node_base_interface() which returns a pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_get_node_base_interface<
+    typename std::remove_pointer<NodeType>::type,
+    rclcpp::node_interfaces::NodeBaseInterface *
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface_from_pointer(NodeType node_pointer)
+{
+  return node_pointer->get_node_base_interface();
+}
+
+// Forward shared_ptr's to const node pointer signatures.
+template<
+  typename NodeType,
+  typename std::enable_if<std::is_same<
+    NodeType,
+    typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface_from_pointer(NodeType node_shared_pointer)
+{
+  return get_node_base_interface_from_pointer(node_shared_pointer->get());
+}
+
+}  // namespace detail
+
+/// Get the NodeBaseInterface as a pointer from a pointer to a "Node like" object.
+template<
+  typename NodeType,
+  typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface(NodeType node_pointer)
+{
+  // Forward pointers to detail implmentation directly.
+  return detail::get_node_base_interface_from_pointer(node_pointer);
+}
+
+/// Get the NodeBaseInterface as a pointer from a "Node like" object.
+template<
+  typename NodeType,
+  typename std::enable_if<
+    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
+  >::type = 0
+>
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface(NodeType && node_reference)
+{
+  // Forward references to detail implmentation as a pointer.
+  return detail::get_node_base_interface_from_pointer(&node_reference);
+}
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/get_node_timers_interface.hpp

@@ -0,0 +1,149 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
+
+#include <memory>
+#include <utility>
+#include <type_traits>
+
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
+
+/// This header provides the get_node_timers_interface() template function.
+/**
+ * This function is useful for getting the NodeTimersInterface pointer from
+ * various kinds of Node-like classes.
+ *
+ * It's able to get the NodeTimersInterface pointer so long as the class
+ * has a method called ``get_node_timers_interface()`` which returns
+ * either a pointer (const or not) to a NodeTimersInterface or a
+ * std::shared_ptr to a NodeTimersInterface.
+ */
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+namespace detail
+{
+
+// This is a meta-programming checker for if a given Node-like object has a
+// getter called get_node_timers_interface() which returns various types,
+// e.g. const pointer or a shared pointer.
+template<typename NodeType, typename ReturnType>
+struct has_get_node_timers_interface
+{
+private:
+  template<typename T>
+  static constexpr
+  auto
+  check(T *)->typename std::is_same<
+    decltype(std::declval<T>().get_node_timers_interface()),
+    ReturnType
+  >::type;
+
+  template<typename>
+  static constexpr
+  std::false_type
+  check(...);
+
+public:
+  using type = decltype(check<NodeType>(nullptr));
+  static constexpr bool value = type::value;
+};
+
+// If NodeType is a pointer to NodeTimersInterface already (just normal function overload).
+inline
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface_from_pointer(rclcpp::node_interfaces::NodeTimersInterface * pointer)
+{
+  return pointer;
+}
+
+// If NodeType has a method called get_node_timers_interface() which returns a shared pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_get_node_timers_interface<
+    typename std::remove_pointer<NodeType>::type,
+    std::shared_ptr<rclcpp::node_interfaces::NodeTimersInterface>
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface_from_pointer(NodeType node_pointer)
+{
+  return node_pointer->get_node_timers_interface().get();
+}
+
+// If NodeType has a method called get_node_timers_interface() which returns a pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_get_node_timers_interface<
+    typename std::remove_pointer<NodeType>::type,
+    rclcpp::node_interfaces::NodeTimersInterface *
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface_from_pointer(NodeType node_pointer)
+{
+  return node_pointer->get_node_timers_interface();
+}
+
+// Forward shared_ptr's to const node pointer signatures.
+template<
+  typename NodeType,
+  typename std::enable_if<std::is_same<
+    NodeType,
+    typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface_from_pointer(NodeType node_shared_pointer)
+{
+  return get_node_timers_interface_from_pointer(node_shared_pointer->get());
+}
+
+}  // namespace detail
+
+/// Get the NodeTimersInterface as a pointer from a pointer to a "Node like" object.
+template<
+  typename NodeType,
+  typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface(NodeType node_pointer)
+{
+  // Forward pointers to detail implmentation directly.
+  return detail::get_node_timers_interface_from_pointer(node_pointer);
+}
+
+/// Get the NodeTimersInterface as a pointer from a "Node like" object.
+template<
+  typename NodeType,
+  typename std::enable_if<
+    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
+  >::type = 0
+>
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface(NodeType && node_reference)
+{
+  // Forward references to detail implmentation as a pointer.
+  return detail::get_node_timers_interface_from_pointer(&node_reference);
+}
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/get_node_topics_interface.hpp

@@ -0,0 +1,149 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
+
+#include <memory>
+#include <utility>
+#include <type_traits>
+
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+
+/// This header provides the get_node_topics_interface() template function.
+/**
+ * This function is useful for getting the NodeTopicsInterface pointer from
+ * various kinds of Node-like classes.
+ *
+ * It's able to get the NodeTopicsInterface pointer so long as the class
+ * has a method called ``get_node_topics_interface()`` which returns
+ * either a pointer (const or not) to a NodeTopicsInterface or a
+ * std::shared_ptr to a NodeTopicsInterface.
+ */
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+namespace detail
+{
+
+// This is a meta-programming checker for if a given Node-like object has a
+// getter called get_node_topics_interface() which returns various types,
+// e.g. const pointer or a shared pointer.
+template<typename NodeType, typename ReturnType>
+struct has_get_node_topics_interface
+{
+private:
+  template<typename T>
+  static constexpr
+  auto
+  check(T *)->typename std::is_same<
+    decltype(std::declval<T>().get_node_topics_interface()),
+    ReturnType
+  >::type;
+
+  template<typename>
+  static constexpr
+  std::false_type
+  check(...);
+
+public:
+  using type = decltype(check<NodeType>(nullptr));
+  static constexpr bool value = type::value;
+};
+
+// If NodeType is a pointer to NodeTopicsInterface already (just normal function overload).
+inline
+rclcpp::node_interfaces::NodeTopicsInterface *
+get_node_topics_interface_from_pointer(rclcpp::node_interfaces::NodeTopicsInterface * pointer)
+{
+  return pointer;
+}
+
+// If NodeType has a method called get_node_topics_interface() which returns a shared pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_get_node_topics_interface<
+    typename std::remove_pointer<NodeType>::type,
+    std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTopicsInterface *
+get_node_topics_interface_from_pointer(NodeType node_pointer)
+{
+  return node_pointer->get_node_topics_interface().get();
+}
+
+// If NodeType has a method called get_node_topics_interface() which returns a pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_get_node_topics_interface<
+    typename std::remove_pointer<NodeType>::type,
+    rclcpp::node_interfaces::NodeTopicsInterface *
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTopicsInterface *
+get_node_topics_interface_from_pointer(NodeType node_pointer)
+{
+  return node_pointer->get_node_topics_interface();
+}
+
+// Forward shared_ptr's to const node pointer signatures.
+template<
+  typename NodeType,
+  typename std::enable_if<std::is_same<
+    NodeType,
+    typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTopicsInterface *
+get_node_topics_interface_from_pointer(NodeType node_shared_pointer)
+{
+  return get_node_topics_interface_from_pointer(node_shared_pointer->get());
+}
+
+}  // namespace detail
+
+/// Get the NodeTopicsInterface as a pointer from a pointer to a "Node like" object.
+template<
+  typename NodeType,
+  typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTopicsInterface *
+get_node_topics_interface(NodeType node_pointer)
+{
+  // Forward pointers to detail implmentation directly.
+  return detail::get_node_topics_interface_from_pointer(node_pointer);
+}
+
+/// Get the NodeTopicsInterface as a pointer from a "Node like" object.
+template<
+  typename NodeType,
+  typename std::enable_if<
+    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
+  >::type = 0
+>
+rclcpp::node_interfaces::NodeTopicsInterface *
+get_node_topics_interface(NodeType && node_reference)
+{
+  // Forward references to detail implmentation as a pointer.
+  return detail::get_node_topics_interface_from_pointer(&node_reference);
+}
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -19,10 +19,11 @@
 #include <string>
 #include <vector>
 
+#include "rcl/node.h"
 #include "rclcpp/context.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_options.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_options.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -34,13 +35,15 @@ namespace node_interfaces
 class NodeBase : public NodeBaseInterface
 {
 public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBaseInterface)
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBase)
 
   RCLCPP_PUBLIC
   NodeBase(
     const std::string & node_name,
     const std::string & namespace_,
-    const NodeOptions & options);
+    rclcpp::Context::SharedPtr context,
+    const rcl_node_options_t & rcl_node_options,
+    bool use_intra_process_default);
 
   RCLCPP_PUBLIC
   virtual
@@ -86,6 +89,11 @@ public:
   std::shared_ptr<const rcl_node_t>
   get_shared_rcl_node_handle() const;
 
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  assert_liveliness() const;
+
   RCLCPP_PUBLIC
   virtual
   rclcpp::callback_group::CallbackGroup::SharedPtr
@@ -121,10 +129,16 @@ public:
   std::unique_lock<std::recursive_mutex>
   acquire_notify_guard_condition_lock() const;
 
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  get_use_intra_process_default() const;
+
 private:
   RCLCPP_DISABLE_COPY(NodeBase)
 
   rclcpp::Context::SharedPtr context_;
+  bool use_intra_process_default_;
 
   std::shared_ptr<rcl_node_t> node_handle_;
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -102,6 +102,12 @@ public:
   std::shared_ptr<const rcl_node_t>
   get_shared_rcl_node_handle() const = 0;
 
+  /// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  assert_liveliness() const = 0;
+
   /// Create and return a callback group.
   RCLCPP_PUBLIC
   virtual
@@ -149,6 +155,12 @@ public:
   virtual
   std::unique_lock<std::recursive_mutex>
   acquire_notify_guard_condition_lock() const = 0;
+
+  /// Return the default preference for using intra process communication.
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  get_use_intra_process_default() const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -40,6 +40,16 @@ namespace rclcpp
 namespace node_interfaces
 {
 
+// Internal struct for holding useful info about parameters
+struct ParameterInfo
+{
+  /// Current value of the parameter.
+  rclcpp::ParameterValue value;
+
+  /// A description of the parameter
+  rcl_interfaces::msg::ParameterDescriptor descriptor;
+};
+
 /// Implementation of the NodeParameters part of the Node API.
 class NodeParameters : public NodeParametersInterface
 {
@@ -49,83 +59,104 @@ public:
   RCLCPP_PUBLIC
   NodeParameters(
     const node_interfaces::NodeBaseInterface::SharedPtr node_base,
+    const node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     const node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
     const node_interfaces::NodeServicesInterface::SharedPtr node_services,
     const node_interfaces::NodeClockInterface::SharedPtr node_clock,
-    const std::vector<Parameter> & initial_parameters,
-    bool use_intra_process,
+    const std::vector<Parameter> & parameter_overrides,
     bool start_parameter_services,
     bool start_parameter_event_publisher,
-    const rmw_qos_profile_t & parameter_event_qos_profile);
+    const rclcpp::QoS & parameter_event_qos,
+    const rclcpp::PublisherOptionsBase & parameter_event_publisher_options,
+    bool allow_undeclared_parameters,
+    bool automatically_declare_parameters_from_overrides);
 
   RCLCPP_PUBLIC
   virtual
   ~NodeParameters();
 
   RCLCPP_PUBLIC
-  virtual
+  const rclcpp::ParameterValue &
+  declare_parameter(
+    const std::string & name,
+    const rclcpp::ParameterValue & default_value,
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor) override;
+
+  RCLCPP_PUBLIC
+  void
+  undeclare_parameter(const std::string & name) override;
+
+  RCLCPP_PUBLIC
+  bool
+  has_parameter(const std::string & name) const override;
+
+  RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
   set_parameters(
-    const std::vector<rclcpp::Parameter> & parameters);
+    const std::vector<rclcpp::Parameter> & parameters) override;
 
   RCLCPP_PUBLIC
-  virtual
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(
-    const std::vector<rclcpp::Parameter> & parameters);
+    const std::vector<rclcpp::Parameter> & parameters) override;
 
   RCLCPP_PUBLIC
-  virtual
   std::vector<rclcpp::Parameter>
-  get_parameters(const std::vector<std::string> & names) const;
+  get_parameters(const std::vector<std::string> & names) const override;
 
   RCLCPP_PUBLIC
-  virtual
   rclcpp::Parameter
-  get_parameter(const std::string & name) const;
+  get_parameter(const std::string & name) const override;
 
   RCLCPP_PUBLIC
-  virtual
   bool
   get_parameter(
     const std::string & name,
-    rclcpp::Parameter & parameter) const;
+    rclcpp::Parameter & parameter) const override;
 
   RCLCPP_PUBLIC
-  virtual
   bool
   get_parameters_by_prefix(
     const std::string & prefix,
-    std::map<std::string, rclcpp::Parameter> & parameters) const;
+    std::map<std::string, rclcpp::Parameter> & parameters) const override;
 
   RCLCPP_PUBLIC
-  virtual
   std::vector<rcl_interfaces::msg::ParameterDescriptor>
-  describe_parameters(const std::vector<std::string> & names) const;
+  describe_parameters(const std::vector<std::string> & names) const override;
 
   RCLCPP_PUBLIC
-  virtual
   std::vector<uint8_t>
-  get_parameter_types(const std::vector<std::string> & names) const;
+  get_parameter_types(const std::vector<std::string> & names) const override;
 
   RCLCPP_PUBLIC
-  virtual
   rcl_interfaces::msg::ListParametersResult
-  list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
+  list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const override;
 
   RCLCPP_PUBLIC
-  virtual
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
+
+  [[deprecated("use set_on_parameters_set_callback() instead")]]
+  RCLCPP_PUBLIC
   void
-  register_param_change_callback(ParametersCallbackFunction callback);
+  register_param_change_callback(OnParametersSetCallbackType callback) override;
+
+  RCLCPP_PUBLIC
+  const std::map<std::string, rclcpp::ParameterValue> &
+  get_parameter_overrides() const override;
 
 private:
   RCLCPP_DISABLE_COPY(NodeParameters)
 
   mutable std::mutex mutex_;
 
-  ParametersCallbackFunction parameters_callback_ = nullptr;
+  OnParametersSetCallbackType on_parameters_set_callback_ = nullptr;
 
-  std::map<std::string, rclcpp::Parameter> parameters_;
+  std::map<std::string, ParameterInfo> parameters_;
+
+  std::map<std::string, rclcpp::ParameterValue> parameter_overrides_;
+
+  bool allow_undeclared_ = false;
 
   Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
 
@@ -133,6 +164,7 @@ private:
 
   std::string combined_name_;
 
+  node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
   node_interfaces::NodeClockInterface::SharedPtr node_clock_;
 };
 

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -42,12 +42,50 @@ public:
   virtual
   ~NodeParametersInterface() = default;
 
+  /// Declare and initialize a parameter.
+  /**
+   * \sa rclcpp::Node::declare_parameter
+   */
+  RCLCPP_PUBLIC
+  virtual
+  const rclcpp::ParameterValue &
+  declare_parameter(
+    const std::string & name,
+    const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
+    rcl_interfaces::msg::ParameterDescriptor()) = 0;
+
+  /// Undeclare a parameter.
+  /**
+   * \sa rclcpp::Node::undeclare_parameter
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  undeclare_parameter(const std::string & name) = 0;
+
+  /// Return true if the parameter has been declared, otherwise false.
+  /**
+   * \sa rclcpp::Node::has_parameter
+   */
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  has_parameter(const std::string & name) const = 0;
+
+  /// Set one or more parameters, one at a time.
+  /**
+   * \sa rclcpp::Node::set_parameters
+   */
   RCLCPP_PUBLIC
   virtual
   std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(
-    const std::vector<rclcpp::Parameter> & parameters) = 0;
+  set_parameters(const std::vector<rclcpp::Parameter> & parameters) = 0;
 
+  /// Set and initialize a parameter, all at once.
+  /**
+   * \sa rclcpp::Node::set_parameters_atomically
+   */
   RCLCPP_PUBLIC
   virtual
   rcl_interfaces::msg::SetParametersResult
@@ -119,14 +157,34 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const = 0;
 
-  using ParametersCallbackFunction = std::function<
-    rcl_interfaces::msg::SetParametersResult(
-      const std::vector<rclcpp::Parameter> &)>;
+  using OnParametersSetCallbackType =
+    std::function<
+    rcl_interfaces::msg::SetParametersResult(const std::vector<rclcpp::Parameter> &)
+    >;
 
+  using ParametersCallbackFunction [[deprecated("use OnParametersSetCallbackType instead")]] =
+    OnParametersSetCallbackType;
+
+  /// Register a callback for when parameters are being set, return an existing one.
+  /**
+   * \sa rclcpp::Node::set_on_parameters_set_callback
+   */
+  RCLCPP_PUBLIC
+  virtual
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(OnParametersSetCallbackType callback) = 0;
+
+  [[deprecated("use set_on_parameters_set_callback() instead")]]
   RCLCPP_PUBLIC
   virtual
   void
-  register_param_change_callback(ParametersCallbackFunction callback) = 0;
+  register_param_change_callback(OnParametersSetCallbackType callback) = 0;
+
+  /// Return the initial parameter values used by the NodeParameters to override default values.
+  RCLCPP_PUBLIC
+  virtual
+  const std::map<std::string, rclcpp::ParameterValue> &
+  get_parameter_overrides() const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -42,44 +42,44 @@ public:
   explicit NodeTopics(rclcpp::node_interfaces::NodeBaseInterface * node_base);
 
   RCLCPP_PUBLIC
-  virtual
-  ~NodeTopics();
+  ~NodeTopics() override;
 
   RCLCPP_PUBLIC
-  virtual
   rclcpp::PublisherBase::SharedPtr
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
-    rcl_publisher_options_t & publisher_options,
-    bool use_intra_process);
+    const rcl_publisher_options_t & publisher_options,
+    bool use_intra_process) override;
 
   RCLCPP_PUBLIC
-  virtual
   void
   add_publisher(
-    rclcpp::PublisherBase::SharedPtr publisher);
+    rclcpp::PublisherBase::SharedPtr publisher,
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) override;
 
   RCLCPP_PUBLIC
-  virtual
   rclcpp::SubscriptionBase::SharedPtr
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
-    rcl_subscription_options_t & subscription_options,
-    bool use_intra_process);
+    const rcl_subscription_options_t & subscription_options,
+    bool use_intra_process) override;
 
   RCLCPP_PUBLIC
-  virtual
   void
   add_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group);
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) override;
+
+  RCLCPP_PUBLIC
+  rclcpp::node_interfaces::NodeBaseInterface *
+  get_node_base_interface() const override;
 
 private:
   RCLCPP_DISABLE_COPY(NodeTopics)
 
-  NodeBaseInterface * node_base_;
+  rclcpp::node_interfaces::NodeBaseInterface * node_base_;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -50,14 +50,15 @@ public:
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
-    rcl_publisher_options_t & publisher_options,
+    const rcl_publisher_options_t & publisher_options,
     bool use_intra_process) = 0;
 
   RCLCPP_PUBLIC
   virtual
   void
   add_publisher(
-    rclcpp::PublisherBase::SharedPtr publisher) = 0;
+    rclcpp::PublisherBase::SharedPtr publisher,
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
 
   RCLCPP_PUBLIC
   virtual
@@ -65,7 +66,7 @@ public:
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
-    rcl_subscription_options_t & subscription_options,
+    const rcl_subscription_options_t & subscription_options,
     bool use_intra_process) = 0;
 
   RCLCPP_PUBLIC
@@ -74,6 +75,11 @@ public:
   add_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
     rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::node_interfaces::NodeBaseInterface *
+  get_node_base_interface() const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_options.hpp

@@ -23,6 +23,8 @@
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/parameter.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -38,12 +40,16 @@ public:
    *
    *   - context = rclcpp::contexts::default_context::get_global_default_context()
    *   - arguments = {}
-   *   - initial_parameters = {}
+   *   - parameter_overrides = {}
    *   - use_global_arguments = true
    *   - use_intra_process_comms = false
    *   - start_parameter_services = true
    *   - start_parameter_event_publisher = true
-   *   - parameter_event_qos_profile = rmw_qos_profile_parameter_events
+   *   - parameter_event_qos = rclcpp::ParameterEventQoS
+   *     - with history setting and depth from rmw_qos_profile_parameter_events
+   *   - parameter_event_publisher_options = rclcpp::PublisherOptionsBase
+   *   - allow_undeclared_parameters = false
+   *   - automatically_declare_parameters_from_overrides = false
    *   - allocator = rcl_get_default_allocator()
    *
    * \param[in] allocator allocator to use in construction of NodeOptions.
@@ -101,37 +107,37 @@ public:
   NodeOptions &
   arguments(const std::vector<std::string> & arguments);
 
-  /// Return a reference to the list of initial parameters.
+  /// Return a reference to the list of parameter overrides.
   RCLCPP_PUBLIC
   std::vector<rclcpp::Parameter> &
-  initial_parameters();
+  parameter_overrides();
 
   RCLCPP_PUBLIC
   const std::vector<rclcpp::Parameter> &
-  initial_parameters() const;
+  parameter_overrides() const;
 
-  /// Set the initial parameters, return this for parameter idiom.
+  /// Set the parameters overrides, return this for parameter idiom.
   /**
-   * These initial parameter values are used to change the initial value
+   * These parameter overrides are used to change the initial value
    * of declared parameters within the node, overriding hard coded default
    * values if necessary.
    */
   RCLCPP_PUBLIC
   NodeOptions &
-  initial_parameters(const std::vector<rclcpp::Parameter> & initial_parameters);
+  parameter_overrides(const std::vector<rclcpp::Parameter> & parameter_overrides);
 
-  /// Append a single initial parameter, parameter idiom style.
+  /// Append a single parameter override, parameter idiom style.
   template<typename ParameterT>
   NodeOptions &
-  append_initial_parameter(const std::string & name, const ParameterT & value)
+  append_parameter_override(const std::string & name, const ParameterT & value)
   {
-    this->initial_parameters().emplace_back(name, rclcpp::ParameterValue(value));
+    this->parameter_overrides().emplace_back(name, rclcpp::ParameterValue(value));
     return *this;
   }
 
-  /// Return a reference to the use_global_arguments flag.
+  /// Return the use_global_arguments flag.
   RCLCPP_PUBLIC
-  const bool &
+  bool
   use_global_arguments() const;
 
   /// Set the use_global_arguments flag, return this for parameter idiom.
@@ -144,11 +150,11 @@ public:
    */
   RCLCPP_PUBLIC
   NodeOptions &
-  use_global_arguments(const bool & use_global_arguments);
+  use_global_arguments(bool use_global_arguments);
 
-  /// Return a reference to the use_intra_process_comms flag
+  /// Return the use_intra_process_comms flag.
   RCLCPP_PUBLIC
-  const bool &
+  bool
   use_intra_process_comms() const;
 
   /// Set the use_intra_process_comms flag, return this for parameter idiom.
@@ -163,11 +169,11 @@ public:
    */
   RCLCPP_PUBLIC
   NodeOptions &
-  use_intra_process_comms(const bool & use_intra_process_comms);
+  use_intra_process_comms(bool use_intra_process_comms);
 
-  /// Return a reference to the start_parameter_services flag
+  /// Return the start_parameter_services flag.
   RCLCPP_PUBLIC
-  const bool &
+  bool
   start_parameter_services() const;
 
   /// Set the start_parameter_services flag, return this for parameter idiom.
@@ -182,11 +188,11 @@ public:
    */
   RCLCPP_PUBLIC
   NodeOptions &
-  start_parameter_services(const bool & start_parameter_services);
+  start_parameter_services(bool start_parameter_services);
 
-  /// Return a reference to the start_parameter_event_publisher flag.
+  /// Return the start_parameter_event_publisher flag.
   RCLCPP_PUBLIC
-  const bool &
+  bool
   start_parameter_event_publisher() const;
 
   /// Set the start_parameter_event_publisher flag, return this for parameter idiom.
@@ -198,20 +204,78 @@ public:
    */
   RCLCPP_PUBLIC
   NodeOptions &
-  start_parameter_event_publisher(const bool & start_parameter_event_publisher);
+  start_parameter_event_publisher(bool start_parameter_event_publisher);
 
-  /// Return a reference to the parameter_event_qos_profile QoS.
+  /// Return a reference to the parameter_event_qos QoS.
   RCLCPP_PUBLIC
-  const rmw_qos_profile_t &
-  parameter_event_qos_profile() const;
+  const rclcpp::QoS &
+  parameter_event_qos() const;
 
-  /// Set the parameter_event_qos_profile QoS, return this for parameter idiom.
+  /// Set the parameter_event_qos QoS, return this for parameter idiom.
   /**
    * The QoS settings to be used for the parameter event publisher, if enabled.
    */
   RCLCPP_PUBLIC
   NodeOptions &
-  parameter_event_qos_profile(const rmw_qos_profile_t & parameter_event_qos_profile);
+  parameter_event_qos(const rclcpp::QoS & parameter_event_qos);
+
+  /// Return a reference to the parameter_event_publisher_options.
+  RCLCPP_PUBLIC
+  const rclcpp::PublisherOptionsBase &
+  parameter_event_publisher_options() const;
+
+  /// Set the parameter_event_publisher_options, return this for parameter idiom.
+  /**
+   * The QoS settings to be used for the parameter event publisher, if enabled.
+   *
+   * \todo(wjwwood): make this take/store an instance of
+   *   rclcpp::PublisherOptionsWithAllocator<Allocator>, but to do that requires
+   *   NodeOptions to also be templated based on the Allocator type.
+   */
+  RCLCPP_PUBLIC
+  NodeOptions &
+  parameter_event_publisher_options(
+    const rclcpp::PublisherOptionsBase & parameter_event_publisher_options);
+
+  /// Return the allow_undeclared_parameters flag.
+  RCLCPP_PUBLIC
+  bool
+  allow_undeclared_parameters() const;
+
+  /// Set the allow_undeclared_parameters, return this for parameter idiom.
+  /**
+   * If true, allow any parameter name to be set on the node without first
+   * being declared.
+   * Otherwise, setting an undeclared parameter will raise an exception.
+   *
+   * This option being true does not affect parameter_overrides, as the first
+   * set action will implicitly declare the parameter and therefore consider
+   * any parameter overrides.
+   */
+  RCLCPP_PUBLIC
+  NodeOptions &
+  allow_undeclared_parameters(bool allow_undeclared_parameters);
+
+  /// Return the automatically_declare_parameters_from_overrides flag.
+  RCLCPP_PUBLIC
+  bool
+  automatically_declare_parameters_from_overrides() const;
+
+  /// Set the automatically_declare_parameters_from_overrides, return this.
+  /**
+   * If true, automatically iterate through the node's parameter overrides and
+   * implicitly declare any that have not already been declared.
+   * Otherwise, parameters passed to the node's parameter_overrides, and/or the
+   * global arguments (e.g. parameter overrides from a YAML file), which are
+   * not explicitly declared will not appear on the node at all, even if
+   * `allow_undeclared_parameters` is true.
+   * Already declared parameters will not be re-declared, and parameters
+   * declared in this way will use the default constructed ParameterDescriptor.
+   */
+  RCLCPP_PUBLIC
+  NodeOptions &
+  automatically_declare_parameters_from_overrides(
+    bool automatically_declare_parameters_from_overrides);
 
   /// Return the rcl_allocator_t to be used.
   RCLCPP_PUBLIC
@@ -244,7 +308,7 @@ private:
 
   std::vector<std::string> arguments_ {};
 
-  std::vector<rclcpp::Parameter> initial_parameters_ {};
+  std::vector<rclcpp::Parameter> parameter_overrides_ {};
 
   bool use_global_arguments_ {true};
 
@@ -254,7 +318,15 @@ private:
 
   bool start_parameter_event_publisher_ {true};
 
-  rmw_qos_profile_t parameter_event_qos_profile_ {rmw_qos_profile_parameter_events};
+  rclcpp::QoS parameter_event_qos_ = rclcpp::ParameterEventsQoS(
+    rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
+  );
+
+  rclcpp::PublisherOptionsBase parameter_event_publisher_options_ = rclcpp::PublisherOptionsBase();
+
+  bool allow_undeclared_parameters_ {false};
+
+  bool automatically_declare_parameters_from_overrides_ {false};
 
   rcl_allocator_t allocator_ {rcl_get_default_allocator()};
 };

rclcpp/include/rclcpp/parameter.hpp

@@ -28,21 +28,59 @@
 namespace rclcpp
 {
 
+class Parameter;
+
+namespace node_interfaces
+{
+struct ParameterInfo;
+}  // namespace node_interfaces
+
+namespace detail
+{
+
+// This helper function is required because you cannot do specialization on a
+// class method, so instead we specialize this template function and call it
+// from the unspecialized, but dependent, class method.
+template<typename T>
+auto
+get_value_helper(const rclcpp::Parameter * parameter);
+
+}  // namespace detail
+
 /// Structure to store an arbitrary parameter with templated get/set methods.
 class Parameter
 {
 public:
+  /// Construct with an empty name and a parameter value of type rclcpp::PARAMETER_NOT_SET.
   RCLCPP_PUBLIC
   Parameter();
 
+  /// Construct with given name and a parameter value of type rclcpp::PARAMETER_NOT_SET.
+  RCLCPP_PUBLIC
+  explicit Parameter(const std::string & name);
+
+  /// Construct with given name and given parameter value.
   RCLCPP_PUBLIC
   Parameter(const std::string & name, const ParameterValue & value);
 
+  /// Construct with given name and given parameter value.
   template<typename ValueTypeT>
-  explicit Parameter(const std::string & name, ValueTypeT value)
+  Parameter(const std::string & name, ValueTypeT value)
   : Parameter(name, ParameterValue(value))
-  {
-  }
+  {}
+
+  RCLCPP_PUBLIC
+  explicit Parameter(const rclcpp::node_interfaces::ParameterInfo & parameter_info);
+
+  /// Equal operator.
+  RCLCPP_PUBLIC
+  bool
+  operator==(const Parameter & rhs) const;
+
+  /// Not equal operator.
+  RCLCPP_PUBLIC
+  bool
+  operator!=(const Parameter & rhs) const;
 
   RCLCPP_PUBLIC
   ParameterType
@@ -60,6 +98,11 @@ public:
   rcl_interfaces::msg::ParameterValue
   get_value_message() const;
 
+  /// Get the internal storage for the parameter value.
+  RCLCPP_PUBLIC
+  const rclcpp::ParameterValue &
+  get_parameter_value() const;
+
   /// Get value of parameter using rclcpp::ParameterType as template argument.
   template<ParameterType ParamT>
   decltype(auto)
@@ -71,10 +114,7 @@ public:
   /// Get value of parameter using c++ types as template argument.
   template<typename T>
   decltype(auto)
-  get_value() const
-  {
-    return value_.get<T>();
-  }
+  get_value() const;
 
   RCLCPP_PUBLIC
   bool
@@ -142,6 +182,49 @@ RCLCPP_PUBLIC
 std::ostream &
 operator<<(std::ostream & os, const std::vector<Parameter> & parameters);
 
+namespace detail
+{
+
+template<typename T>
+auto
+get_value_helper(const rclcpp::Parameter * parameter)
+{
+  return parameter->get_parameter_value().get<T>();
+}
+
+// Specialization allowing Parameter::get() to return a const ref to the parameter value object.
+template<>
+inline
+auto
+get_value_helper<rclcpp::ParameterValue>(const rclcpp::Parameter * parameter)
+{
+  return parameter->get_parameter_value();
+}
+
+// Specialization allowing Parameter::get() to return a const ref to the parameter itself.
+template<>
+inline
+auto
+get_value_helper<rclcpp::Parameter>(const rclcpp::Parameter * parameter)
+{
+  // Use this lambda to ensure it's a const reference being returned (and not a copy).
+  auto type_enforcing_lambda =
+    [&parameter]() -> const rclcpp::Parameter & {
+      return *parameter;
+    };
+  return type_enforcing_lambda();
+}
+
+}  // namespace detail
+
+template<typename T>
+decltype(auto)
+Parameter::get_value() const
+{
+  // use the helper to specialize for the ParameterValue and Parameter cases.
+  return detail::get_value_helper<T>(this);
+}
+
 }  // namespace rclcpp
 
 namespace std

rclcpp/include/rclcpp/parameter_client.hpp

@@ -46,6 +46,15 @@ class AsyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient)
 
+  /// Create an async parameters client.
+  /**
+   * \param[in] node_base_interface The node base interface of the corresponding node.
+   * \param[in] node_topics_interface Node topic base interface.
+   * \param[in] node_graph_interface The node graph interface of the corresponding node.
+   * \param[in] node_services_interface Node service interface.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   */
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
@@ -55,12 +64,24 @@ public:
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
+  /// Constructor
+  /**
+   * \param[in] node The async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   */
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
+  /// Constructor
+  /**
+   * \param[in] node The  async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   */
   RCLCPP_PUBLIC
   AsyncParametersClient(
     rclcpp::Node * node,
@@ -110,28 +131,50 @@ public:
 
   template<
     typename CallbackT,
-    typename Alloc = std::allocator<void>,
-    typename SubscriptionT =
-    rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent, Alloc>>
+    typename AllocatorT = std::allocator<void>>
   typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
-  on_parameter_event(CallbackT && callback)
+  on_parameter_event(
+    CallbackT && callback,
+    const rclcpp::QoS & qos = (
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events))
+    ),
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
+      rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
+  ))
   {
-    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
-    auto msg_mem_strat =
-      MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent, Alloc>::create_default();
+    return this->on_parameter_event(
+      this->node_topics_interface_,
+      callback,
+      qos,
+      options);
+  }
 
-    using rcl_interfaces::msg::ParameterEvent;
-    return rclcpp::create_subscription<
-      ParameterEvent, CallbackT, Alloc, ParameterEvent, SubscriptionT>(
-      this->node_topics_interface_.get(),
+  /**
+   * The NodeT type only needs to have a method called get_node_topics_interface()
+   * which returns a shared_ptr to a NodeTopicsInterface, or be a
+   * NodeTopicsInterface pointer itself.
+   */
+  template<
+    typename CallbackT,
+    typename NodeT,
+    typename AllocatorT = std::allocator<void>>
+  static typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
+  on_parameter_event(
+    NodeT && node,
+    CallbackT && callback,
+    const rclcpp::QoS & qos = (
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events))
+    ),
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
+      rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
+  ))
+  {
+    return rclcpp::create_subscription<rcl_interfaces::msg::ParameterEvent>(
+      node,
       "parameter_events",
+      qos,
       std::forward<CallbackT>(callback),
-      rmw_qos_profile_default,
-      nullptr,  // group,
-      false,  // ignore_local_publications,
-      false,  // use_intra_process_comms_,
-      msg_mem_strat,
-      std::make_shared<Alloc>());
+      options);
   }
 
   RCLCPP_PUBLIC
@@ -154,7 +197,7 @@ protected:
   wait_for_service_nanoseconds(std::chrono::nanoseconds timeout);
 
 private:
-  const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface_;
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface_;
   rclcpp::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;
   rclcpp::Client<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
     get_parameter_types_client_;
@@ -271,7 +314,26 @@ public:
   typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
   on_parameter_event(CallbackT && callback)
   {
-    return async_parameters_client_->on_parameter_event(std::forward<CallbackT>(callback));
+    return async_parameters_client_->on_parameter_event(
+      std::forward<CallbackT>(callback));
+  }
+
+  /**
+   * The NodeT type only needs to have a method called get_node_topics_interface()
+   * which returns a shared_ptr to a NodeTopicsInterface, or be a
+   * NodeTopicsInterface pointer itself.
+   */
+  template<
+    typename CallbackT,
+    typename NodeT>
+  static typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
+  on_parameter_event(
+    NodeT && node,
+    CallbackT && callback)
+  {
+    return AsyncParametersClient::on_parameter_event(
+      node,
+      std::forward<CallbackT>(callback));
   }
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/parameter_service.hpp

@@ -43,7 +43,7 @@ public:
   explicit ParameterService(
     const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
     const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
-    node_interfaces::NodeParametersInterface * node_params,
+    rclcpp::node_interfaces::NodeParametersInterface * node_params,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
 private:

rclcpp/include/rclcpp/parameter_value.hpp

@@ -28,7 +28,8 @@
 
 namespace rclcpp
 {
-enum ParameterType
+
+enum ParameterType : uint8_t
 {
   PARAMETER_NOT_SET = rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET,
   PARAMETER_BOOL = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
@@ -45,11 +46,11 @@ enum ParameterType
 /// Return the name of a parameter type
 RCLCPP_PUBLIC
 std::string
-to_string(const ParameterType type);
+to_string(ParameterType type);
 
 RCLCPP_PUBLIC
 std::ostream &
-operator<<(std::ostream & os, const ParameterType type);
+operator<<(std::ostream & os, ParameterType type);
 
 /// Indicate the parameter type does not match the expected type.
 class ParameterTypeException : public std::runtime_error
@@ -129,10 +130,21 @@ public:
   rcl_interfaces::msg::ParameterValue
   to_value_msg() const;
 
+  /// Equal operator.
+  RCLCPP_PUBLIC
+  bool
+  operator==(const ParameterValue & rhs) const;
+
+  /// Not equal operator.
+  RCLCPP_PUBLIC
+  bool
+  operator!=(const ParameterValue & rhs) const;
+
   // The following get() variants require the use of ParameterType
 
   template<ParameterType type>
-  typename std::enable_if<type == ParameterType::PARAMETER_BOOL, bool>::type
+  constexpr
+  typename std::enable_if<type == ParameterType::PARAMETER_BOOL, const bool &>::type
   get() const
   {
     if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
@@ -142,7 +154,8 @@ public:
   }
 
   template<ParameterType type>
-  typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, int64_t>::type
+  constexpr
+  typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, const int64_t &>::type
   get() const
   {
     if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) {
@@ -152,7 +165,8 @@ public:
   }
 
   template<ParameterType type>
-  typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, double>::type
+  constexpr
+  typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, const double &>::type
   get() const
   {
     if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
@@ -162,6 +176,7 @@ public:
   }
 
   template<ParameterType type>
+  constexpr
   typename std::enable_if<type == ParameterType::PARAMETER_STRING, const std::string &>::type
   get() const
   {
@@ -172,6 +187,7 @@ public:
   }
 
   template<ParameterType type>
+  constexpr
   typename std::enable_if<
     type == ParameterType::PARAMETER_BYTE_ARRAY, const std::vector<uint8_t> &>::type
   get() const
@@ -183,6 +199,7 @@ public:
   }
 
   template<ParameterType type>
+  constexpr
   typename std::enable_if<
     type == ParameterType::PARAMETER_BOOL_ARRAY, const std::vector<bool> &>::type
   get() const
@@ -194,6 +211,7 @@ public:
   }
 
   template<ParameterType type>
+  constexpr
   typename std::enable_if<
     type == ParameterType::PARAMETER_INTEGER_ARRAY, const std::vector<int64_t> &>::type
   get() const
@@ -205,6 +223,7 @@ public:
   }
 
   template<ParameterType type>
+  constexpr
   typename std::enable_if<
     type == ParameterType::PARAMETER_DOUBLE_ARRAY, const std::vector<double> &>::type
   get() const
@@ -216,6 +235,7 @@ public:
   }
 
   template<ParameterType type>
+  constexpr
   typename std::enable_if<
     type == ParameterType::PARAMETER_STRING_ARRAY, const std::vector<std::string> &>::type
   get() const
@@ -229,28 +249,32 @@ public:
   // The following get() variants allow the use of primitive types
 
   template<typename type>
-  typename std::enable_if<std::is_same<type, bool>::value, bool>::type
+  constexpr
+  typename std::enable_if<std::is_same<type, bool>::value, const bool &>::type
   get() const
   {
     return get<ParameterType::PARAMETER_BOOL>();
   }
 
   template<typename type>
+  constexpr
   typename std::enable_if<
-    std::is_integral<type>::value && !std::is_same<type, bool>::value, int64_t>::type
+    std::is_integral<type>::value && !std::is_same<type, bool>::value, const int64_t &>::type
   get() const
   {
     return get<ParameterType::PARAMETER_INTEGER>();
   }
 
   template<typename type>
-  typename std::enable_if<std::is_floating_point<type>::value, double>::type
+  constexpr
+  typename std::enable_if<std::is_floating_point<type>::value, const double &>::type
   get() const
   {
     return get<ParameterType::PARAMETER_DOUBLE>();
   }
 
   template<typename type>
+  constexpr
   typename std::enable_if<std::is_convertible<type, std::string>::value, const std::string &>::type
   get() const
   {
@@ -258,6 +282,7 @@ public:
   }
 
   template<typename type>
+  constexpr
   typename std::enable_if<
     std::is_convertible<
       type, const std::vector<uint8_t> &>::value, const std::vector<uint8_t> &>::type
@@ -267,6 +292,7 @@ public:
   }
 
   template<typename type>
+  constexpr
   typename std::enable_if<
     std::is_convertible<
       type, const std::vector<bool> &>::value, const std::vector<bool> &>::type
@@ -276,6 +302,7 @@ public:
   }
 
   template<typename type>
+  constexpr
   typename std::enable_if<
     std::is_convertible<
       type, const std::vector<int64_t> &>::value, const std::vector<int64_t> &>::type
@@ -285,6 +312,7 @@ public:
   }
 
   template<typename type>
+  constexpr
   typename std::enable_if<
     std::is_convertible<
       type, const std::vector<double> &>::value, const std::vector<double> &>::type
@@ -294,6 +322,7 @@ public:
   }
 
   template<typename type>
+  constexpr
   typename std::enable_if<
     std::is_convertible<
       type, const std::vector<std::string> &>::value, const std::vector<std::string> &>::type

rclcpp/include/rclcpp/publisher.hpp

@@ -23,6 +23,7 @@
 #include <memory>
 #include <sstream>
 #include <string>
+#include <utility>
 
 #include "rcl/error_handling.h"
 #include "rcl/publisher.h"
@@ -31,167 +32,15 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
+#include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/publisher_base.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
 
-// Forward declaration is used for friend statement.
-namespace node_interfaces
-{
-class NodeTopicsInterface;
-}
-
-namespace intra_process_manager
-{
-/**
- * NOTE(ivanpauno): IntraProcessManager is forward declared here, avoiding a circular inclusion between intra_process_manager.hpp and publisher.hpp.
- * SharedPtr and WeakPtr of the IntraProcessManager are defined again here, to avoid a warning for accessing a member of a forward declared class.
- */
-class IntraProcessManager;
-}
-
-class PublisherBase
-{
-  friend ::rclcpp::node_interfaces::NodeTopicsInterface;
-
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase)
-
-  /// Default constructor.
-  /**
-   * Typically, a publisher is not created through this method, but instead is created through a
-   * call to `Node::create_publisher`.
-   * \param[in] node_base A pointer to the NodeBaseInterface for the parent node.
-   * \param[in] topic The topic that this publisher publishes on.
-   * \param[in] type_support The type support structure for the type to be published.
-   * \param[in] publisher_options QoS settings for this publisher.
-   */
-  RCLCPP_PUBLIC
-  PublisherBase(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    const std::string & topic,
-    const rosidl_message_type_support_t & type_support,
-    const rcl_publisher_options_t & publisher_options);
-
-  RCLCPP_PUBLIC
-  virtual ~PublisherBase();
-
-  /// Get the topic that this publisher publishes on.
-  /** \return The topic name. */
-  RCLCPP_PUBLIC
-  const char *
-  get_topic_name() const;
-
-  /// Get the queue size for this publisher.
-  /** \return The queue size. */
-  RCLCPP_PUBLIC
-  size_t
-  get_queue_size() const;
-
-  /// Get the global identifier for this publisher (used in rmw and by DDS).
-  /** \return The gid. */
-  RCLCPP_PUBLIC
-  const rmw_gid_t &
-  get_gid() const;
-
-  /// Get the global identifier for this publisher used by intra-process communication.
-  /** \return The intra-process gid. */
-  RCLCPP_PUBLIC
-  const rmw_gid_t &
-  get_intra_process_gid() const;
-
-  /// Get the rcl publisher handle.
-  /** \return The rcl publisher handle. */
-  RCLCPP_PUBLIC
-  rcl_publisher_t *
-  get_publisher_handle();
-
-  /// Get the rcl publisher handle.
-  /** \return The rcl publisher handle. */
-  RCLCPP_PUBLIC
-  const rcl_publisher_t *
-  get_publisher_handle() const;
-
-  /// Get subscription count
-  /** \return The number of subscriptions. */
-  RCLCPP_PUBLIC
-  size_t
-  get_subscription_count() const;
-
-  /// Get intraprocess subscription count
-  /** \return The number of intraprocess subscriptions. */
-  RCLCPP_PUBLIC
-  size_t
-  get_intra_process_subscription_count() const;
-
-  /// Get the actual QoS settings, after the defaults have been determined.
-  /**
-   * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
-   * can only be resolved after the creation of the publisher, and it
-   * depends on the underlying rmw implementation.
-   * If the underlying setting in use can't be represented in ROS terms,
-   * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
-   * May throw runtime_error when an unexpected error occurs.
-   * \return The actual qos settings.
-   */
-  RCLCPP_PUBLIC
-  rmw_qos_profile_t
-  get_actual_qos() const;
-
-  /// Compare this publisher to a gid.
-  /**
-   * Note that this function calls the next function.
-   * \param[in] gid Reference to a gid.
-   * \return True if the publisher's gid matches the input.
-   */
-  RCLCPP_PUBLIC
-  bool
-  operator==(const rmw_gid_t & gid) const;
-
-  /// Compare this publisher to a pointer gid.
-  /**
-   * A wrapper for comparing this publisher's gid to the input using rmw_compare_gids_equal.
-   * \param[in] gid A pointer to a gid.
-   * \return True if this publisher's gid matches the input.
-   */
-  RCLCPP_PUBLIC
-  bool
-  operator==(const rmw_gid_t * gid) const;
-
-  using StoreMessageCallbackT = std::function<uint64_t(uint64_t, void *, const std::type_info &)>;
-  using IntraProcessManagerSharedPtr =
-    std::shared_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
-
-  /// Implementation utility function used to setup intra process publishing after creation.
-  RCLCPP_PUBLIC
-  void
-  setup_intra_process(
-    uint64_t intra_process_publisher_id,
-    StoreMessageCallbackT store_callback,
-    IntraProcessManagerSharedPtr ipm,
-    const rcl_publisher_options_t & intra_process_options);
-
-protected:
-  std::shared_ptr<rcl_node_t> rcl_node_handle_;
-
-  rcl_publisher_t publisher_handle_ = rcl_get_zero_initialized_publisher();
-  rcl_publisher_t intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher();
-
-  using IntraProcessManagerWeakPtr =
-    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
-  bool intra_process_is_enabled_;
-  IntraProcessManagerWeakPtr weak_ipm_;
-  uint64_t intra_process_publisher_id_;
-  StoreMessageCallbackT store_intra_process_message_;
-
-  rmw_gid_t rmw_gid_;
-  rmw_gid_t intra_process_rmw_gid_;
-};
-
 /// A publisher publishes messages of any type to a topic.
 template<typename MessageT, typename Alloc = std::allocator<void>>
 class Publisher : public PublisherBase
@@ -201,6 +50,7 @@ public:
   using MessageAlloc = typename MessageAllocTraits::allocator_type;
   using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
+  using MessageSharedPtr = std::shared_ptr<const MessageT>;
 
   RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, Alloc>)
 
@@ -208,6 +58,7 @@ public:
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
     const rcl_publisher_options_t & publisher_options,
+    const PublisherEventCallbacks & event_callbacks,
     const std::shared_ptr<MessageAlloc> & allocator)
   : PublisherBase(
       node_base,
@@ -217,112 +68,99 @@ public:
     message_allocator_(allocator)
   {
     allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
+
+    if (event_callbacks.deadline_callback) {
+      this->add_event_handler(event_callbacks.deadline_callback,
+        RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
+    }
+    if (event_callbacks.liveliness_callback) {
+      this->add_event_handler(event_callbacks.liveliness_callback,
+        RCL_PUBLISHER_LIVELINESS_LOST);
+    }
   }
 
   virtual ~Publisher()
   {}
 
+  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+  make_mapped_ring_buffer(size_t size) const override
+  {
+    return mapped_ring_buffer::MappedRingBuffer<
+      MessageT,
+      typename Publisher<MessageT, Alloc>::MessageAlloc
+    >::make_shared(size, this->get_allocator());
+  }
+
   /// Send a message to the topic for this publisher.
   /**
    * This function is templated on the input message type, MessageT.
    * \param[in] msg A shared pointer to the message to send.
    */
   virtual void
-  publish(std::unique_ptr<MessageT, MessageDeleter> & msg)
+  publish(std::unique_ptr<MessageT, MessageDeleter> msg)
   {
-    bool inter_process_subscriptions_exist =
-      get_subscription_count() > get_intra_process_subscription_count();
-    if (!intra_process_is_enabled_ || inter_process_subscriptions_exist) {
+    if (!intra_process_is_enabled_) {
       this->do_inter_process_publish(msg.get());
+      return;
     }
-    if (store_intra_process_message_) {
-      // Take the pointer from the unique_msg, release it and pass as a void *
-      // to the ipm. The ipm should then capture it again as a unique_ptr of
-      // the correct type.
-      // TODO(wjwwood):
-      //   investigate how to transfer the custom deleter (if there is one)
-      //   from the incoming unique_ptr through to the ipm's unique_ptr.
-      //   See: http://stackoverflow.com/questions/11002641/dynamic-casting-for-unique-ptr
-      MessageT * msg_ptr = msg.get();
-      msg.release();
-      uint64_t message_seq =
-        store_intra_process_message_(intra_process_publisher_id_, msg_ptr, typeid(MessageT));
-      rcl_interfaces::msg::IntraProcessMessage ipm;
-      ipm.publisher_id = intra_process_publisher_id_;
-      ipm.message_sequence = message_seq;
-      auto status = rcl_publish(&intra_process_publisher_handle_, &ipm);
-      if (RCL_RET_PUBLISHER_INVALID == status) {
-        rcl_reset_error();  // next call will reset error message if not context
-        if (rcl_publisher_is_valid_except_context(&intra_process_publisher_handle_)) {
-          rcl_context_t * context = rcl_publisher_get_context(&intra_process_publisher_handle_);
-          if (nullptr != context && !rcl_context_is_valid(context)) {
-            // publisher is invalid due to context being shutdown
-            return;
-          }
-        }
-      }
-      if (RCL_RET_OK != status) {
-        rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish intra process message");
-      }
+    // If an interprocess subscription exist, then the unique_ptr is promoted
+    // to a shared_ptr and published.
+    // This allows doing the intraprocess publish first and then doing the
+    // interprocess publish, resulting in lower publish-to-subscribe latency.
+    // It's not possible to do that with an unique_ptr,
+    // as do_intra_process_publish takes the ownership of the message.
+    uint64_t message_seq;
+    bool inter_process_publish_needed =
+      get_subscription_count() > get_intra_process_subscription_count();
+    MessageSharedPtr shared_msg;
+    if (inter_process_publish_needed) {
+      shared_msg = std::move(msg);
+      message_seq =
+        store_intra_process_message(intra_process_publisher_id_, shared_msg);
     } else {
-      // Always destroy the message, even if we don't consume it, for consistency.
-      msg.reset();
+      message_seq =
+        store_intra_process_message(intra_process_publisher_id_, std::move(msg));
+    }
+    this->do_intra_process_publish(message_seq);
+    if (inter_process_publish_needed) {
+      this->do_inter_process_publish(shared_msg.get());
     }
   }
 
+// Skip deprecated attribute in windows, as it raise a warning in template specialization.
+#if !defined(_WIN32)
+  [[deprecated(
+    "publishing an unique_ptr is prefered when using intra process communication."
+    " If using a shared_ptr, use publish(*msg).")]]
+#endif
   virtual void
-  publish(const std::shared_ptr<MessageT> & msg)
+  publish(const std::shared_ptr<const MessageT> & msg)
   {
-    // Avoid allocating when not using intra process.
-    if (!store_intra_process_message_) {
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(msg.get());
-    }
-    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
-    // TODO(wjwwood):
-    //   The intra process manager should probably also be able to store
-    //   shared_ptr's and do the "smart" thing based on other intra process
-    //   subscriptions. For now call the other publish().
-    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocTraits::construct(*message_allocator_.get(), ptr, *msg.get());
-    MessageUniquePtr unique_msg(ptr, message_deleter_);
-    return this->publish(unique_msg);
-  }
-
-  virtual void
-  publish(std::shared_ptr<const MessageT> msg)
-  {
-    // Avoid allocating when not using intra process.
-    if (!store_intra_process_message_) {
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(msg.get());
-    }
-    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
-    // TODO(wjwwood):
-    //   The intra process manager should probably also be able to store
-    //   shared_ptr's and do the "smart" thing based on other intra process
-    //   subscriptions. For now call the other publish().
-    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocTraits::construct(*message_allocator_.get(), ptr, *msg.get());
-    MessageUniquePtr unique_msg(ptr, message_deleter_);
-    return this->publish(unique_msg);
+    publish(*msg);
   }
 
   virtual void
   publish(const MessageT & msg)
   {
     // Avoid allocating when not using intra process.
-    if (!store_intra_process_message_) {
+    if (!intra_process_is_enabled_) {
       // In this case we're not using intra process.
       return this->do_inter_process_publish(&msg);
     }
     // Otherwise we have to allocate memory in a unique_ptr and pass it along.
+    // As the message is not const, a copy should be made.
+    // A shared_ptr<const MessageT> could also be constructed here.
     auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
     MessageAllocTraits::construct(*message_allocator_.get(), ptr, msg);
     MessageUniquePtr unique_msg(ptr, message_deleter_);
-    return this->publish(unique_msg);
+    this->publish(std::move(unique_msg));
   }
 
+// Skip deprecated attribute in windows, as it raise a warning in template specialization.
+#if !defined(_WIN32)
+  [[deprecated(
+    "Use publish(*msg). Check against nullptr before calling if necessary.")]]
+#endif
   virtual void
   publish(const MessageT * msg)
   {
@@ -333,22 +171,31 @@ public:
   }
 
   void
-  publish(const rcl_serialized_message_t * serialized_msg)
+  publish(const rcl_serialized_message_t & serialized_msg)
   {
-    if (store_intra_process_message_) {
-      // TODO(Karsten1987): support serialized message passed by intraprocess
-      throw std::runtime_error("storing serialized messages in intra process is not supported yet");
-    }
-    auto status = rcl_publish_serialized_message(&publisher_handle_, serialized_msg);
-    if (RCL_RET_OK != status) {
-      rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish serialized message");
-    }
+    return this->do_serialized_publish(&serialized_msg);
   }
 
+// Skip deprecated attribute in windows, as it raise a warning in template specialization.
+#if !defined(_WIN32)
+  [[deprecated(
+    "Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
+#endif
+  void
+  publish(const rcl_serialized_message_t * serialized_msg)
+  {
+    return this->do_serialized_publish(serialized_msg);
+  }
+
+// Skip deprecated attribute in windows, as it raise a warning in template specialization.
+#if !defined(_WIN32)
+  [[deprecated(
+    "Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
+#endif
   void
   publish(std::shared_ptr<const rcl_serialized_message_t> serialized_msg)
   {
-    return this->publish(serialized_msg.get());
+    return this->do_serialized_publish(serialized_msg.get());
   }
 
   std::shared_ptr<MessageAlloc> get_allocator() const
@@ -360,7 +207,7 @@ protected:
   void
   do_inter_process_publish(const MessageT * msg)
   {
-    auto status = rcl_publish(&publisher_handle_, msg);
+    auto status = rcl_publish(&publisher_handle_, msg, nullptr);
     if (RCL_RET_PUBLISHER_INVALID == status) {
       rcl_reset_error();  // next call will reset error message if not context
       if (rcl_publisher_is_valid_except_context(&publisher_handle_)) {
@@ -376,6 +223,77 @@ protected:
     }
   }
 
+  void
+  do_serialized_publish(const rcl_serialized_message_t * serialized_msg)
+  {
+    if (intra_process_is_enabled_) {
+      // TODO(Karsten1987): support serialized message passed by intraprocess
+      throw std::runtime_error("storing serialized messages in intra process is not supported yet");
+    }
+    auto status = rcl_publish_serialized_message(&publisher_handle_, serialized_msg, nullptr);
+    if (RCL_RET_OK != status) {
+      rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish serialized message");
+    }
+  }
+
+  void
+  do_intra_process_publish(uint64_t message_seq)
+  {
+    rcl_interfaces::msg::IntraProcessMessage ipm;
+    ipm.publisher_id = intra_process_publisher_id_;
+    ipm.message_sequence = message_seq;
+    auto status = rcl_publish(&intra_process_publisher_handle_, &ipm, nullptr);
+    if (RCL_RET_PUBLISHER_INVALID == status) {
+      rcl_reset_error();  // next call will reset error message if not context
+      if (rcl_publisher_is_valid_except_context(&intra_process_publisher_handle_)) {
+        rcl_context_t * context = rcl_publisher_get_context(&intra_process_publisher_handle_);
+        if (nullptr != context && !rcl_context_is_valid(context)) {
+          // publisher is invalid due to context being shutdown
+          return;
+        }
+      }
+    }
+    if (RCL_RET_OK != status) {
+      rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish intra process message");
+    }
+  }
+
+  uint64_t
+  store_intra_process_message(
+    uint64_t publisher_id,
+    std::shared_ptr<const MessageT> msg)
+  {
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      throw std::runtime_error(
+              "intra process publish called after destruction of intra process manager");
+    }
+    if (!msg) {
+      throw std::runtime_error("cannot publisher msg which is a null pointer");
+    }
+    uint64_t message_seq =
+      ipm->template store_intra_process_message<MessageT, Alloc>(publisher_id, msg);
+    return message_seq;
+  }
+
+  uint64_t
+  store_intra_process_message(
+    uint64_t publisher_id,
+    std::unique_ptr<MessageT, MessageDeleter> msg)
+  {
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      throw std::runtime_error(
+              "intra process publish called after destruction of intra process manager");
+    }
+    if (!msg) {
+      throw std::runtime_error("cannot publisher msg which is a null pointer");
+    }
+    uint64_t message_seq =
+      ipm->template store_intra_process_message<MessageT, Alloc>(publisher_id, std::move(msg));
+    return message_seq;
+  }
+
   std::shared_ptr<MessageAlloc> message_allocator_;
 
   MessageDeleter message_deleter_;

rclcpp/include/rclcpp/publisher_base.hpp

@@ -0,0 +1,232 @@
+// Copyright 2014 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__PUBLISHER_BASE_HPP_
+#define RCLCPP__PUBLISHER_BASE_HPP_
+
+#include <rmw/error_handling.h>
+#include <rmw/rmw.h>
+
+#include <functional>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "rcl/publisher.h"
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/mapped_ring_buffer.hpp"
+#include "rclcpp/qos_event.hpp"
+#include "rclcpp/type_support_decl.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+// Forward declaration is used for friend statement.
+namespace node_interfaces
+{
+class NodeBaseInterface;
+class NodeTopicsInterface;
+}
+
+namespace intra_process_manager
+{
+/**
+ * IntraProcessManager is forward declared here, avoiding a circular inclusion between
+ * `intra_process_manager.hpp` and `publisher_base.hpp`.
+ */
+class IntraProcessManager;
+}
+
+class PublisherBase
+{
+  friend ::rclcpp::node_interfaces::NodeTopicsInterface;
+
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase)
+
+  /// Default constructor.
+  /**
+   * Typically, a publisher is not created through this method, but instead is created through a
+   * call to `Node::create_publisher`.
+   * \param[in] node_base A pointer to the NodeBaseInterface for the parent node.
+   * \param[in] topic The topic that this publisher publishes on.
+   * \param[in] type_support The type support structure for the type to be published.
+   * \param[in] publisher_options QoS settings for this publisher.
+   */
+  RCLCPP_PUBLIC
+  PublisherBase(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic,
+    const rosidl_message_type_support_t & type_support,
+    const rcl_publisher_options_t & publisher_options);
+
+  RCLCPP_PUBLIC
+  virtual ~PublisherBase();
+
+  /// Get the topic that this publisher publishes on.
+  /** \return The topic name. */
+  RCLCPP_PUBLIC
+  const char *
+  get_topic_name() const;
+
+  /// Get the queue size for this publisher.
+  /** \return The queue size. */
+  RCLCPP_PUBLIC
+  size_t
+  get_queue_size() const;
+
+  /// Get the global identifier for this publisher (used in rmw and by DDS).
+  /** \return The gid. */
+  RCLCPP_PUBLIC
+  const rmw_gid_t &
+  get_gid() const;
+
+  /// Get the global identifier for this publisher used by intra-process communication.
+  /** \return The intra-process gid. */
+  RCLCPP_PUBLIC
+  const rmw_gid_t &
+  get_intra_process_gid() const;
+
+  /// Get the rcl publisher handle.
+  /** \return The rcl publisher handle. */
+  RCLCPP_PUBLIC
+  rcl_publisher_t *
+  get_publisher_handle();
+
+  /// Get the rcl publisher handle.
+  /** \return The rcl publisher handle. */
+  RCLCPP_PUBLIC
+  const rcl_publisher_t *
+  get_publisher_handle() const;
+
+  /// Get all the QoS event handlers associated with this publisher.
+  /** \return The vector of QoS event handlers. */
+  RCLCPP_PUBLIC
+  const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
+  get_event_handlers() const;
+
+  /// Get subscription count
+  /** \return The number of subscriptions. */
+  RCLCPP_PUBLIC
+  size_t
+  get_subscription_count() const;
+
+  /// Get intraprocess subscription count
+  /** \return The number of intraprocess subscriptions. */
+  RCLCPP_PUBLIC
+  size_t
+  get_intra_process_subscription_count() const;
+
+  /// Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC).
+  /**
+   * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, the creator
+   * of this publisher may manually call `assert_liveliness` at some point in time to signal to the
+   * rest of the system that this Node is still alive.
+   *
+   * \return `true` if the liveliness was asserted successfully, otherwise `false`
+   */
+  RCLCPP_PUBLIC
+  RCUTILS_WARN_UNUSED
+  bool
+  assert_liveliness() const;
+
+  /// Get the actual QoS settings, after the defaults have been determined.
+  /**
+   * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
+   * can only be resolved after the creation of the publisher, and it
+   * depends on the underlying rmw implementation.
+   * If the underlying setting in use can't be represented in ROS terms,
+   * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
+   * May throw runtime_error when an unexpected error occurs.
+   * \return The actual qos settings.
+   */
+  RCLCPP_PUBLIC
+  rmw_qos_profile_t
+  get_actual_qos() const;
+
+  /// Compare this publisher to a gid.
+  /**
+   * Note that this function calls the next function.
+   * \param[in] gid Reference to a gid.
+   * \return True if the publisher's gid matches the input.
+   */
+  RCLCPP_PUBLIC
+  bool
+  operator==(const rmw_gid_t & gid) const;
+
+  /// Compare this publisher to a pointer gid.
+  /**
+   * A wrapper for comparing this publisher's gid to the input using rmw_compare_gids_equal.
+   * \param[in] gid A pointer to a gid.
+   * \return True if this publisher's gid matches the input.
+   */
+  RCLCPP_PUBLIC
+  bool
+  operator==(const rmw_gid_t * gid) const;
+
+  using IntraProcessManagerSharedPtr =
+    std::shared_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
+
+  /// Implementation utility function that creates a typed mapped ring buffer.
+  RCLCPP_PUBLIC
+  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+  virtual make_mapped_ring_buffer(size_t size) const;
+
+  /// Implementation utility function used to setup intra process publishing after creation.
+  RCLCPP_PUBLIC
+  void
+  setup_intra_process(
+    uint64_t intra_process_publisher_id,
+    IntraProcessManagerSharedPtr ipm,
+    const rcl_publisher_options_t & intra_process_options);
+
+protected:
+  template<typename EventCallbackT>
+  void
+  add_event_handler(
+    const EventCallbackT & callback,
+    const rcl_publisher_event_type_t event_type)
+  {
+    auto handler = std::make_shared<QOSEventHandler<EventCallbackT>>(
+      callback,
+      rcl_publisher_event_init,
+      &publisher_handle_,
+      event_type);
+    event_handlers_.emplace_back(handler);
+  }
+
+  std::shared_ptr<rcl_node_t> rcl_node_handle_;
+
+  rcl_publisher_t publisher_handle_ = rcl_get_zero_initialized_publisher();
+  rcl_publisher_t intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher();
+
+  std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
+
+  using IntraProcessManagerWeakPtr =
+    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
+  bool intra_process_is_enabled_;
+  IntraProcessManagerWeakPtr weak_ipm_;
+  uint64_t intra_process_publisher_id_;
+
+  rmw_gid_t rmw_gid_;
+  rmw_gid_t intra_process_rmw_gid_;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__PUBLISHER_BASE_HPP_

rclcpp/include/rclcpp/publisher_factory.hpp

@@ -49,94 +49,38 @@ struct PublisherFactory
     rclcpp::PublisherBase::SharedPtr(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-      rcl_publisher_options_t & publisher_options)>;
+      const rcl_publisher_options_t & publisher_options)>;
 
   PublisherFactoryFunction create_typed_publisher;
-
-  // Adds the PublisherBase to the intraprocess manager with the correctly
-  // templated call to IntraProcessManager::store_intra_process_message.
-  using AddPublisherToIntraProcessManagerFunction = std::function<
-    uint64_t(
-      rclcpp::intra_process_manager::IntraProcessManager * ipm,
-      rclcpp::PublisherBase::SharedPtr publisher)>;
-
-  AddPublisherToIntraProcessManagerFunction add_publisher_to_intra_process_manager;
-
-  // Creates the callback function which is called on each
-  // PublisherT::publish() and which handles the intra process transmission of
-  // the message being published.
-  using SharedPublishCallbackFactoryFunction = std::function<
-    rclcpp::PublisherBase::StoreMessageCallbackT(
-      rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm)>;
-
-  SharedPublishCallbackFactoryFunction create_shared_publish_callback;
 };
 
 /// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, Alloc>.
 template<typename MessageT, typename Alloc, typename PublisherT>
 PublisherFactory
-create_publisher_factory(std::shared_ptr<Alloc> allocator)
+create_publisher_factory(
+  const PublisherEventCallbacks & event_callbacks,
+  std::shared_ptr<Alloc> allocator)
 {
   PublisherFactory factory;
 
   // factory function that creates a MessageT specific PublisherT
   factory.create_typed_publisher =
-    [allocator](
+    [event_callbacks, allocator](
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic_name,
-    rcl_publisher_options_t & publisher_options) -> std::shared_ptr<PublisherT>
+    const rcl_publisher_options_t & publisher_options
+    ) -> std::shared_ptr<PublisherT>
     {
+      auto options_copy = publisher_options;
       auto message_alloc = std::make_shared<typename PublisherT::MessageAlloc>(*allocator.get());
-      publisher_options.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
+      options_copy.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
 
-      return std::make_shared<PublisherT>(node_base, topic_name, publisher_options, message_alloc);
-    };
-
-  // function to add a publisher to the intra process manager
-  factory.add_publisher_to_intra_process_manager =
-    [](
-    rclcpp::intra_process_manager::IntraProcessManager * ipm,
-    rclcpp::PublisherBase::SharedPtr publisher) -> uint64_t
-    {
-      return ipm->add_publisher<MessageT, Alloc>(std::dynamic_pointer_cast<PublisherT>(publisher));
-    };
-
-  // function to create a shared publish callback std::function
-  using StoreMessageCallbackT = rclcpp::PublisherBase::StoreMessageCallbackT;
-  factory.create_shared_publish_callback =
-    [](rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm) -> StoreMessageCallbackT
-    {
-      rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = ipm;
-
-      // this function is called on each call to publish() and handles storing
-      // of the published message in the intra process manager
-      auto shared_publish_callback =
-        [weak_ipm](uint64_t publisher_id, void * msg, const std::type_info & type_info) -> uint64_t
-        {
-          auto ipm = weak_ipm.lock();
-          if (!ipm) {
-            // TODO(wjwwood): should this just return silently? Or maybe return with a warning?
-            throw std::runtime_error(
-                    "intra process publish called after destruction of intra process manager");
-          }
-          if (!msg) {
-            throw std::runtime_error("cannot publisher msg which is a null pointer");
-          }
-          auto & message_type_info = typeid(MessageT);
-          if (message_type_info != type_info) {
-            throw std::runtime_error(
-                    std::string("published type '") + type_info.name() +
-                    "' is incompatible from the publisher type '" + message_type_info.name() + "'");
-          }
-          MessageT * typed_message_ptr = static_cast<MessageT *>(msg);
-          using MessageDeleter = typename Publisher<MessageT, Alloc>::MessageDeleter;
-          std::unique_ptr<MessageT, MessageDeleter> unique_msg(typed_message_ptr);
-          uint64_t message_seq =
-            ipm->store_intra_process_message<MessageT, Alloc>(publisher_id, unique_msg);
-          return message_seq;
-        };
-
-      return shared_publish_callback;
+      return std::make_shared<PublisherT>(
+        node_base,
+        topic_name,
+        options_copy,
+        event_callbacks,
+        message_alloc);
     };
 
   // return the factory now that it is populated

rclcpp/include/rclcpp/publisher_options.hpp

@@ -19,22 +19,56 @@
 #include <string>
 #include <vector>
 
+#include "rclcpp/callback_group.hpp"
 #include "rclcpp/intra_process_setting.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/qos_event.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rcl/publisher.h"
 
 namespace rclcpp
 {
 
-/// Structure containing optional configuration for Publishers.
-template<typename Allocator>
-struct PublisherOptionsWithAllocator
+/// Non-templated part of PublisherOptionsWithAllocator<Allocator>.
+struct PublisherOptionsBase
 {
-  /// The quality of service profile to pass on to the rmw implementation.
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
-  /// Optional custom allocator.
-  std::shared_ptr<Allocator> allocator = nullptr;
   /// Setting to explicitly set intraprocess communications.
   IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault;
+
+  /// Callbacks for various events related to publishers.
+  PublisherEventCallbacks event_callbacks;
+
+  /// Callback group in which the waitable items from the publisher should be placed.
+  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
+};
+
+/// Structure containing optional configuration for Publishers.
+template<typename Allocator>
+struct PublisherOptionsWithAllocator : public PublisherOptionsBase
+{
+  /// Optional custom allocator.
+  std::shared_ptr<Allocator> allocator = nullptr;
+
+  PublisherOptionsWithAllocator<Allocator>() {}
+
+  /// Constructor using base class as input.
+  explicit PublisherOptionsWithAllocator(const PublisherOptionsBase & publisher_options_base)
+  : PublisherOptionsBase(publisher_options_base)
+  {}
+
+  /// Convert this class, and a rclcpp::QoS, into an rcl_publisher_options_t.
+  template<typename MessageT>
+  rcl_publisher_options_t
+  to_rcl_publisher_options(const rclcpp::QoS & qos) const
+  {
+    rcl_publisher_options_t result;
+    using AllocatorTraits = std::allocator_traits<Allocator>;
+    using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
+    auto message_alloc = std::make_shared<MessageAllocatorT>(*allocator.get());
+    result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
+    result.qos = qos.get_rmw_qos_profile();
+    return result;
+  }
 };
 
 using PublisherOptions = PublisherOptionsWithAllocator<std::allocator<void>>;

rclcpp/include/rclcpp/qos.hpp

@@ -0,0 +1,206 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__QOS_HPP_
+#define RCLCPP__QOS_HPP_
+
+#include <rmw/qos_profiles.h>
+#include <rmw/types.h>
+
+#include "rclcpp/duration.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+/// QoS initialization values, cannot be created directly, use KeepAll or KeepLast instead.
+struct RCLCPP_PUBLIC QoSInitialization
+{
+  rmw_qos_history_policy_t history_policy;
+  size_t depth;
+
+  /// Constructor which takes both a history policy and a depth (even if it would be unused).
+  QoSInitialization(rmw_qos_history_policy_t history_policy_arg, size_t depth_arg);
+
+  /// Create a QoSInitialization from an existing rmw_qos_profile_t, using its history and depth.
+  static
+  QoSInitialization
+  from_rmw(const rmw_qos_profile_t & rmw_qos);
+};
+
+/// Use to initialize the QoS with the keep_all history setting.
+struct RCLCPP_PUBLIC KeepAll : public rclcpp::QoSInitialization
+{
+  KeepAll();
+};
+
+/// Use to initialize the QoS with the keep_last history setting and the given depth.
+struct RCLCPP_PUBLIC KeepLast : public rclcpp::QoSInitialization
+{
+  explicit KeepLast(size_t depth);
+};
+
+/// Encapsulation of Quality of Service settings.
+class RCLCPP_PUBLIC QoS
+{
+public:
+  /// Constructor which allows you to construct a QoS by giving the only required settings.
+  explicit
+  QoS(
+    const QoSInitialization & qos_initialization,
+    const rmw_qos_profile_t & initial_profile = rmw_qos_profile_default);
+
+  /// Conversion constructor to ease construction in the common case of just specifying depth.
+  /**
+   * Convenience constructor, equivalent to QoS(KeepLast(history_depth)).
+   */
+  // cppcheck-suppress noExplicitConstructor
+  QoS(size_t history_depth);  // NOLINT(runtime/explicit): conversion constructor
+
+  /// Return the rmw qos profile.
+  rmw_qos_profile_t &
+  get_rmw_qos_profile();
+
+  /// Return the rmw qos profile.
+  const rmw_qos_profile_t &
+  get_rmw_qos_profile() const;
+
+  /// Set the history policy.
+  QoS &
+  history(rmw_qos_history_policy_t history);
+
+  /// Set the history to keep last.
+  QoS &
+  keep_last(size_t depth);
+
+  /// Set the history to keep all.
+  QoS &
+  keep_all();
+
+  /// Set the reliability setting.
+  QoS &
+  reliability(rmw_qos_reliability_policy_t reliability);
+
+  /// Set the reliability setting to reliable.
+  QoS &
+  reliable();
+
+  /// Set the reliability setting to best effort.
+  QoS &
+  best_effort();
+
+  /// Set the durability setting.
+  QoS &
+  durability(rmw_qos_durability_policy_t durability);
+
+  /// Set the durability setting to volatile.
+  /**
+    * Note that this cannot be named `volatile` because it is a C++ keyword.
+    */
+  QoS &
+  durability_volatile();
+
+  /// Set the durability setting to transient local.
+  QoS &
+  transient_local();
+
+  /// Set the deadline setting.
+  QoS &
+  deadline(rmw_time_t deadline);
+
+  /// Set the deadline setting, rclcpp::Duration.
+  QoS &
+  deadline(const rclcpp::Duration & deadline);
+
+  /// Set the lifespan setting.
+  QoS &
+  lifespan(rmw_time_t lifespan);
+
+  /// Set the lifespan setting, rclcpp::Duration.
+  QoS &
+  lifespan(const rclcpp::Duration & lifespan);
+
+  /// Set the liveliness setting.
+  QoS &
+  liveliness(rmw_qos_liveliness_policy_t liveliness);
+
+  /// Set the liveliness_lease_duration setting.
+  QoS &
+  liveliness_lease_duration(rmw_time_t liveliness_lease_duration);
+
+  /// Set the liveliness_lease_duration setting, rclcpp::Duration.
+  QoS &
+  liveliness_lease_duration(const rclcpp::Duration & liveliness_lease_duration);
+
+  /// Set the avoid_ros_namespace_conventions setting.
+  QoS &
+  avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions);
+
+private:
+  rmw_qos_profile_t rmw_qos_profile_;
+};
+
+class RCLCPP_PUBLIC SensorDataQoS : public QoS
+{
+public:
+  explicit
+  SensorDataQoS(
+    const QoSInitialization & qos_initialization = (
+      QoSInitialization::from_rmw(rmw_qos_profile_sensor_data)
+  ));
+};
+
+class RCLCPP_PUBLIC ParametersQoS : public QoS
+{
+public:
+  explicit
+  ParametersQoS(
+    const QoSInitialization & qos_initialization = (
+      QoSInitialization::from_rmw(rmw_qos_profile_parameters)
+  ));
+};
+
+class RCLCPP_PUBLIC ServicesQoS : public QoS
+{
+public:
+  explicit
+  ServicesQoS(
+    const QoSInitialization & qos_initialization = (
+      QoSInitialization::from_rmw(rmw_qos_profile_services_default)
+  ));
+};
+
+class RCLCPP_PUBLIC ParameterEventsQoS : public QoS
+{
+public:
+  explicit
+  ParameterEventsQoS(
+    const QoSInitialization & qos_initialization = (
+      QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
+  ));
+};
+
+class RCLCPP_PUBLIC SystemDefaultsQoS : public QoS
+{
+public:
+  explicit
+  SystemDefaultsQoS(
+    const QoSInitialization & qos_initialization = (
+      QoSInitialization::from_rmw(rmw_qos_profile_system_default)
+  ));
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__QOS_HPP_

rclcpp/include/rclcpp/qos_event.hpp

@@ -0,0 +1,126 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__QOS_EVENT_HPP_
+#define RCLCPP__QOS_EVENT_HPP_
+
+#include <functional>
+
+#include "rcl/error_handling.h"
+
+#include "rcutils/logging_macros.h"
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/function_traits.hpp"
+#include "rclcpp/waitable.hpp"
+
+namespace rclcpp
+{
+
+using QOSDeadlineRequestedInfo = rmw_requested_deadline_missed_status_t;
+using QOSDeadlineOfferedInfo = rmw_offered_deadline_missed_status_t;
+using QOSLivelinessChangedInfo = rmw_liveliness_changed_status_t;
+using QOSLivelinessLostInfo = rmw_liveliness_lost_status_t;
+
+using QOSDeadlineRequestedCallbackType = std::function<void (QOSDeadlineRequestedInfo &)>;
+using QOSDeadlineOfferedCallbackType = std::function<void (QOSDeadlineOfferedInfo &)>;
+using QOSLivelinessChangedCallbackType = std::function<void (QOSLivelinessChangedInfo &)>;
+using QOSLivelinessLostCallbackType = std::function<void (QOSLivelinessLostInfo &)>;
+
+/// Contains callbacks for various types of events a Publisher can receive from the middleware.
+struct PublisherEventCallbacks
+{
+  QOSDeadlineOfferedCallbackType deadline_callback;
+  QOSLivelinessLostCallbackType liveliness_callback;
+};
+
+/// Contains callbacks for non-message events that a Subscription can receive from the middleware.
+struct SubscriptionEventCallbacks
+{
+  QOSDeadlineRequestedCallbackType deadline_callback;
+  QOSLivelinessChangedCallbackType liveliness_callback;
+};
+
+class QOSEventHandlerBase : public Waitable
+{
+public:
+  RCLCPP_PUBLIC
+  virtual ~QOSEventHandlerBase();
+
+  /// Get the number of ready events
+  RCLCPP_PUBLIC
+  size_t
+  get_number_of_ready_events() override;
+
+  /// Add the Waitable to a wait set.
+  RCLCPP_PUBLIC
+  bool
+  add_to_wait_set(rcl_wait_set_t * wait_set) override;
+
+  /// Check if the Waitable is ready.
+  RCLCPP_PUBLIC
+  bool
+  is_ready(rcl_wait_set_t * wait_set) override;
+
+protected:
+  rcl_event_t event_handle_;
+  size_t wait_set_event_index_;
+};
+
+template<typename EventCallbackT>
+class QOSEventHandler : public QOSEventHandlerBase
+{
+public:
+  template<typename InitFuncT, typename ParentHandleT, typename EventTypeEnum>
+  QOSEventHandler(
+    const EventCallbackT & callback,
+    InitFuncT init_func,
+    ParentHandleT parent_handle,
+    EventTypeEnum event_type)
+  : event_callback_(callback)
+  {
+    event_handle_ = rcl_get_zero_initialized_event();
+    rcl_ret_t ret = init_func(&event_handle_, parent_handle, event_type);
+    if (ret != RCL_RET_OK) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "could not create event");
+    }
+  }
+
+  /// Execute any entities of the Waitable that are ready.
+  void
+  execute() override
+  {
+    EventCallbackInfoT callback_info;
+
+    rcl_ret_t ret = rcl_take_event(&event_handle_, &callback_info);
+    if (ret != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(
+        "rclcpp",
+        "Couldn't take event info: %s", rcl_get_error_string().str);
+      return;
+    }
+
+    event_callback_(callback_info);
+  }
+
+private:
+  using EventCallbackInfoT = typename std::remove_reference<typename
+      rclcpp::function_traits::function_traits<EventCallbackT>::template argument_type<0>>::type;
+
+  EventCallbackT event_callback_;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__QOS_EVENT_HPP_

rclcpp/include/rclcpp/service.hpp

@@ -156,6 +156,16 @@ public:
     }
   }
 
+  /// Default constructor.
+  /**
+   * The constructor for a Service is almost never called directly.
+   * Instead, services should be instantiated through the function
+   * rclcpp::create_service().
+   *
+   * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
+   * \param[in] service_handle service handle.
+   * \param[in] any_callback User defined callback to call when a client request is received.
+   */
   Service(
     std::shared_ptr<rcl_node_t> node_handle,
     std::shared_ptr<rcl_service_t> service_handle,
@@ -174,6 +184,16 @@ public:
     service_handle_ = service_handle;
   }
 
+  /// Default constructor.
+  /**
+   * The constructor for a Service is almost never called directly.
+   * Instead, services should be instantiated through the function
+   * rclcpp::create_service().
+   *
+   * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
+   * \param[in] service_handle service handle.
+   * \param[in] any_callback User defined callback to call when a client request is received.
+   */
   Service(
     std::shared_ptr<rcl_node_t> node_handle,
     rcl_service_t * service_handle,

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -150,7 +150,7 @@ public:
     );
   }
 
-  bool collect_entities(const WeakNodeVector & weak_nodes)
+  bool collect_entities(const WeakNodeList & weak_nodes)
   {
     bool has_invalid_weak_nodes = false;
     for (auto & weak_node : weak_nodes) {
@@ -265,7 +265,7 @@ public:
   virtual void
   get_next_subscription(
     executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes)
+    const WeakNodeList & weak_nodes)
   {
     auto it = subscription_handles_.begin();
     while (it != subscription_handles_.end()) {
@@ -309,7 +309,7 @@ public:
   virtual void
   get_next_service(
     executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes)
+    const WeakNodeList & weak_nodes)
   {
     auto it = service_handles_.begin();
     while (it != service_handles_.end()) {
@@ -342,7 +342,7 @@ public:
   }
 
   virtual void
-  get_next_client(executor::AnyExecutable & any_exec, const WeakNodeVector & weak_nodes)
+  get_next_client(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes)
   {
     auto it = client_handles_.begin();
     while (it != client_handles_.end()) {
@@ -375,7 +375,7 @@ public:
   }
 
   virtual void
-  get_next_waitable(executor::AnyExecutable & any_exec, const WeakNodeVector & weak_nodes)
+  get_next_waitable(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes)
   {
     auto it = waitable_handles_.begin();
     while (it != waitable_handles_.end()) {
@@ -430,6 +430,15 @@ public:
     return number_of_services;
   }
 
+  size_t number_of_ready_events() const
+  {
+    size_t number_of_events = 0;
+    for (auto waitable : waitable_handles_) {
+      number_of_events += waitable->get_number_of_ready_events();
+    }
+    return number_of_events;
+  }
+
   size_t number_of_ready_clients() const
   {
     size_t number_of_clients = client_handles_.size();

rclcpp/include/rclcpp/subscription.hpp

@@ -23,6 +23,8 @@
 #include <memory>
 #include <sstream>
 #include <string>
+#include <utility>
+
 
 #include "rcl/error_handling.h"
 #include "rcl/subscription.h"
@@ -32,11 +34,15 @@
 #include "rclcpp/any_subscription_callback.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
+#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "rclcpp/subscription_traits.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/waitable.hpp"
 
 namespace rclcpp
 {
@@ -46,122 +52,6 @@ namespace node_interfaces
 class NodeTopicsInterface;
 }  // namespace node_interfaces
 
-namespace intra_process_manager
-{
-/**
- * NOTE(ivanpauno): IntraProcessManager is forward declared here, avoiding a circular inclusion between intra_process_manager.hpp and publisher.hpp.
- * SharedPtr and WeakPtr of the IntraProcessManager are defined again here, to avoid a warning for accessing a member of a forward declared class.
- */
-class IntraProcessManager;
-}
-
-/// Virtual base class for subscriptions. This pattern allows us to iterate over different template
-/// specializations of Subscription, among other things.
-class SubscriptionBase
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
-
-  /// Default constructor.
-  /**
-   * \param[in] node_handle The rcl representation of the node that owns this subscription.
-   * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
-   * \param[in] topic_name Name of the topic to subscribe to.
-   * \param[in] subscription_options options for the subscription.
-   * \param[in] is_serialized is true if the message will be delivered still serialized
-   */
-  RCLCPP_PUBLIC
-  SubscriptionBase(
-    std::shared_ptr<rcl_node_t> node_handle,
-    const rosidl_message_type_support_t & type_support_handle,
-    const std::string & topic_name,
-    const rcl_subscription_options_t & subscription_options,
-    bool is_serialized = false);
-
-  /// Default destructor.
-  RCLCPP_PUBLIC
-  virtual ~SubscriptionBase();
-
-  /// Get the topic that this subscription is subscribed on.
-  RCLCPP_PUBLIC
-  const char *
-  get_topic_name() const;
-
-  RCLCPP_PUBLIC
-  std::shared_ptr<rcl_subscription_t>
-  get_subscription_handle();
-
-  RCLCPP_PUBLIC
-  const std::shared_ptr<rcl_subscription_t>
-  get_subscription_handle() const;
-
-  RCLCPP_PUBLIC
-  virtual const std::shared_ptr<rcl_subscription_t>
-  get_intra_process_subscription_handle() const;
-
-  /// Borrow a new message.
-  /** \return Shared pointer to the fresh message. */
-  virtual std::shared_ptr<void>
-  create_message() = 0;
-
-  /// Borrow a new serialized message
-  /** \return Shared pointer to a rcl_message_serialized_t. */
-  virtual std::shared_ptr<rcl_serialized_message_t>
-  create_serialized_message() = 0;
-
-  /// Check if we need to handle the message, and execute the callback if we do.
-  /**
-   * \param[in] message Shared pointer to the message to handle.
-   * \param[in] message_info Metadata associated with this message.
-   */
-  virtual void
-  handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info) = 0;
-
-  /// Return the message borrowed in create_message.
-  /** \param[in] message Shared pointer to the returned message. */
-  virtual void
-  return_message(std::shared_ptr<void> & message) = 0;
-
-  /// Return the message borrowed in create_serialized_message.
-  /** \param[in] message Shared pointer to the returned message. */
-  virtual void
-  return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message) = 0;
-
-  virtual void
-  handle_intra_process_message(
-    rcl_interfaces::msg::IntraProcessMessage & ipm,
-    const rmw_message_info_t & message_info) = 0;
-
-  const rosidl_message_type_support_t &
-  get_message_type_support_handle() const;
-
-  bool
-  is_serialized() const;
-
-  /// Get matching publisher count
-  /** \return The number of publishers on this topic. */
-  RCLCPP_PUBLIC
-  size_t
-  get_publisher_count() const;
-
-protected:
-  std::shared_ptr<rcl_subscription_t> intra_process_subscription_handle_;
-  std::shared_ptr<rcl_subscription_t> subscription_handle_;
-  std::shared_ptr<rcl_node_t> node_handle_;
-
-  using IntraProcessManagerWeakPtr =
-    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
-  bool use_intra_process_;
-  IntraProcessManagerWeakPtr weak_ipm_;
-  uint64_t intra_process_subscription_id_;
-
-private:
-  RCLCPP_DISABLE_COPY(SubscriptionBase)
-
-  rosidl_message_type_support_t type_support_;
-  bool is_serialized_;
-};
-
 /// Subscription implementation, templated on the type of message this subscription receives.
 template<
   typename CallbackMessageT,
@@ -174,6 +64,7 @@ public:
   using MessageAllocTraits = allocator::AllocRebind<CallbackMessageT, Alloc>;
   using MessageAlloc = typename MessageAllocTraits::allocator_type;
   using MessageDeleter = allocator::Deleter<MessageAlloc, CallbackMessageT>;
+  using ConstMessageSharedPtr = std::shared_ptr<const CallbackMessageT>;
   using MessageUniquePtr = std::unique_ptr<CallbackMessageT, MessageDeleter>;
 
   RCLCPP_SMART_PTR_DEFINITIONS(Subscription)
@@ -195,6 +86,7 @@ public:
     const std::string & topic_name,
     const rcl_subscription_options_t & subscription_options,
     AnySubscriptionCallback<CallbackMessageT, Alloc> callback,
+    const SubscriptionEventCallbacks & event_callbacks,
     typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
     memory_strategy = message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
     Alloc>::create_default())
@@ -205,10 +97,17 @@ public:
       subscription_options,
       rclcpp::subscription_traits::is_serialized_subscription_argument<CallbackMessageT>::value),
     any_callback_(callback),
-    message_memory_strategy_(memory_strategy),
-    get_intra_process_message_callback_(nullptr),
-    matches_any_intra_process_publishers_(nullptr)
-  {}
+    message_memory_strategy_(memory_strategy)
+  {
+    if (event_callbacks.deadline_callback) {
+      this->add_event_handler(event_callbacks.deadline_callback,
+        RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
+    }
+    if (event_callbacks.liveliness_callback) {
+      this->add_event_handler(event_callbacks.liveliness_callback,
+        RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
+    }
+  }
 
   /// Support dynamically setting the message memory strategy.
   /**
@@ -238,12 +137,10 @@ public:
 
   void handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info)
   {
-    if (matches_any_intra_process_publishers_) {
-      if (matches_any_intra_process_publishers_(&message_info.publisher_gid)) {
-        // In this case, the message will be delivered via intra process and
-        // we should ignore this copy of the message.
-        return;
-      }
+    if (matches_any_intra_process_publishers(&message_info.publisher_gid)) {
+      // In this case, the message will be delivered via intra process and
+      // we should ignore this copy of the message.
+      return;
     }
     auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
     any_callback_.dispatch(typed_message, message_info);
@@ -266,89 +163,118 @@ public:
     rcl_interfaces::msg::IntraProcessMessage & ipm,
     const rmw_message_info_t & message_info)
   {
-    if (!get_intra_process_message_callback_) {
+    if (!use_intra_process_) {
       // throw std::runtime_error(
       //   "handle_intra_process_message called before setup_intra_process");
       // TODO(wjwwood): for now, this could mean that intra process was just not enabled.
       // However, this can only really happen if this node has it disabled, but the other doesn't.
       return;
     }
-    MessageUniquePtr msg;
-    get_intra_process_message_callback_(
-      ipm.publisher_id,
-      ipm.message_sequence,
-      intra_process_subscription_id_,
-      msg);
-    if (!msg) {
-      // This either occurred because the publisher no longer exists or the
-      // message requested is no longer being stored.
-      // TODO(wjwwood): should we notify someone of this? log error, log warning?
+
+    if (!matches_any_intra_process_publishers(&message_info.publisher_gid)) {
+      // This intra-process message has not been created by a publisher from this context.
+      // we should ignore this copy of the message.
       return;
     }
-    any_callback_.dispatch_intra_process(msg, message_info);
-  }
 
-  using GetMessageCallbackType =
-    std::function<void (uint64_t, uint64_t, uint64_t, MessageUniquePtr &)>;
-  using MatchesAnyPublishersCallbackType = std::function<bool (const rmw_gid_t *)>;
-
-  /// Implemenation detail.
-  // TODO(ivanpauno): This can be moved to the base class. No reason to be here.
-  // Also get_intra_process_message_callback_ and matches_any_intra_process_publishers_.
-  void setup_intra_process(
-    uint64_t intra_process_subscription_id,
-    GetMessageCallbackType get_message_callback,
-    MatchesAnyPublishersCallbackType matches_any_publisher_callback,
-    IntraProcessManagerWeakPtr weak_ipm,
-    const rcl_subscription_options_t & intra_process_options)
-  {
-    std::string intra_process_topic_name = std::string(get_topic_name()) + "/_intra";
-    rcl_ret_t ret = rcl_subscription_init(
-      intra_process_subscription_handle_.get(),
-      node_handle_.get(),
-      rclcpp::type_support::get_intra_process_message_msg_type_support(),
-      intra_process_topic_name.c_str(),
-      &intra_process_options);
-    if (ret != RCL_RET_OK) {
-      if (ret == RCL_RET_TOPIC_NAME_INVALID) {
-        auto rcl_node_handle = node_handle_.get();
-        // this will throw on any validation problem
-        rcl_reset_error();
-        expand_topic_or_service_name(
-          intra_process_topic_name,
-          rcl_node_get_name(rcl_node_handle),
-          rcl_node_get_namespace(rcl_node_handle));
+    if (any_callback_.use_take_shared_method()) {
+      ConstMessageSharedPtr msg;
+      take_intra_process_message(
+        ipm.publisher_id,
+        ipm.message_sequence,
+        intra_process_subscription_id_,
+        msg);
+      if (!msg) {
+        // This can happen when having two nodes in different process both using intraprocess
+        // communication. It could happen too if the publisher no longer exists or the requested
+        // message is not longer being stored.
+        // TODO(ivanpauno): Print a warn message in the last two cases described above,
+        // but not in the first one.
+        return;
       }
-
-      rclcpp::exceptions::throw_from_rcl_error(ret, "could not create intra process subscription");
+      any_callback_.dispatch_intra_process(msg, message_info);
+    } else {
+      MessageUniquePtr msg;
+      take_intra_process_message(
+        ipm.publisher_id,
+        ipm.message_sequence,
+        intra_process_subscription_id_,
+        msg);
+      if (!msg) {
+        // This can happen when having two nodes in different process both using intraprocess
+        // communication. It could happen too if the publisher no longer exists or the requested
+        // message is not longer being stored.
+        // TODO(ivanpauno): Print a warn message in the last two cases described above,
+        // but not in the first one.
+        return;
+      }
+      any_callback_.dispatch_intra_process(std::move(msg), message_info);
     }
-
-    intra_process_subscription_id_ = intra_process_subscription_id;
-    get_intra_process_message_callback_ = get_message_callback;
-    matches_any_intra_process_publishers_ = matches_any_publisher_callback;
-    weak_ipm_ = weak_ipm;
-    use_intra_process_ = true;
   }
 
   /// Implemenation detail.
   const std::shared_ptr<rcl_subscription_t>
   get_intra_process_subscription_handle() const
   {
-    if (!get_intra_process_message_callback_) {
+    if (!use_intra_process_) {
       return nullptr;
     }
     return intra_process_subscription_handle_;
   }
 
 private:
+  void
+  take_intra_process_message(
+    uint64_t publisher_id,
+    uint64_t message_sequence,
+    uint64_t subscription_id,
+    MessageUniquePtr & message)
+  {
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      throw std::runtime_error(
+              "intra process take called after destruction of intra process manager");
+    }
+    ipm->template take_intra_process_message<CallbackMessageT, Alloc>(
+      publisher_id, message_sequence, subscription_id, message);
+  }
+
+  void
+  take_intra_process_message(
+    uint64_t publisher_id,
+    uint64_t message_sequence,
+    uint64_t subscription_id,
+    ConstMessageSharedPtr & message)
+  {
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      throw std::runtime_error(
+              "intra process take called after destruction of intra process manager");
+    }
+    ipm->template take_intra_process_message<CallbackMessageT, Alloc>(
+      publisher_id, message_sequence, subscription_id, message);
+  }
+
+  bool
+  matches_any_intra_process_publishers(const rmw_gid_t * sender_gid)
+  {
+    if (!use_intra_process_) {
+      return false;
+    }
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      throw std::runtime_error(
+              "intra process publisher check called "
+              "after destruction of intra process manager");
+    }
+    return ipm->matches_any_publishers(sender_gid);
+  }
+
   RCLCPP_DISABLE_COPY(Subscription)
 
   AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
   typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
     message_memory_strategy_;
-
-  GetMessageCallbackType get_intra_process_message_callback_;
-  MatchesAnyPublishersCallbackType matches_any_intra_process_publishers_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/subscription_base.hpp

@@ -0,0 +1,189 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__SUBSCRIPTION_BASE_HPP_
+#define RCLCPP__SUBSCRIPTION_BASE_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rcl/subscription.h"
+
+#include "rcl_interfaces/msg/intra_process_message.hpp"
+
+#include "rmw/rmw.h"
+
+#include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/qos_event.hpp"
+#include "rclcpp/type_support_decl.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+namespace node_interfaces
+{
+class NodeTopicsInterface;
+}  // namespace node_interfaces
+
+namespace intra_process_manager
+{
+/**
+ * IntraProcessManager is forward declared here, avoiding a circular inclusion between
+ * `intra_process_manager.hpp` and `subscription_base.hpp`.
+ */
+class IntraProcessManager;
+}
+
+/// Virtual base class for subscriptions. This pattern allows us to iterate over different template
+/// specializations of Subscription, among other things.
+class SubscriptionBase
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
+
+  /// Default constructor.
+  /**
+   * \param[in] node_handle The rcl representation of the node that owns this subscription.
+   * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
+   * \param[in] topic_name Name of the topic to subscribe to.
+   * \param[in] subscription_options options for the subscription.
+   * \param[in] is_serialized is true if the message will be delivered still serialized
+   */
+  RCLCPP_PUBLIC
+  SubscriptionBase(
+    std::shared_ptr<rcl_node_t> node_handle,
+    const rosidl_message_type_support_t & type_support_handle,
+    const std::string & topic_name,
+    const rcl_subscription_options_t & subscription_options,
+    bool is_serialized = false);
+
+  /// Default destructor.
+  RCLCPP_PUBLIC
+  virtual ~SubscriptionBase();
+
+  /// Get the topic that this subscription is subscribed on.
+  RCLCPP_PUBLIC
+  const char *
+  get_topic_name() const;
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<rcl_subscription_t>
+  get_subscription_handle();
+
+  RCLCPP_PUBLIC
+  const std::shared_ptr<rcl_subscription_t>
+  get_subscription_handle() const;
+
+  RCLCPP_PUBLIC
+  virtual const std::shared_ptr<rcl_subscription_t>
+  get_intra_process_subscription_handle() const;
+
+  /// Get all the QoS event handlers associated with this subscription.
+  /** \return The vector of QoS event handlers. */
+  RCLCPP_PUBLIC
+  const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
+  get_event_handlers() const;
+
+  /// Borrow a new message.
+  /** \return Shared pointer to the fresh message. */
+  virtual std::shared_ptr<void>
+  create_message() = 0;
+
+  /// Borrow a new serialized message
+  /** \return Shared pointer to a rcl_message_serialized_t. */
+  virtual std::shared_ptr<rcl_serialized_message_t>
+  create_serialized_message() = 0;
+
+  /// Check if we need to handle the message, and execute the callback if we do.
+  /**
+   * \param[in] message Shared pointer to the message to handle.
+   * \param[in] message_info Metadata associated with this message.
+   */
+  virtual void
+  handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info) = 0;
+
+  /// Return the message borrowed in create_message.
+  /** \param[in] message Shared pointer to the returned message. */
+  virtual void
+  return_message(std::shared_ptr<void> & message) = 0;
+
+  /// Return the message borrowed in create_serialized_message.
+  /** \param[in] message Shared pointer to the returned message. */
+  virtual void
+  return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message) = 0;
+
+  virtual void
+  handle_intra_process_message(
+    rcl_interfaces::msg::IntraProcessMessage & ipm,
+    const rmw_message_info_t & message_info) = 0;
+
+  const rosidl_message_type_support_t &
+  get_message_type_support_handle() const;
+
+  bool
+  is_serialized() const;
+
+  /// Get matching publisher count.
+  /** \return The number of publishers on this topic. */
+  RCLCPP_PUBLIC
+  size_t
+  get_publisher_count() const;
+
+  using IntraProcessManagerWeakPtr =
+    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
+
+  /// Implemenation detail.
+  void setup_intra_process(
+    uint64_t intra_process_subscription_id,
+    IntraProcessManagerWeakPtr weak_ipm,
+    const rcl_subscription_options_t & intra_process_options);
+
+protected:
+  template<typename EventCallbackT>
+  void
+  add_event_handler(
+    const EventCallbackT & callback,
+    const rcl_subscription_event_type_t event_type)
+  {
+    auto handler = std::make_shared<QOSEventHandler<EventCallbackT>>(
+      callback,
+      rcl_subscription_event_init,
+      get_subscription_handle().get(),
+      event_type);
+    event_handlers_.emplace_back(handler);
+  }
+
+  std::shared_ptr<rcl_node_t> node_handle_;
+  std::shared_ptr<rcl_subscription_t> subscription_handle_;
+  std::shared_ptr<rcl_subscription_t> intra_process_subscription_handle_;
+
+  std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
+
+  bool use_intra_process_;
+  IntraProcessManagerWeakPtr weak_ipm_;
+  uint64_t intra_process_subscription_id_;
+
+private:
+  RCLCPP_DISABLE_COPY(SubscriptionBase)
+
+  rosidl_message_type_support_t type_support_;
+  bool is_serialized_;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__SUBSCRIPTION_BASE_HPP_

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -51,7 +51,7 @@ struct SubscriptionFactory
     rclcpp::SubscriptionBase::SharedPtr(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-      rcl_subscription_options_t & subscription_options)>;
+      const rcl_subscription_options_t & subscription_options)>;
 
   SubscriptionFactoryFunction create_typed_subscription;
 
@@ -65,7 +65,12 @@ struct SubscriptionFactory
   SetupIntraProcessFunction setup_intra_process;
 };
 
-/// Return a SubscriptionFactory with functions for creating a SubscriptionT<MessageT, Alloc>.
+/// Return a SubscriptionFactory setup to create a SubscriptionT<MessageT, AllocatorT>.
+/**
+ * \param[in] callback The user-defined callback function to receive a message
+ * \param[in] options Additional options for the creation of the Subscription.
+ * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
+ */
 template<
   typename MessageT,
   typename CallbackT,
@@ -75,6 +80,7 @@ template<
 SubscriptionFactory
 create_subscription_factory(
   CallbackT && callback,
+  const SubscriptionEventCallbacks & event_callbacks,
   typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
     CallbackMessageT, Alloc>::SharedPtr
   msg_mem_strat,
@@ -91,13 +97,14 @@ create_subscription_factory(
 
   // factory function that creates a MessageT specific SubscriptionT
   factory.create_typed_subscription =
-    [allocator, msg_mem_strat, any_subscription_callback, message_alloc](
+    [allocator, msg_mem_strat, any_subscription_callback, event_callbacks, message_alloc](
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic_name,
-    rcl_subscription_options_t & subscription_options
+    const rcl_subscription_options_t & subscription_options
     ) -> rclcpp::SubscriptionBase::SharedPtr
     {
-      subscription_options.allocator =
+      auto options_copy = subscription_options;
+      options_copy.allocator =
         rclcpp::allocator::get_rcl_allocator<CallbackMessageT>(*message_alloc.get());
 
       using rclcpp::Subscription;
@@ -107,71 +114,14 @@ create_subscription_factory(
         node_base->get_shared_rcl_node_handle(),
         *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
         topic_name,
-        subscription_options,
+        options_copy,
         any_subscription_callback,
+        event_callbacks,
         msg_mem_strat);
       auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
       return sub_base_ptr;
     };
 
-  // function that will setup intra process communications for the subscription
-  factory.setup_intra_process =
-    [message_alloc](
-    rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm,
-    rclcpp::SubscriptionBase::SharedPtr subscription,
-    const rcl_subscription_options_t & subscription_options)
-    {
-      rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = ipm;
-      uint64_t intra_process_subscription_id = ipm->add_subscription(subscription);
-
-      auto intra_process_options = rcl_subscription_get_default_options();
-      intra_process_options.allocator = rclcpp::allocator::get_rcl_allocator<CallbackMessageT>(
-        *message_alloc.get());
-      intra_process_options.qos = subscription_options.qos;
-      intra_process_options.ignore_local_publications = false;
-
-      // function that will be called to take a MessageT from the intra process manager
-      auto take_intra_process_message_func =
-        [weak_ipm](
-        uint64_t publisher_id,
-        uint64_t message_sequence,
-        uint64_t subscription_id,
-        typename rclcpp::Subscription<CallbackMessageT, Alloc>::MessageUniquePtr & message)
-        {
-          auto ipm = weak_ipm.lock();
-          if (!ipm) {
-            // TODO(wjwwood): should this just return silently? Or return with a logged warning?
-            throw std::runtime_error(
-                    "intra process take called after destruction of intra process manager");
-          }
-          ipm->take_intra_process_message<CallbackMessageT, Alloc>(
-            publisher_id, message_sequence, subscription_id, message);
-        };
-
-      // function that is called to see if the publisher id matches any local publishers
-      auto matches_any_publisher_func =
-        [weak_ipm](const rmw_gid_t * sender_gid) -> bool
-        {
-          auto ipm = weak_ipm.lock();
-          if (!ipm) {
-            throw std::runtime_error(
-                    "intra process publisher check called "
-                    "after destruction of intra process manager");
-          }
-          return ipm->matches_any_publishers(sender_gid);
-        };
-
-      auto typed_sub_ptr = std::dynamic_pointer_cast<SubscriptionT>(subscription);
-      typed_sub_ptr->setup_intra_process(
-        intra_process_subscription_id,
-        take_intra_process_message_func,
-        matches_any_publisher_func,
-        weak_ipm,
-        intra_process_options
-      );
-    };
-  // end definition of factory function to setup intra process
-
   // return the factory now that it is populated
   return factory;
 }

rclcpp/include/rclcpp/subscription_options.hpp

@@ -19,28 +19,59 @@
 #include <string>
 #include <vector>
 
+#include "rclcpp/callback_group.hpp"
 #include "rclcpp/intra_process_setting.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/qos_event.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
 
-/// Structure containing optional configuration for Subscriptions.
-template<typename Allocator>
-struct SubscriptionOptionsWithAllocator
+/// Non-template base class for subscription options.
+struct SubscriptionOptionsBase
 {
-  /// The quality of service profile to pass on to the rmw implementation.
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
+  /// Callbacks for events related to this subscription.
+  SubscriptionEventCallbacks event_callbacks;
   /// True to ignore local publications.
   bool ignore_local_publications = false;
   /// The callback group for this subscription. NULL to use the default callback group.
   rclcpp::callback_group::CallbackGroup::SharedPtr callback_group = nullptr;
-  /// Optional custom allocator.
-  std::shared_ptr<Allocator> allocator = nullptr;
   /// Setting to explicitly set intraprocess communications.
   IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault;
 };
 
+/// Structure containing optional configuration for Subscriptions.
+template<typename Allocator>
+struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
+{
+  /// Optional custom allocator.
+  std::shared_ptr<Allocator> allocator = nullptr;
+
+  SubscriptionOptionsWithAllocator<Allocator>() {}
+
+  /// Constructor using base class as input.
+  explicit SubscriptionOptionsWithAllocator(
+    const SubscriptionOptionsBase & subscription_options_base)
+  : SubscriptionOptionsBase(subscription_options_base)
+  {}
+
+  /// Convert this class, with a rclcpp::QoS, into an rcl_subscription_options_t.
+  template<typename MessageT>
+  rcl_subscription_options_t
+  to_rcl_subscription_options(const rclcpp::QoS & qos) const
+  {
+    rcl_subscription_options_t result;
+    using AllocatorTraits = std::allocator_traits<Allocator>;
+    using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
+    auto message_alloc = std::make_shared<MessageAllocatorT>(*allocator.get());
+    result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
+    result.ignore_local_publications = this->ignore_local_publications;
+    result.qos = qos.get_rmw_qos_profile();
+    return result;
+  }
+};
+
 using SubscriptionOptions = SubscriptionOptionsWithAllocator<std::allocator<void>>;
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/subscription_traits.hpp

@@ -18,9 +18,13 @@
 #include <memory>
 
 #include "rclcpp/function_traits.hpp"
+#include "rcl/types.h"
 
 namespace rclcpp
 {
+
+class QoS;
+
 namespace subscription_traits
 {
 
@@ -69,7 +73,20 @@ template<typename MessageT, typename Deleter>
 struct extract_message_type<std::unique_ptr<MessageT, Deleter>>: extract_message_type<MessageT>
 {};
 
-template<typename CallbackT>
+template<
+  typename CallbackT,
+  // Do not attempt if CallbackT is an integer (mistaken for depth)
+  typename = std::enable_if_t<!std::is_integral<
+    std::remove_cv_t<std::remove_reference_t<CallbackT>>>::value>,
+  // Do not attempt if CallbackT is a QoS (mistaken for qos)
+  typename = std::enable_if_t<!std::is_base_of<
+    rclcpp::QoS,
+    std::remove_cv_t<std::remove_reference_t<CallbackT>>>::value>,
+  // Do not attempt if CallbackT is a rmw_qos_profile_t (mistaken for qos profile)
+  typename = std::enable_if_t<!std::is_same<
+    rmw_qos_profile_t,
+    std::remove_cv_t<std::remove_reference_t<CallbackT>>>::value>
+>
 struct has_message_type : extract_message_type<
     typename rclcpp::function_traits::function_traits<CallbackT>::template argument_type<0>>
 {};

rclcpp/include/rclcpp/time.hpp

@@ -34,17 +34,32 @@ public:
   RCLCPP_PUBLIC
   Time(int32_t seconds, uint32_t nanoseconds, rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
 
+  /// Time constructor
+  /**
+   * \param nanoseconds since time epoch
+   * \param clock_type clock type
+   */
   RCLCPP_PUBLIC
-  explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock = RCL_SYSTEM_TIME);
+  explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
 
   RCLCPP_PUBLIC
   Time(const Time & rhs);
 
+  /// Time constructor
+  /**
+   * \param time_msg builtin_interfaces time message to copy
+   * \param clock_type clock type
+   * \throws std::runtime_error if seconds are negative
+   */
   RCLCPP_PUBLIC
   Time(
     const builtin_interfaces::msg::Time & time_msg,
-    rcl_clock_type_t ros_time = RCL_ROS_TIME);
+    rcl_clock_type_t clock_type = RCL_ROS_TIME);
 
+  /// Time constructor
+  /**
+   * \param time_point rcl_time_point_t structure to copy
+   */
   RCLCPP_PUBLIC
   explicit Time(const rcl_time_point_t & time_point);
 
@@ -58,6 +73,12 @@ public:
   Time &
   operator=(const Time & rhs);
 
+  /**
+   * Assign Time from a builtin_interfaces::msg::Time instance.
+   * The clock_type will be reset to RCL_ROS_TIME.
+   * Equivalent to *this = Time(time_msg, RCL_ROS_TIME).
+   * \throws std::runtime_error if seconds are negative
+   */
   RCLCPP_PUBLIC
   Time &
   operator=(const builtin_interfaces::msg::Time & time_msg);

rclcpp/include/rclcpp/time_source.hpp

@@ -25,8 +25,6 @@
 #include "rcl_interfaces/msg/parameter_event.hpp"
 
 #include "rclcpp/node.hpp"
-#include "rclcpp/parameter_client.hpp"
-#include "rclcpp/parameter_events_filter.hpp"
 
 
 namespace rclcpp
@@ -100,9 +98,6 @@ private:
   // Destroy the subscription for the clock topic
   void destroy_clock_sub();
 
-  // Parameter Client pointer
-  std::shared_ptr<rclcpp::AsyncParametersClient> parameter_client_;
-
   // Parameter Event subscription
   using ParamMessageT = rcl_interfaces::msg::ParameterEvent;
   using ParamSubscriptionT = rclcpp::Subscription<ParamMessageT, Alloc>;

rclcpp/include/rclcpp/timer.hpp

@@ -58,6 +58,16 @@ public:
   void
   cancel();
 
+  /// Return the timer cancellation state.
+  /**
+   * \return true if the timer has been cancelled, false otherwise
+   * \throws std::runtime_error if the rcl_get_error_state returns 0
+   * \throws RCLErrorBase some child class exception based on ret
+   */
+  RCLCPP_PUBLIC
+  bool
+  is_canceled();
+
   RCLCPP_PUBLIC
   void
   reset();
@@ -116,6 +126,7 @@ public:
    * \param[in] clock The clock providing the current time.
    * \param[in] period The interval at which the timer fires.
    * \param[in] callback User-specified callback function.
+   * \param[in] context custom context to be used.
    */
   explicit GenericTimer(
     Clock::SharedPtr clock, std::chrono::nanoseconds period, FunctorT && callback,

rclcpp/include/rclcpp/utilities.hpp

@@ -18,17 +18,14 @@
 #include <chrono>
 #include <functional>
 #include <limits>
+#include <string>
 #include <vector>
 
 #include "rclcpp/context.hpp"
 #include "rclcpp/init_options.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-#include "rmw/macros.h"
-#include "rmw/rmw.h"
-
 #ifdef ANDROID
-#include <string>
 #include <sstream>
 
 namespace std
@@ -104,6 +101,7 @@ uninstall_signal_handlers();
  *
  * \sa rclcpp::Context::init() for more details on arguments and possible exceptions
  * \returns Members of the argument vector that are not ROS arguments.
+ * \throws anything remove_ros_arguments can throw
  */
 RCLCPP_PUBLIC
 std::vector<std::string>
@@ -122,6 +120,8 @@ init_and_remove_ros_arguments(
  * \param[in] argc Number of arguments.
  * \param[in] argv Argument vector.
  * \returns Members of the argument vector that are not ROS arguments.
+ * \throws anything throw_from_rcl_error can throw
+ * \throws rclcpp::exceptions::RCLErrorBase if the parsing fails
  */
 RCLCPP_PUBLIC
 std::vector<std::string>

rclcpp/include/rclcpp/waitable.hpp

@@ -61,6 +61,17 @@ public:
   size_t
   get_number_of_ready_clients();
 
+  /// Get the number of ready events
+  /**
+   * Returns a value of 0 by default.
+   * This should be overridden if the Waitable contains one or more events.
+   * \return The number of events associated with the Waitable.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  get_number_of_ready_events();
+
   /// Get the number of ready services
   /**
    * Returns a value of 0 by default.
@@ -88,6 +99,7 @@ public:
   /**
    * \param[in] wait_set A handle to the wait set to add the Waitable to.
    * \return `true` if the Waitable is added successfully, `false` otherwise.
+   * \throws rclcpp::execptions::RCLError from rcl_wait_set_add_*()
    */
   RCLCPP_PUBLIC
   virtual
@@ -107,7 +119,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   bool
-  is_ready(rcl_wait_set_t *) = 0;
+  is_ready(rcl_wait_set_t * wait_set) = 0;
 
   /// Execute any entities of the Waitable that are ready.
   /**

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>0.7.0</version>
+  <version>0.7.16</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp/resource/logging.hpp.em

@@ -95,7 +95,7 @@ def is_supported_feature_combination(feature_combination):
 #define RCLCPP_@(severity)@(suffix)(logger, @(''.join([p + ', ' for p in get_macro_parameters(feature_combination).keys()]))...) \
   do { \
     static_assert( \
-      ::std::is_same<typename std::remove_reference<decltype(logger)>::type, \
+      ::std::is_same<typename std::remove_reference<typename std::remove_cv<decltype(logger)>::type>::type, \
       typename ::rclcpp::Logger>::value, \
       "First argument to logging macros must be an rclcpp::Logger"); \
     RCUTILS_LOG_@(severity)@(suffix)_NAMED( \

rclcpp/src/rclcpp/clock.cpp

@@ -14,14 +14,6 @@
 
 #include "rclcpp/clock.hpp"
 
-#include <memory>
-#include <utility>
-#include <vector>
-
-#include "builtin_interfaces/msg/time.hpp"
-
-#include "rcl/time.h"
-
 #include "rclcpp/exceptions.hpp"
 
 #include "rcutils/logging_macros.h"
@@ -30,8 +22,8 @@ namespace rclcpp
 {
 
 JumpHandler::JumpHandler(
-  std::function<void()> pre_callback,
-  std::function<void(const rcl_time_jump_t &)> post_callback,
+  pre_callback_t pre_callback,
+  post_callback_t post_callback,
   const rcl_jump_threshold_t & threshold)
 : pre_callback(pre_callback),
   post_callback(post_callback),
@@ -43,8 +35,7 @@ Clock::Clock(rcl_clock_type_t clock_type)
   allocator_ = rcl_get_default_allocator();
   auto ret = rcl_clock_init(clock_type, &rcl_clock_, &allocator_);
   if (ret != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(
-      ret, "could not get current time stamp");
+    exceptions::throw_from_rcl_error(ret, "failed to initialize rcl clock");
   }
 }
 
@@ -63,8 +54,7 @@ Clock::now()
 
   auto ret = rcl_clock_get_now(&rcl_clock_, &now.rcl_time_.nanoseconds);
   if (ret != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(
-      ret, "could not get current time stamp");
+    exceptions::throw_from_rcl_error(ret, "could not get current time stamp");
   }
 
   return now;
@@ -78,23 +68,23 @@ Clock::ros_time_is_active()
     return false;
   }
 
-  bool is_enabled;
+  bool is_enabled = false;
   auto ret = rcl_is_enabled_ros_time_override(&rcl_clock_, &is_enabled);
   if (ret != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(
+    exceptions::throw_from_rcl_error(
       ret, "Failed to check ros_time_override_status");
   }
   return is_enabled;
 }
 
 rcl_clock_t *
-Clock::get_clock_handle()
+Clock::get_clock_handle() noexcept
 {
   return &rcl_clock_;
 }
 
 rcl_clock_type_t
-Clock::get_clock_type()
+Clock::get_clock_type() const noexcept
 {
   return rcl_clock_.type;
 }
@@ -105,7 +95,10 @@ Clock::on_time_jump(
   bool before_jump,
   void * user_data)
 {
-  rclcpp::JumpHandler * handler = static_cast<rclcpp::JumpHandler *>(user_data);
+  const auto * handler = static_cast<JumpHandler *>(user_data);
+  if (nullptr == handler) {
+    return;
+  }
   if (before_jump && handler->pre_callback) {
     handler->pre_callback();
   } else if (!before_jump && handler->post_callback) {
@@ -113,36 +106,30 @@ Clock::on_time_jump(
   }
 }
 
-rclcpp::JumpHandler::SharedPtr
+JumpHandler::SharedPtr
 Clock::create_jump_callback(
-  std::function<void()> pre_callback,
-  std::function<void(const rcl_time_jump_t &)> post_callback,
+  JumpHandler::pre_callback_t pre_callback,
+  JumpHandler::post_callback_t post_callback,
   const rcl_jump_threshold_t & threshold)
 {
   // Allocate a new jump handler
-  auto handler = new rclcpp::JumpHandler(pre_callback, post_callback, threshold);
+  JumpHandler::UniquePtr handler(new JumpHandler(pre_callback, post_callback, threshold));
   if (nullptr == handler) {
-    rclcpp::exceptions::throw_from_rcl_error(RCL_RET_BAD_ALLOC, "Failed to allocate jump handler");
+    throw std::bad_alloc{};
   }
 
   // Try to add the jump callback to the clock
   rcl_ret_t ret = rcl_clock_add_jump_callback(&rcl_clock_, threshold,
-      rclcpp::Clock::on_time_jump, handler);
+      Clock::on_time_jump, handler.get());
   if (RCL_RET_OK != ret) {
-    delete handler;
-    handler = nullptr;
-    rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to add time jump callback");
-  }
-
-  if (nullptr == handler) {
-    // imposible to reach here; added to make cppcheck happy
-    return nullptr;
+    exceptions::throw_from_rcl_error(ret, "Failed to add time jump callback");
   }
 
   // *INDENT-OFF*
   // create shared_ptr that removes the callback automatically when all copies are destructed
-  return rclcpp::JumpHandler::SharedPtr(handler, [this](rclcpp::JumpHandler * handler) noexcept {
-    rcl_ret_t ret = rcl_clock_remove_jump_callback(&rcl_clock_, rclcpp::Clock::on_time_jump,
+  // TODO(dorezyuk) UB, if the clock leaves scope before the JumpHandler
+  return JumpHandler::SharedPtr(handler.release(), [this](JumpHandler * handler) noexcept {
+    rcl_ret_t ret = rcl_clock_remove_jump_callback(&rcl_clock_, Clock::on_time_jump,
         handler);
     delete handler;
     handler = NULL;

rclcpp/src/rclcpp/duration.cpp

@@ -47,16 +47,14 @@ Duration::Duration(std::chrono::nanoseconds nanoseconds)
   rcl_duration_.nanoseconds = nanoseconds.count();
 }
 
-Duration::Duration(const Duration & rhs)
-{
-  rcl_duration_.nanoseconds = rhs.rcl_duration_.nanoseconds;
-}
+Duration::Duration(const Duration & rhs) = default;
 
 Duration::Duration(
   const builtin_interfaces::msg::Duration & duration_msg)
 {
-  rcl_duration_.nanoseconds = RCL_S_TO_NS(static_cast<uint64_t>(duration_msg.sec));
-  rcl_duration_.nanoseconds += duration_msg.nanosec;
+  rcl_duration_.nanoseconds =
+    RCL_S_TO_NS(static_cast<rcl_duration_value_t>(duration_msg.sec));
+  rcl_duration_.nanoseconds += static_cast<rcl_duration_value_t>(duration_msg.nanosec);
 }
 
 Duration::Duration(const rcl_duration_t & duration)
@@ -65,31 +63,28 @@ Duration::Duration(const rcl_duration_t & duration)
   // noop
 }
 
-Duration::~Duration()
-{
-}
-
 Duration::operator builtin_interfaces::msg::Duration() const
 {
   builtin_interfaces::msg::Duration msg_duration;
-  msg_duration.sec = static_cast<std::int32_t>(RCL_NS_TO_S(rcl_duration_.nanoseconds));
-  msg_duration.nanosec =
-    static_cast<std::uint32_t>(rcl_duration_.nanoseconds % (1000 * 1000 * 1000));
+  constexpr rcl_duration_value_t kDivisor = RCL_S_TO_NS(1);
+  const auto result = std::div(rcl_duration_.nanoseconds, kDivisor);
+  if (result.rem >= 0) {
+    msg_duration.sec = static_cast<std::int32_t>(result.quot);
+    msg_duration.nanosec = static_cast<std::uint32_t>(result.rem);
+  } else {
+    msg_duration.sec = static_cast<std::int32_t>(result.quot - 1);
+    msg_duration.nanosec = static_cast<std::uint32_t>(kDivisor + result.rem);
+  }
   return msg_duration;
 }
 
 Duration &
-Duration::operator=(const Duration & rhs)
-{
-  rcl_duration_.nanoseconds = rhs.rcl_duration_.nanoseconds;
-  return *this;
-}
+Duration::operator=(const Duration & rhs) = default;
 
 Duration &
 Duration::operator=(const builtin_interfaces::msg::Duration & duration_msg)
 {
-  rcl_duration_.nanoseconds = RCL_S_TO_NS(static_cast<int64_t>(duration_msg.sec));
-  rcl_duration_.nanoseconds += duration_msg.nanosec;
+  *this = Duration(duration_msg);
   return *this;
 }
 
@@ -99,6 +94,12 @@ Duration::operator==(const rclcpp::Duration & rhs) const
   return rcl_duration_.nanoseconds == rhs.rcl_duration_.nanoseconds;
 }
 
+bool
+Duration::operator!=(const rclcpp::Duration & rhs) const
+{
+  return rcl_duration_.nanoseconds != rhs.rcl_duration_.nanoseconds;
+}
+
 bool
 Duration::operator<(const rclcpp::Duration & rhs) const
 {
@@ -126,15 +127,15 @@ Duration::operator>(const rclcpp::Duration & rhs) const
 void
 bounds_check_duration_sum(int64_t lhsns, int64_t rhsns, uint64_t max)
 {
-  auto abs_lhs = (uint64_t)std::abs(lhsns);
-  auto abs_rhs = (uint64_t)std::abs(rhsns);
+  auto abs_lhs = static_cast<uint64_t>(std::abs(lhsns));
+  auto abs_rhs = static_cast<uint64_t>(std::abs(rhsns));
 
   if (lhsns > 0 && rhsns > 0) {
-    if (abs_lhs + abs_rhs > (uint64_t) max) {
+    if (abs_lhs + abs_rhs > max) {
       throw std::overflow_error("addition leads to int64_t overflow");
     }
   } else if (lhsns < 0 && rhsns < 0) {
-    if (abs_lhs + abs_rhs > (uint64_t) max) {
+    if (abs_lhs + abs_rhs > max) {
       throw std::underflow_error("addition leads to int64_t underflow");
     }
   }
@@ -154,15 +155,15 @@ Duration::operator+(const rclcpp::Duration & rhs) const
 void
 bounds_check_duration_difference(int64_t lhsns, int64_t rhsns, uint64_t max)
 {
-  auto abs_lhs = (uint64_t)std::abs(lhsns);
-  auto abs_rhs = (uint64_t)std::abs(rhsns);
+  auto abs_lhs = static_cast<uint64_t>(std::abs(lhsns));
+  auto abs_rhs = static_cast<uint64_t>(std::abs(rhsns));
 
   if (lhsns > 0 && rhsns < 0) {
-    if (abs_lhs + abs_rhs > (uint64_t) max) {
+    if (abs_lhs + abs_rhs > max) {
       throw std::overflow_error("duration subtraction leads to int64_t overflow");
     }
   } else if (lhsns < 0 && rhsns > 0) {
-    if (abs_lhs + abs_rhs > (uint64_t) max) {
+    if (abs_lhs + abs_rhs > max) {
       throw std::underflow_error("duration subtraction leads to int64_t underflow");
     }
   }
@@ -185,8 +186,10 @@ bounds_check_duration_scale(int64_t dns, double scale, uint64_t max)
 {
   auto abs_dns = static_cast<uint64_t>(std::abs(dns));
   auto abs_scale = std::abs(scale);
-
-  if (abs_scale > 1.0 && abs_dns > static_cast<uint64_t>(max / abs_scale)) {
+  if (abs_scale > 1.0 &&
+    abs_dns >
+    static_cast<uint64_t>(static_cast<long double>(max) / static_cast<long double>(abs_scale)))
+  {
     if ((dns > 0 && scale > 0) || (dns < 0 && scale < 0)) {
       throw std::overflow_error("duration scaling leads to int64_t overflow");
     } else {
@@ -205,7 +208,9 @@ Duration::operator*(double scale) const
     this->rcl_duration_.nanoseconds,
     scale,
     std::numeric_limits<rcl_duration_value_t>::max());
-  return Duration(static_cast<rcl_duration_value_t>(rcl_duration_.nanoseconds * scale));
+  long double scale_ld = static_cast<long double>(scale);
+  return Duration(static_cast<rcl_duration_value_t>(
+             static_cast<long double>(rcl_duration_.nanoseconds) * scale_ld));
 }
 
 rcl_duration_value_t
@@ -226,4 +231,19 @@ Duration::seconds() const
   return std::chrono::duration<double>(std::chrono::nanoseconds(rcl_duration_.nanoseconds)).count();
 }
 
+rmw_time_t
+Duration::to_rmw_time() const
+{
+  if (rcl_duration_.nanoseconds < 0) {
+    throw std::runtime_error("rmw_time_t cannot be negative");
+  }
+
+  // reuse conversion logic from msg creation
+  builtin_interfaces::msg::Duration msg = *this;
+  rmw_time_t result;
+  result.sec = static_cast<uint64_t>(msg.sec);
+  result.nsec = static_cast<uint64_t>(msg.nanosec);
+  return result;
+}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/exceptions.cpp

@@ -39,8 +39,8 @@ NameValidationError::format_error(
   return msg;
 }
 
-void
-throw_from_rcl_error(
+std::exception_ptr
+from_rcl_error(
   rcl_ret_t ret,
   const std::string & prefix,
   const rcl_error_state_t * error_state,
@@ -55,9 +55,9 @@ throw_from_rcl_error(
   if (!error_state) {
     throw std::runtime_error("rcl error state is not set");
   }
-  std::string formated_prefix = prefix;
+  std::string formatted_prefix = prefix;
   if (!prefix.empty()) {
-    formated_prefix += ": ";
+    formatted_prefix += ": ";
   }
   RCLErrorBase base_exc(ret, error_state);
   if (reset_error) {
@@ -65,14 +65,28 @@ throw_from_rcl_error(
   }
   switch (ret) {
     case RCL_RET_BAD_ALLOC:
-      throw RCLBadAlloc(base_exc);
+      return std::make_exception_ptr(RCLBadAlloc(base_exc));
     case RCL_RET_INVALID_ARGUMENT:
-      throw RCLInvalidArgument(base_exc, formated_prefix);
+      return std::make_exception_ptr(RCLInvalidArgument(base_exc, formatted_prefix));
     default:
-      throw RCLError(base_exc, formated_prefix);
+      return std::make_exception_ptr(RCLError(base_exc, formatted_prefix));
   }
 }
 
+void
+throw_from_rcl_error(
+  rcl_ret_t ret,
+  const std::string & prefix,
+  const rcl_error_state_t * error_state,
+  void (* reset_error)())
+{
+  // We expect this to either throw a standard error,
+  // or to generate an error pointer (which is caught
+  // in err, and immediately thrown)
+  auto err = from_rcl_error(ret, prefix, error_state, reset_error);
+  std::rethrow_exception(err);
+}
+
 RCLErrorBase::RCLErrorBase(rcl_ret_t ret, const rcl_error_state_t * error_state)
 : ret(ret), message(error_state->message), file(error_state->file), line(error_state->line_number),
   formatted_message(rcl_get_error_string().str)

rclcpp/src/rclcpp/executor.cpp

@@ -60,7 +60,11 @@ Executor::Executor(const ExecutorArgs & args)
   // Store the context for later use.
   context_ = args.context;
 
-  ret = rcl_wait_set_init(&wait_set_, 0, 2, 0, 0, 0, context_->get_rcl_context().get(), allocator);
+  ret = rcl_wait_set_init(
+    &wait_set_,
+    0, 2, 0, 0, 0, 0,
+    context_->get_rcl_context().get(),
+    allocator);
   if (RCL_RET_OK != ret) {
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
@@ -87,6 +91,10 @@ Executor::~Executor()
     }
   }
   weak_nodes_.clear();
+  for (auto & guard_condition : guard_conditions_) {
+    memory_strategy_->remove_guard_condition(guard_condition);
+  }
+  guard_conditions_.clear();
 
   // Finalize the wait set.
   if (rcl_wait_set_fini(&wait_set_) != RCL_RET_OK) {
@@ -124,6 +132,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
     }
   }
   weak_nodes_.push_back(node_ptr);
+  guard_conditions_.push_back(node_ptr->get_notify_guard_condition());
   if (notify) {
     // Interrupt waiting to handle new node
     if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
@@ -131,6 +140,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
     }
   }
   // Add the node's notify condition to the guard condition handles
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -144,17 +154,21 @@ void
 Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
   bool node_removed = false;
-  weak_nodes_.erase(
-    std::remove_if(
-      weak_nodes_.begin(), weak_nodes_.end(),
-      [&](rclcpp::node_interfaces::NodeBaseInterface::WeakPtr & i)
-      {
-        bool matched = (i.lock() == node_ptr);
-        node_removed |= matched;
-        return matched;
+  {
+    auto node_it = weak_nodes_.begin();
+    auto gc_it = guard_conditions_.begin();
+    while (node_it != weak_nodes_.end()) {
+      bool matched = (node_it->lock() == node_ptr);
+      if (matched) {
+        node_it = weak_nodes_.erase(node_it);
+        gc_it = guard_conditions_.erase(gc_it);
+        node_removed = true;
+      } else {
+        ++node_it;
+        ++gc_it;
       }
-    )
-  );
+    }
+  }
   std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
   has_executor.store(false);
   if (notify) {
@@ -165,6 +179,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
       }
     }
   }
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -219,7 +234,7 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
     throw std::runtime_error("spin_some() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  while (spinning.load() && max_duration_not_elapsed()) {
+  while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
     if (get_next_executable(any_exec, std::chrono::milliseconds::zero())) {
       execute_any_executable(any_exec);
@@ -229,6 +244,15 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
   }
 }
 
+void
+Executor::spin_once_impl(std::chrono::nanoseconds timeout)
+{
+  AnyExecutable any_exec;
+  if (get_next_executable(any_exec, timeout)) {
+    execute_any_executable(any_exec);
+  }
+}
+
 void
 Executor::spin_once(std::chrono::nanoseconds timeout)
 {
@@ -236,10 +260,7 @@ Executor::spin_once(std::chrono::nanoseconds timeout)
     throw std::runtime_error("spin_once() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  AnyExecutable any_exec;
-  if (get_next_executable(any_exec, timeout)) {
-    execute_any_executable(any_exec);
-  }
+  spin_once_impl(timeout);
 }
 
 void
@@ -304,7 +325,7 @@ Executor::execute_subscription(
     auto serialized_msg = subscription->create_serialized_message();
     auto ret = rcl_take_serialized_message(
       subscription->get_subscription_handle().get(),
-      serialized_msg.get(), &message_info);
+      serialized_msg.get(), &message_info, nullptr);
     if (RCL_RET_OK == ret) {
       auto void_serialized_msg = std::static_pointer_cast<void>(serialized_msg);
       subscription->handle_message(void_serialized_msg, message_info);
@@ -320,7 +341,7 @@ Executor::execute_subscription(
     std::shared_ptr<void> message = subscription->create_message();
     auto ret = rcl_take(
       subscription->get_subscription_handle().get(),
-      message.get(), &message_info);
+      message.get(), &message_info, nullptr);
     if (RCL_RET_OK == ret) {
       subscription->handle_message(message, message_info);
     } else if (RCL_RET_SUBSCRIPTION_TAKE_FAILED != ret) {
@@ -343,7 +364,8 @@ Executor::execute_intra_process_subscription(
   rcl_ret_t status = rcl_take(
     subscription->get_intra_process_subscription_handle().get(),
     &ipm,
-    &message_info);
+    &message_info,
+    nullptr);
 
   if (status == RCL_RET_OK) {
     message_info.from_intra_process = true;
@@ -409,39 +431,47 @@ Executor::execute_client(
 void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
-  // Collect the subscriptions and timers to be waited on
-  memory_strategy_->clear_handles();
-  bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+  {
+    std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
 
-  // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_nodes) {
-    weak_nodes_.erase(
-      remove_if(
-        weak_nodes_.begin(), weak_nodes_.end(),
-        [](rclcpp::node_interfaces::NodeBaseInterface::WeakPtr i)
-        {
-          return i.expired();
+    // Collect the subscriptions and timers to be waited on
+    memory_strategy_->clear_handles();
+    bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+
+    // Clean up any invalid nodes, if they were detected
+    if (has_invalid_weak_nodes) {
+      auto node_it = weak_nodes_.begin();
+      auto gc_it = guard_conditions_.begin();
+      while (node_it != weak_nodes_.end()) {
+        if (node_it->expired()) {
+          node_it = weak_nodes_.erase(node_it);
+          memory_strategy_->remove_guard_condition(*gc_it);
+          gc_it = guard_conditions_.erase(gc_it);
+        } else {
+          ++node_it;
+          ++gc_it;
         }
-      )
-    );
-  }
-  // clear wait set
-  if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
-    throw std::runtime_error("Couldn't clear wait set");
-  }
+      }
+    }
+    // clear wait set
+    if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
+      throw std::runtime_error("Couldn't clear wait set");
+    }
 
-  // The size of waitables are accounted for in size of the other entities
-  rcl_ret_t ret = rcl_wait_set_resize(
-    &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
-    memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
-    memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services());
-  if (RCL_RET_OK != ret) {
-    throw std::runtime_error(
-            std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
-  }
+    // The size of waitables are accounted for in size of the other entities
+    rcl_ret_t ret = rcl_wait_set_resize(
+      &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
+      memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
+      memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
+      memory_strategy_->number_of_ready_events());
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error(
+              std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
+    }
 
-  if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
-    throw std::runtime_error("Couldn't fill wait set");
+    if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
+      throw std::runtime_error("Couldn't fill wait set");
+    }
   }
   rcl_ret_t status =
     rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -83,6 +83,11 @@ MultiThreadedExecutor::run(size_t)
       if (any_exec.timer) {
         // Guard against multiple threads getting the same timer.
         if (scheduled_timers_.count(any_exec.timer) != 0) {
+          // Make sure that any_exec's callback group is reset before
+          // the lock is released.
+          if (any_exec.callback_group) {
+            any_exec.callback_group->can_be_taken_from().store(true);
+          }
           continue;
         }
         scheduled_timers_.insert(any_exec.timer);
@@ -101,5 +106,8 @@ MultiThreadedExecutor::run(size_t)
         scheduled_timers_.erase(it);
       }
     }
+    // Clear the callback_group to prevent the AnyExecutable destructor from
+    // resetting the callback group `can_be_taken_from`
+    any_exec.callback_group.reset();
   }
 }

rclcpp/src/rclcpp/graph_listener.cpp

@@ -79,6 +79,7 @@ GraphListener::start_if_not_started()
       0,  // number_of_timers
       0,  // number_of_clients
       0,  // number_of_services
+      0,  // number_of_events
       this->parent_context_->get_rcl_context().get(),
       rcl_get_default_allocator());
     if (RCL_RET_OK != ret) {
@@ -145,7 +146,7 @@ GraphListener::run_loop()
     const size_t node_graph_interfaces_size = node_graph_interfaces_.size();
     // Add 2 for the interrupt and shutdown guard conditions
     if (wait_set_.size_of_guard_conditions < (node_graph_interfaces_size + 2)) {
-      ret = rcl_wait_set_resize(&wait_set_, 0, node_graph_interfaces_size + 2, 0, 0, 0);
+      ret = rcl_wait_set_resize(&wait_set_, 0, node_graph_interfaces_size + 2, 0, 0, 0, 0);
       if (RCL_RET_OK != ret) {
         throw_from_rcl_error(ret, "failed to resize wait set");
       }

rclcpp/src/rclcpp/intra_process_manager.cpp

@@ -29,6 +29,21 @@ IntraProcessManager::IntraProcessManager(
 IntraProcessManager::~IntraProcessManager()
 {}
 
+uint64_t
+IntraProcessManager::add_publisher(
+  rclcpp::PublisherBase::SharedPtr publisher,
+  size_t buffer_size)
+{
+  auto id = IntraProcessManager::get_next_unique_id();
+  size_t size = buffer_size > 0 ? buffer_size : publisher->get_queue_size();
+  auto mrb = publisher->make_mapped_ring_buffer(size);
+  impl_->add_publisher(id, publisher, mrb, size);
+  if (!mrb) {
+    throw std::runtime_error("failed to create a mapped ring buffer");
+  }
+  return id;
+}
+
 uint64_t
 IntraProcessManager::add_subscription(
   rclcpp::SubscriptionBase::SharedPtr subscription)

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -20,7 +20,7 @@ using rclcpp::memory_strategy::MemoryStrategy;
 rclcpp::SubscriptionBase::SharedPtr
 MemoryStrategy::get_subscription_by_handle(
   std::shared_ptr<const rcl_subscription_t> subscriber_handle,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -51,7 +51,7 @@ MemoryStrategy::get_subscription_by_handle(
 rclcpp::ServiceBase::SharedPtr
 MemoryStrategy::get_service_by_handle(
   std::shared_ptr<const rcl_service_t> service_handle,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -77,7 +77,7 @@ MemoryStrategy::get_service_by_handle(
 rclcpp::ClientBase::SharedPtr
 MemoryStrategy::get_client_by_handle(
   std::shared_ptr<const rcl_client_t> client_handle,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -103,7 +103,7 @@ MemoryStrategy::get_client_by_handle(
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
 MemoryStrategy::get_node_by_group(
   rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   if (!group) {
     return nullptr;
@@ -126,7 +126,7 @@ MemoryStrategy::get_node_by_group(
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_subscription(
   rclcpp::SubscriptionBase::SharedPtr subscription,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -152,7 +152,7 @@ MemoryStrategy::get_group_by_subscription(
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_service(
   rclcpp::ServiceBase::SharedPtr service,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -178,7 +178,7 @@ MemoryStrategy::get_group_by_service(
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_client(
   rclcpp::ClientBase::SharedPtr client,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -204,7 +204,7 @@ MemoryStrategy::get_group_by_client(
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_waitable(
   rclcpp::Waitable::SharedPtr waitable,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();

rclcpp/src/rclcpp/node.cpp

@@ -27,7 +27,17 @@
 #include "rclcpp/node_interfaces/node_clock.hpp"
 #include "rclcpp/node_interfaces/node_graph.hpp"
 #include "rclcpp/node_interfaces/node_logging.hpp"
+// When compiling this file, Windows produces a deprecation warning for the
+// deprecated function prototype of NodeParameters::register_param_change_callback().
+// Other compilers do not.
+#if defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
 #include "rclcpp/node_interfaces/node_parameters.hpp"
+#if defined(_WIN32)
+# pragma warning(pop)
+#endif
 #include "rclcpp/node_interfaces/node_services.hpp"
 #include "rclcpp/node_interfaces/node_time_source.hpp"
 #include "rclcpp/node_interfaces/node_timers.hpp"
@@ -99,7 +109,11 @@ Node::Node(
   const std::string & namespace_,
   const NodeOptions & options)
 : node_base_(new rclcpp::node_interfaces::NodeBase(
-      node_name, namespace_, options)),
+      node_name,
+      namespace_,
+      options.context(),
+      *(options.get_rcl_node_options()),
+      options.use_intra_process_comms())),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
   node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
@@ -114,14 +128,17 @@ Node::Node(
     )),
   node_parameters_(new rclcpp::node_interfaces::NodeParameters(
       node_base_,
+      node_logging_,
       node_topics_,
       node_services_,
       node_clock_,
-      options.initial_parameters(),
-      options.use_intra_process_comms(),
+      options.parameter_overrides(),
       options.start_parameter_services(),
       options.start_parameter_event_publisher(),
-      options.parameter_event_qos_profile()
+      options.parameter_event_qos(),
+      options.parameter_event_publisher_options(),
+      options.allow_undeclared_parameters(),
+      options.automatically_declare_parameters_from_overrides()
     )),
   node_time_source_(new rclcpp::node_interfaces::NodeTimeSource(
       node_base_,
@@ -215,20 +232,57 @@ Node::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
   return node_base_->callback_group_in_node(group);
 }
 
+const rclcpp::ParameterValue &
+Node::declare_parameter(
+  const std::string & name,
+  const rclcpp::ParameterValue & default_value,
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
+{
+  return this->node_parameters_->declare_parameter(name, default_value, parameter_descriptor);
+}
+
+void
+Node::undeclare_parameter(const std::string & name)
+{
+  this->node_parameters_->undeclare_parameter(name);
+}
+
+bool
+Node::has_parameter(const std::string & name) const
+{
+  return this->node_parameters_->has_parameter(name);
+}
+
+rcl_interfaces::msg::SetParametersResult
+Node::set_parameter(const rclcpp::Parameter & parameter)
+{
+  return this->set_parameters_atomically({parameter});
+}
+
 std::vector<rcl_interfaces::msg::SetParametersResult>
-Node::set_parameters(
-  const std::vector<rclcpp::Parameter> & parameters)
+Node::set_parameters(const std::vector<rclcpp::Parameter> & parameters)
 {
   return node_parameters_->set_parameters(parameters);
 }
 
 rcl_interfaces::msg::SetParametersResult
-Node::set_parameters_atomically(
-  const std::vector<rclcpp::Parameter> & parameters)
+Node::set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters)
 {
   return node_parameters_->set_parameters_atomically(parameters);
 }
 
+rclcpp::Parameter
+Node::get_parameter(const std::string & name) const
+{
+  return node_parameters_->get_parameter(name);
+}
+
+bool
+Node::get_parameter(const std::string & name, rclcpp::Parameter & parameter) const
+{
+  return node_parameters_->get_parameter(name, parameter);
+}
+
 std::vector<rclcpp::Parameter>
 Node::get_parameters(
   const std::vector<std::string> & names) const
@@ -236,40 +290,43 @@ Node::get_parameters(
   return node_parameters_->get_parameters(names);
 }
 
-rclcpp::Parameter
-Node::get_parameter(const std::string & name) const
+rcl_interfaces::msg::ParameterDescriptor
+Node::describe_parameter(const std::string & name) const
 {
-  return node_parameters_->get_parameter(name);
-}
-
-bool Node::get_parameter(
-  const std::string & name,
-  rclcpp::Parameter & parameter) const
-{
-  return node_parameters_->get_parameter(name, parameter);
+  auto result = node_parameters_->describe_parameters({name});
+  if (0 == result.size()) {
+    throw rclcpp::exceptions::ParameterNotDeclaredException(name);
+  }
+  if (result.size() > 1) {
+    throw std::runtime_error("number of described parameters unexpectedly more than one");
+  }
+  return result.front();
 }
 
 std::vector<rcl_interfaces::msg::ParameterDescriptor>
-Node::describe_parameters(
-  const std::vector<std::string> & names) const
+Node::describe_parameters(const std::vector<std::string> & names) const
 {
   return node_parameters_->describe_parameters(names);
 }
 
 std::vector<uint8_t>
-Node::get_parameter_types(
-  const std::vector<std::string> & names) const
+Node::get_parameter_types(const std::vector<std::string> & names) const
 {
   return node_parameters_->get_parameter_types(names);
 }
 
 rcl_interfaces::msg::ListParametersResult
-Node::list_parameters(
-  const std::vector<std::string> & prefixes, uint64_t depth) const
+Node::list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const
 {
   return node_parameters_->list_parameters(prefixes, depth);
 }
 
+rclcpp::Node::OnParametersSetCallbackType
+Node::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
+{
+  return node_parameters_->set_on_parameters_set_callback(callback);
+}
+
 std::vector<std::string>
 Node::get_node_names() const
 {
@@ -417,3 +474,9 @@ Node::get_node_options() const
 {
   return this->node_options_;
 }
+
+bool
+Node::assert_liveliness() const
+{
+  return node_base_->assert_liveliness();
+}

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -32,8 +32,11 @@ using rclcpp::node_interfaces::NodeBase;
 NodeBase::NodeBase(
   const std::string & node_name,
   const std::string & namespace_,
-  const rclcpp::NodeOptions & options)
-: context_(options.context()),
+  rclcpp::Context::SharedPtr context,
+  const rcl_node_options_t & rcl_node_options,
+  bool use_intra_process_default)
+: context_(context),
+  use_intra_process_default_(use_intra_process_default),
   node_handle_(nullptr),
   default_callback_group_(nullptr),
   associated_with_executor_(false),
@@ -42,7 +45,7 @@ NodeBase::NodeBase(
   // Setup the guard condition that is notified when changes occur in the graph.
   rcl_guard_condition_options_t guard_condition_options = rcl_guard_condition_get_default_options();
   rcl_ret_t ret = rcl_guard_condition_init(
-    &notify_guard_condition_, options.context()->get_rcl_context().get(), guard_condition_options);
+    &notify_guard_condition_, context_->get_rcl_context().get(), guard_condition_options);
   if (ret != RCL_RET_OK) {
     throw_from_rcl_error(ret, "failed to create interrupt guard condition");
   }
@@ -63,7 +66,7 @@ NodeBase::NodeBase(
   ret = rcl_node_init(
     rcl_node.get(),
     node_name.c_str(), namespace_.c_str(),
-    options.context()->get_rcl_context().get(), options.get_rcl_node_options());
+    context_->get_rcl_context().get(), &rcl_node_options);
   if (ret != RCL_RET_OK) {
     // Finalize the interrupt guard condition.
     finalize_notify_guard_condition();
@@ -197,6 +200,12 @@ NodeBase::get_shared_rcl_node_handle() const
   return node_handle_;
 }
 
+bool
+NodeBase::assert_liveliness() const
+{
+  return RCL_RET_OK == rcl_node_assert_liveliness(get_rcl_node_handle());
+}
+
 rclcpp::callback_group::CallbackGroup::SharedPtr
 NodeBase::create_callback_group(rclcpp::callback_group::CallbackGroupType group_type)
 {
@@ -253,3 +262,9 @@ NodeBase::acquire_notify_guard_condition_lock() const
 {
   return std::unique_lock<std::recursive_mutex>(notify_guard_condition_mutex_);
 }
+
+bool
+NodeBase::get_use_intra_process_default() const
+{
+  return use_intra_process_default_;
+}

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

@@ -14,6 +14,7 @@
 
 #include "rclcpp/node_interfaces/node_graph.hpp"
 
+#include <algorithm>
 #include <map>
 #include <string>
 #include <utility>
@@ -136,9 +137,24 @@ NodeGraph::get_node_names() const
   std::vector<std::string> nodes;
   auto names_and_namespaces = get_node_names_and_namespaces();
 
-  for (const auto & it : names_and_namespaces) {
-    nodes.push_back(it.first);
-  }
+  std::transform(names_and_namespaces.begin(),
+    names_and_namespaces.end(),
+    std::back_inserter(nodes),
+    [](std::pair<std::string, std::string> nns) {
+      std::string return_string;
+      if (nns.second.back() == '/') {
+        return_string = nns.second + nns.first;
+      } else {
+        return_string = nns.second + '/' + nns.first;
+      }
+      // Quick check to make sure that we start with a slash
+      // Since fully-qualified strings need to
+      if (return_string.front() != '/') {
+        return_string = "/" + return_string;
+      }
+      return return_string;
+    }
+  );
   return nodes;
 }
 
@@ -173,10 +189,12 @@ NodeGraph::get_node_names_and_namespaces() const
     throw std::runtime_error(error_msg);
   }
 
-  std::vector<std::pair<std::string, std::string>> node_names(node_names_c.size);
+
+  std::vector<std::pair<std::string, std::string>> node_names;
+  node_names.reserve(node_names_c.size);
   for (size_t i = 0; i < node_names_c.size; ++i) {
     if (node_names_c.data[i] && node_namespaces_c.data[i]) {
-      node_names.push_back(std::make_pair(node_names_c.data[i], node_namespaces_c.data[i]));
+      node_names.emplace_back(node_names_c.data[i], node_namespaces_c.data[i]);
     }
   }
 
@@ -302,9 +320,11 @@ rclcpp::Event::SharedPtr
 NodeGraph::get_graph_event()
 {
   auto event = rclcpp::Event::make_shared();
-  std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
-  graph_events_.push_back(event);
-  graph_users_count_++;
+  {
+    std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
+    graph_events_.push_back(event);
+    graph_users_count_++;
+  }
   // on first call, add node to graph_listener_
   if (should_add_to_graph_listener_.exchange(false)) {
     graph_listener_->add_node(this);

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -12,10 +12,23 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// When compiling this file, Windows produces a deprecation warning for the
+// deprecated function prototype of NodeParameters::register_param_change_callback().
+// Other compilers do not.
+#if defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
 #include "rclcpp/node_interfaces/node_parameters.hpp"
+#if defined(_WIN32)
+# pragma warning(pop)
+#endif
 
 #include <rcl_yaml_param_parser/parser.h>
 
+#include <cmath>
+#include <cstdlib>
+#include <limits>
 #include <map>
 #include <memory>
 #include <sstream>
@@ -34,21 +47,29 @@ using rclcpp::node_interfaces::NodeParameters;
 
 NodeParameters::NodeParameters(
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
-  const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
+  const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
   const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
   const rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
-  const std::vector<rclcpp::Parameter> & initial_parameters,
-  bool use_intra_process,
+  const std::vector<rclcpp::Parameter> & parameter_overrides,
   bool start_parameter_services,
   bool start_parameter_event_publisher,
-  const rmw_qos_profile_t & parameter_event_qos_profile)
-: events_publisher_(nullptr), node_clock_(node_clock)
+  const rclcpp::QoS & parameter_event_qos,
+  const rclcpp::PublisherOptionsBase & parameter_event_publisher_options,
+  bool allow_undeclared_parameters,
+  bool automatically_declare_parameters_from_overrides)
+: allow_undeclared_(allow_undeclared_parameters),
+  events_publisher_(nullptr),
+  node_logging_(node_logging),
+  node_clock_(node_clock)
 {
   using MessageT = rcl_interfaces::msg::ParameterEvent;
   using PublisherT = rclcpp::Publisher<MessageT>;
   using AllocatorT = std::allocator<void>;
   // TODO(wjwwood): expose this allocator through the Parameter interface.
-  auto allocator = std::make_shared<AllocatorT>();
+  rclcpp::PublisherOptionsWithAllocator<AllocatorT> publisher_options(
+    parameter_event_publisher_options);
+  publisher_options.allocator = std::make_shared<AllocatorT>();
 
   if (start_parameter_services) {
     parameter_service_ = std::make_shared<ParameterService>(node_base, node_services, this);
@@ -56,11 +77,10 @@ NodeParameters::NodeParameters(
 
   if (start_parameter_event_publisher) {
     events_publisher_ = rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
-      node_topics.get(),
+      node_topics,
       "parameter_events",
-      parameter_event_qos_profile,
-      use_intra_process,
-      allocator);
+      parameter_event_qos,
+      publisher_options);
   }
 
   // Get the node options
@@ -105,20 +125,7 @@ NodeParameters::NodeParameters(
   get_yaml_paths(&(options->arguments));
 
   // Get fully qualified node name post-remapping to use to find node's params in yaml files
-  const std::string node_name = node_base->get_name();
-  const std::string node_namespace = node_base->get_namespace();
-  if (0u == node_namespace.size() || 0u == node_name.size()) {
-    // Should never happen
-    throw std::runtime_error("Node name and namespace were not set");
-  }
-
-  if ('/' == node_namespace.at(node_namespace.size() - 1)) {
-    combined_name_ = node_namespace + node_name;
-  } else {
-    combined_name_ = node_namespace + '/' + node_name;
-  }
-
-  std::map<std::string, rclcpp::Parameter> parameters;
+  combined_name_ = node_base->get_fully_qualified_name();
 
   // TODO(sloretz) use rcl to parse yaml when circular dependency is solved
   // See https://github.com/ros2/rcl/issues/252
@@ -137,34 +144,35 @@ NodeParameters::NodeParameters(
 
     rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(yaml_params);
     rcl_yaml_node_struct_fini(yaml_params);
-    auto iter = initial_map.find(combined_name_);
-    if (initial_map.end() == iter) {
-      continue;
-    }
 
-    // Combine parameter yaml files, overwriting values in older ones
-    for (auto & param : iter->second) {
-      parameters[param.get_name()] = param;
+    for (auto iter = initial_map.begin(); initial_map.end() != iter; iter++) {
+      // TODO(cottsay) implement further wildcard matching
+      if (iter->first == "/**" || iter->first == combined_name_) {
+        // Combine parameter yaml files, overwriting values in older ones
+        for (auto & param : iter->second) {
+          parameter_overrides_[param.get_name()] =
+            rclcpp::ParameterValue(param.get_value_message());
+        }
+      }
     }
   }
 
-  // initial values passed to constructor overwrite yaml file sources
-  for (auto & param : initial_parameters) {
-    parameters[param.get_name()] = param;
+  // parameter overrides passed to constructor will overwrite overrides from yaml file sources
+  for (auto & param : parameter_overrides) {
+    parameter_overrides_[param.get_name()] =
+      rclcpp::ParameterValue(param.get_value_message());
   }
 
-  std::vector<rclcpp::Parameter> combined_values;
-  combined_values.reserve(parameters.size());
-  for (auto & kv : parameters) {
-    combined_values.emplace_back(kv.second);
-  }
-
-  // TODO(sloretz) store initial values and use them when a parameter is created ros2/rclcpp#475
-  // Set initial parameter values
-  if (!combined_values.empty()) {
-    rcl_interfaces::msg::SetParametersResult result = set_parameters_atomically(combined_values);
-    if (!result.successful) {
-      throw std::runtime_error("Failed to set initial parameters");
+  // If asked, initialize any parameters that ended up in the initial parameter values,
+  // but did not get declared explcitily by this point.
+  if (automatically_declare_parameters_from_overrides) {
+    for (const auto & pair : this->get_parameter_overrides()) {
+      if (!this->has_parameter(pair.first)) {
+        this->declare_parameter(
+          pair.first,
+          pair.second,
+          rcl_interfaces::msg::ParameterDescriptor());
+      }
     }
   }
 }
@@ -172,75 +180,459 @@ NodeParameters::NodeParameters(
 NodeParameters::~NodeParameters()
 {}
 
-std::vector<rcl_interfaces::msg::SetParametersResult>
-NodeParameters::set_parameters(
+RCLCPP_LOCAL
+bool
+__lockless_has_parameter(
+  const std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters,
+  const std::string & name)
+{
+  return parameters.find(name) != parameters.end();
+}
+
+// see https://en.cppreference.com/w/cpp/types/numeric_limits/epsilon
+RCLCPP_LOCAL
+bool
+__are_doubles_equal(double x, double y, double ulp = 100.0)
+{
+  return std::abs(x - y) <= std::numeric_limits<double>::epsilon() * std::abs(x + y) * ulp;
+}
+
+RCLCPP_LOCAL
+inline
+void
+format_reason(std::string & reason, const std::string & name, const char * range_type)
+{
+  std::ostringstream ss;
+  ss << "Parameter {" << name << "} doesn't comply with " << range_type << " range.";
+  reason = ss.str();
+}
+
+RCLCPP_LOCAL
+rcl_interfaces::msg::SetParametersResult
+__check_parameter_value_in_range(
+  const rcl_interfaces::msg::ParameterDescriptor & descriptor,
+  const rclcpp::ParameterValue & value)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+  if (!descriptor.integer_range.empty() && value.get_type() == rclcpp::PARAMETER_INTEGER) {
+    int64_t v = value.get<int64_t>();
+    auto integer_range = descriptor.integer_range.at(0);
+    if (v == integer_range.from_value || v == integer_range.to_value) {
+      return result;
+    }
+    if ((v < integer_range.from_value) || (v > integer_range.to_value)) {
+      result.successful = false;
+      format_reason(result.reason, descriptor.name, "integer");
+      return result;
+    }
+    if (integer_range.step == 0) {
+      return result;
+    }
+    if (((v - integer_range.from_value) % integer_range.step) == 0) {
+      return result;
+    }
+    result.successful = false;
+    format_reason(result.reason, descriptor.name, "integer");
+    return result;
+  }
+
+  if (!descriptor.floating_point_range.empty() && value.get_type() == rclcpp::PARAMETER_DOUBLE) {
+    double v = value.get<double>();
+    auto fp_range = descriptor.floating_point_range.at(0);
+    if (__are_doubles_equal(v, fp_range.from_value) ||
+      __are_doubles_equal(v, fp_range.to_value))
+    {
+      return result;
+    }
+    if ((v < fp_range.from_value) || (v > fp_range.to_value)) {
+      result.successful = false;
+      format_reason(result.reason, descriptor.name, "floating point");
+      return result;
+    }
+    if (fp_range.step == 0.0) {
+      return result;
+    }
+    double rounded_div = std::round((v - fp_range.from_value) / fp_range.step);
+    if (__are_doubles_equal(v, fp_range.from_value + rounded_div * fp_range.step)) {
+      return result;
+    }
+    result.successful = false;
+    format_reason(result.reason, descriptor.name, "floating point");
+    return result;
+  }
+  return result;
+}
+
+// Return true if parameter values comply with the descriptors in parameter_infos.
+RCLCPP_LOCAL
+rcl_interfaces::msg::SetParametersResult
+__check_parameters(
+  std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameter_infos,
   const std::vector<rclcpp::Parameter> & parameters)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+  for (const rclcpp::Parameter & parameter : parameters) {
+    const rcl_interfaces::msg::ParameterDescriptor & descriptor =
+      parameter_infos[parameter.get_name()].descriptor;
+    result = __check_parameter_value_in_range(
+      descriptor,
+      parameter.get_parameter_value());
+    if (!result.successful) {
+      break;
+    }
+  }
+  return result;
+}
+
+using OnParametersSetCallbackType =
+  rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
+
+RCLCPP_LOCAL
+rcl_interfaces::msg::SetParametersResult
+__set_parameters_atomically_common(
+  const std::vector<rclcpp::Parameter> & parameters,
+  std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameter_infos,
+  OnParametersSetCallbackType on_set_parameters_callback)
+{
+  // Call the user callback to see if the new value(s) are allowed.
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+  if (on_set_parameters_callback) {
+    result = on_set_parameters_callback(parameters);
+  }
+  if (!result.successful) {
+    return result;
+  }
+  // Check if the value being set complies with the descriptor.
+  result = __check_parameters(parameter_infos, parameters);
+  if (!result.successful) {
+    return result;
+  }
+  // If accepted, actually set the values.
+  if (result.successful) {
+    for (size_t i = 0; i < parameters.size(); ++i) {
+      const std::string & name = parameters[i].get_name();
+      parameter_infos[name].descriptor.name = parameters[i].get_name();
+      parameter_infos[name].descriptor.type = parameters[i].get_type();
+      parameter_infos[name].value = parameters[i].get_parameter_value();
+    }
+  }
+
+  // Either way, return the result.
+  return result;
+}
+
+RCLCPP_LOCAL
+rcl_interfaces::msg::SetParametersResult
+__declare_parameter_common(
+  const std::string & name,
+  const rclcpp::ParameterValue & default_value,
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+  std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters_out,
+  const std::map<std::string, rclcpp::ParameterValue> & overrides,
+  OnParametersSetCallbackType on_set_parameters_callback,
+  rcl_interfaces::msg::ParameterEvent * parameter_event_out,
+  bool use_overrides = true)
+{
+  using rclcpp::node_interfaces::ParameterInfo;
+  std::map<std::string, ParameterInfo> parameter_infos {{name, ParameterInfo()}};
+  parameter_infos.at(name).descriptor = parameter_descriptor;
+
+  // Use the value from the overrides if available, otherwise use the default.
+  const rclcpp::ParameterValue * initial_value = &default_value;
+  auto overrides_it = overrides.find(name);
+  if (use_overrides && overrides_it != overrides.end()) {
+    initial_value = &overrides_it->second;
+  }
+
+  // Check with the user's callback to see if the initial value can be set.
+  std::vector<rclcpp::Parameter> parameter_wrappers {rclcpp::Parameter(name, *initial_value)};
+  // This function also takes care of default vs initial value.
+  auto result = __set_parameters_atomically_common(
+    parameter_wrappers,
+    parameter_infos,
+    on_set_parameters_callback);
+
+  // Add declared parameters to storage.
+  parameters_out[name] = parameter_infos.at(name);
+
+  // Extend the given parameter event, if valid.
+  if (parameter_event_out) {
+    parameter_event_out->new_parameters.push_back(parameter_wrappers[0].to_parameter_msg());
+  }
+
+  return result;
+}
+
+const rclcpp::ParameterValue &
+NodeParameters::declare_parameter(
+  const std::string & name,
+  const rclcpp::ParameterValue & default_value,
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+
+  // TODO(sloretz) parameter name validation
+  if (name.empty()) {
+    throw rclcpp::exceptions::InvalidParametersException("parameter name must not be empty");
+  }
+
+  // Error if this parameter has already been declared and is different
+  if (__lockless_has_parameter(parameters_, name)) {
+    throw rclcpp::exceptions::ParameterAlreadyDeclaredException(
+            "parameter '" + name + "' has already been declared");
+  }
+
+  rcl_interfaces::msg::ParameterEvent parameter_event;
+  auto result = __declare_parameter_common(
+    name,
+    default_value,
+    parameter_descriptor,
+    parameters_,
+    parameter_overrides_,
+    on_parameters_set_callback_,
+    &parameter_event);
+
+  // If it failed to be set, then throw an exception.
+  if (!result.successful) {
+    throw rclcpp::exceptions::InvalidParameterValueException(
+            "parameter '" + name + "' could not be set: " + result.reason);
+  }
+
+  // Publish if events_publisher_ is not nullptr, which may be if disabled in the constructor.
+  if (nullptr != events_publisher_) {
+    events_publisher_->publish(parameter_event);
+  }
+
+  return parameters_.at(name).value;
+}
+
+void
+NodeParameters::undeclare_parameter(const std::string & name)
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+
+  auto parameter_info = parameters_.find(name);
+  if (parameter_info == parameters_.end()) {
+    throw rclcpp::exceptions::ParameterNotDeclaredException(
+            "cannot undeclare parameter '" + name + "' which has not yet been declared");
+  }
+
+  if (parameter_info->second.descriptor.read_only) {
+    throw rclcpp::exceptions::ParameterImmutableException(
+            "cannot undeclare parameter '" + name + "' because it is read-only");
+  }
+
+  parameters_.erase(parameter_info);
+}
+
+bool
+NodeParameters::has_parameter(const std::string & name) const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+
+  return __lockless_has_parameter(parameters_, name);
+}
+
+std::vector<rcl_interfaces::msg::SetParametersResult>
+NodeParameters::set_parameters(const std::vector<rclcpp::Parameter> & parameters)
 {
   std::vector<rcl_interfaces::msg::SetParametersResult> results;
+  results.reserve(parameters.size());
+
   for (const auto & p : parameters) {
     auto result = set_parameters_atomically({{p}});
     results.push_back(result);
   }
+
   return results;
 }
 
+template<typename ParameterVectorType>
+auto
+__find_parameter_by_name(
+  ParameterVectorType & parameters,
+  const std::string & name)
+{
+  return std::find_if(
+    parameters.begin(),
+    parameters.end(),
+    [&](auto parameter) {return parameter.get_name() == name;});
+}
+
 rcl_interfaces::msg::SetParametersResult
-NodeParameters::set_parameters_atomically(
-  const std::vector<rclcpp::Parameter> & parameters)
+NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters)
 {
   std::lock_guard<std::mutex> lock(mutex_);
-  std::map<std::string, rclcpp::Parameter> tmp_map;
-  auto parameter_event = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
 
-  parameter_event->node = combined_name_;
-
-  // TODO(jacquelinekay): handle parameter constraints
   rcl_interfaces::msg::SetParametersResult result;
-  if (parameters_callback_) {
-    result = parameters_callback_(parameters);
-  } else {
-    result.successful = true;
+
+  // Check if any of the parameters are read-only, or if any parameters are not
+  // declared.
+  // If not declared, keep track of them in order to declare them later, when
+  // undeclared parameters are allowed, and if they're not allowed, fail.
+  std::vector<const rclcpp::Parameter *> parameters_to_be_declared;
+  for (const auto & parameter : parameters) {
+    const std::string & name = parameter.get_name();
+
+    // Check to make sure the parameter name is valid.
+    if (name.empty()) {
+      throw rclcpp::exceptions::InvalidParametersException("parameter name must not be empty");
+    }
+
+    // Check to see if it is declared.
+    auto parameter_info = parameters_.find(name);
+    if (parameter_info == parameters_.end()) {
+      // If not check to see if undeclared paramaters are allowed, ...
+      if (allow_undeclared_) {
+        // If so, mark the parameter to be declared for the user implicitly.
+        parameters_to_be_declared.push_back(&parameter);
+        // continue as it cannot be read-only, and because the declare will
+        // implicitly set the parameter and parameter_infos is for setting only.
+        continue;
+      } else {
+        // If not, then throw the exception as documented.
+        throw rclcpp::exceptions::ParameterNotDeclaredException(
+                "parameter '" + name + "' cannot be set because it was not declared");
+      }
+    }
+
+    // Check to see if it is read-only.
+    if (parameter_info->second.descriptor.read_only) {
+      result.successful = false;
+      result.reason = "parameter '" + name + "' cannot be set because it is read-only";
+      return result;
+    }
   }
 
+  // Declare parameters into a temporary "staging area", incase one of the declares fail.
+  // We will use the staged changes as input to the "set atomically" action.
+  // We explicitly avoid calling the user callback here, so that it may be called once, with
+  // all the other parameters to be set (already declared parameters).
+  std::map<std::string, rclcpp::node_interfaces::ParameterInfo> staged_parameter_changes;
+  rcl_interfaces::msg::ParameterEvent parameter_event_msg;
+  parameter_event_msg.node = combined_name_;
+  for (auto parameter_to_be_declared : parameters_to_be_declared) {
+    // This should not throw, because we validated the name and checked that
+    // the parameter was not already declared.
+    result = __declare_parameter_common(
+      parameter_to_be_declared->get_name(),
+      parameter_to_be_declared->get_parameter_value(),
+      rcl_interfaces::msg::ParameterDescriptor(),  // Implicit declare uses default descriptor.
+      staged_parameter_changes,
+      parameter_overrides_,
+      nullptr,  // callback is explicitly null, so that it is called only once, when setting below.
+      &parameter_event_msg,
+      false);
+    if (!result.successful) {
+      // Declare failed, return knowing that nothing was changed because the
+      // staged changes were not applied.
+      return result;
+    }
+  }
+
+  // If there were implicitly declared parameters, then we may need to copy the input parameters
+  // and then assign the value that was selected after the declare (could be affected by the
+  // initial parameter values).
+  const std::vector<rclcpp::Parameter> * parameters_to_be_set = &parameters;
+  std::vector<rclcpp::Parameter> parameters_copy;
+  if (0 != staged_parameter_changes.size()) {  // If there were any implicitly declared parameters.
+    bool any_initial_values_used = false;
+    for (const auto & staged_parameter_change : staged_parameter_changes) {
+      auto it = __find_parameter_by_name(parameters, staged_parameter_change.first);
+      if (it->get_parameter_value() != staged_parameter_change.second.value) {
+        // In this case, the value of the staged parameter differs from the
+        // input from the user, and therefore we need to update things before setting.
+        any_initial_values_used = true;
+        // No need to search further since at least one initial value needs to be used.
+        break;
+      }
+    }
+    if (any_initial_values_used) {
+      parameters_copy = parameters;
+      for (const auto & staged_parameter_change : staged_parameter_changes) {
+        auto it = __find_parameter_by_name(parameters_copy, staged_parameter_change.first);
+        *it = Parameter(staged_parameter_change.first, staged_parameter_change.second.value);
+      }
+      parameters_to_be_set = &parameters_copy;
+    }
+  }
+
+  // Collect parameters who will have had their type changed to
+  // rclcpp::PARAMETER_NOT_SET so they can later be implicitly undeclared.
+  std::vector<const rclcpp::Parameter *> parameters_to_be_undeclared;
+  for (const auto & parameter : *parameters_to_be_set) {
+    if (rclcpp::PARAMETER_NOT_SET == parameter.get_type()) {
+      auto it = parameters_.find(parameter.get_name());
+      if (it != parameters_.end() && rclcpp::PARAMETER_NOT_SET != it->second.value.get_type()) {
+        parameters_to_be_undeclared.push_back(&parameter);
+      }
+    }
+  }
+
+  // Set the all of the parameters including the ones declared implicitly above.
+  result = __set_parameters_atomically_common(
+    // either the original parameters given by the user, or ones updated with initial values
+    *parameters_to_be_set,
+    // they are actually set on the official parameter storage
+    parameters_,
+    // this will get called once, with all the parameters to be set
+    on_parameters_set_callback_);
+
+  // If not successful, then stop here.
   if (!result.successful) {
     return result;
   }
 
-  for (const auto & p : parameters) {
-    if (p.get_type() == rclcpp::ParameterType::PARAMETER_NOT_SET) {
-      if (parameters_.find(p.get_name()) != parameters_.end()) {
-        // case: parameter was set before, and input is "NOT_SET"
-        // therefore we will erase the parameter from parameters_ later
-        parameter_event->deleted_parameters.push_back(p.to_parameter_msg());
-      }
-    } else {
-      if (parameters_.find(p.get_name()) == parameters_.end()) {
-        // case: parameter not set before, and input is something other than "NOT_SET"
-        parameter_event->new_parameters.push_back(p.to_parameter_msg());
-      } else {
-        // case: parameter was set before, and input is something other than "NOT_SET"
-        parameter_event->changed_parameters.push_back(p.to_parameter_msg());
-      }
-      tmp_map[p.get_name()] = p;
-    }
+  // If successful, then update the parameter infos from the implicitly declared parameter's.
+  for (const auto & kv_pair : staged_parameter_changes) {
+    // assumption: the parameter is already present in parameters_ due to the above "set"
+    assert(__lockless_has_parameter(parameters_, kv_pair.first));
+    // assumption: the value in parameters_ is the same as the value resulting from the declare
+    assert(parameters_[kv_pair.first].value == kv_pair.second.value);
+    // This assignment should not change the name, type, or value, but may
+    // change other things from the ParameterInfo.
+    parameters_[kv_pair.first] = kv_pair.second;
   }
-  // std::map::insert will not overwrite elements, so we'll keep the new
-  // ones and add only those that already exist in the Node's internal map
-  tmp_map.insert(parameters_.begin(), parameters_.end());
 
-  // remove explicitly deleted parameters
-  for (const auto & p : parameters) {
-    if (p.get_type() == rclcpp::ParameterType::PARAMETER_NOT_SET) {
-      tmp_map.erase(p.get_name());
+  // Undeclare parameters that need to be.
+  for (auto parameter_to_undeclare : parameters_to_be_undeclared) {
+    auto it = parameters_.find(parameter_to_undeclare->get_name());
+    // assumption: the parameter to be undeclared should be in the parameter infos map
+    assert(it != parameters_.end());
+    if (it != parameters_.end()) {
+      // Update the parameter event message and remove it.
+      parameter_event_msg.deleted_parameters.push_back(
+        rclcpp::Parameter(it->first, it->second.value).to_parameter_msg());
+      parameters_.erase(it);
     }
   }
 
-  std::swap(tmp_map, parameters_);
+  // Update the parameter event message for any parameters which were only set,
+  // and not either declared or undeclared.
+  for (const auto & parameter : *parameters_to_be_set) {
+    if (staged_parameter_changes.find(parameter.get_name()) != staged_parameter_changes.end()) {
+      // This parameter was declared.
+      continue;
+    }
+    auto it = std::find_if(
+      parameters_to_be_undeclared.begin(),
+      parameters_to_be_undeclared.end(),
+      [&parameter](const auto & p) {return p->get_name() == parameter.get_name();});
+    if (it != parameters_to_be_undeclared.end()) {
+      // This parameter was undeclared (deleted).
+      continue;
+    }
+    // This parameter was neither declared nor undeclared.
+    parameter_event_msg.changed_parameters.push_back(parameter.to_parameter_msg());
+  }
 
-  // events_publisher_ may be nullptr if it was disabled in constructor
+  // Publish if events_publisher_ is not nullptr, which may be if disabled in the constructor.
   if (nullptr != events_publisher_) {
-    parameter_event->stamp = node_clock_->get_clock()->now();
-    events_publisher_->publish(parameter_event);
+    parameter_event_msg.stamp = node_clock_->get_clock()->now();
+    events_publisher_->publish(parameter_event_msg);
   }
 
   return result;
@@ -251,14 +643,19 @@ NodeParameters::get_parameters(const std::vector<std::string> & names) const
 {
   std::lock_guard<std::mutex> lock(mutex_);
   std::vector<rclcpp::Parameter> results;
+  results.reserve(names.size());
 
   for (auto & name : names) {
-    if (std::any_of(parameters_.cbegin(), parameters_.cend(),
-      [&name](const std::pair<std::string, rclcpp::Parameter> & kv) {
-        return name == kv.first;
-      }))
-    {
-      results.push_back(parameters_.at(name));
+    auto found_parameter = parameters_.find(name);
+    if (found_parameter != parameters_.cend()) {
+      // found
+      results.emplace_back(name, found_parameter->second.value);
+    } else if (this->allow_undeclared_) {
+      // not found, but undeclared allowed
+      results.emplace_back(name, rclcpp::ParameterValue());
+    } else {
+      // not found, and undeclared are not allowed
+      throw rclcpp::exceptions::ParameterNotDeclaredException(name);
     }
   }
   return results;
@@ -271,8 +668,10 @@ NodeParameters::get_parameter(const std::string & name) const
 
   if (get_parameter(name, parameter)) {
     return parameter;
+  } else if (this->allow_undeclared_) {
+    return parameter;
   } else {
-    throw std::out_of_range("Parameter '" + name + "' not set");
+    throw rclcpp::exceptions::ParameterNotDeclaredException(name);
   }
 }
 
@@ -283,8 +682,12 @@ NodeParameters::get_parameter(
 {
   std::lock_guard<std::mutex> lock(mutex_);
 
-  if (parameters_.count(name)) {
-    parameter = parameters_.at(name);
+  auto param_iter = parameters_.find(name);
+  if (
+    parameters_.end() != param_iter &&
+    param_iter->second.value.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET)
+  {
+    parameter = {name, param_iter->second.value};
     return true;
   } else {
     return false;
@@ -296,15 +699,15 @@ NodeParameters::get_parameters_by_prefix(
   const std::string & prefix,
   std::map<std::string, rclcpp::Parameter> & parameters) const
 {
-  std::string prefix_with_dot = prefix + ".";
-  bool ret = false;
-
   std::lock_guard<std::mutex> lock(mutex_);
 
+  std::string prefix_with_dot = prefix.empty() ? prefix : prefix + ".";
+  bool ret = false;
+
   for (const auto & param : parameters_) {
     if (param.first.find(prefix_with_dot) == 0 && param.first.length() > prefix_with_dot.length()) {
       // Found one!
-      parameters[param.first.substr(prefix_with_dot.length())] = param.second;
+      parameters[param.first.substr(prefix_with_dot.length())] = rclcpp::Parameter(param.second);
       ret = true;
     }
   }
@@ -317,17 +720,26 @@ NodeParameters::describe_parameters(const std::vector<std::string> & names) cons
 {
   std::lock_guard<std::mutex> lock(mutex_);
   std::vector<rcl_interfaces::msg::ParameterDescriptor> results;
-  for (auto & kv : parameters_) {
-    if (std::any_of(names.cbegin(), names.cend(), [&kv](const std::string & name) {
-        return name == kv.first;
-      }))
-    {
-      rcl_interfaces::msg::ParameterDescriptor parameter_descriptor;
-      parameter_descriptor.name = kv.first;
-      parameter_descriptor.type = kv.second.get_type();
-      results.push_back(parameter_descriptor);
+  results.reserve(names.size());
+
+  for (const auto & name : names) {
+    auto it = parameters_.find(name);
+    if (it != parameters_.cend()) {
+      results.push_back(it->second.descriptor);
+    } else if (allow_undeclared_) {
+      // parameter not found, but undeclared allowed, so return empty
+      rcl_interfaces::msg::ParameterDescriptor default_description;
+      default_description.name = name;
+      results.push_back(default_description);
+    } else {
+      throw rclcpp::exceptions::ParameterNotDeclaredException(name);
     }
   }
+
+  if (results.size() != names.size()) {
+    throw std::runtime_error("results and names unexpectedly different sizes");
+  }
+
   return results;
 }
 
@@ -336,16 +748,24 @@ NodeParameters::get_parameter_types(const std::vector<std::string> & names) cons
 {
   std::lock_guard<std::mutex> lock(mutex_);
   std::vector<uint8_t> results;
-  for (auto & kv : parameters_) {
-    if (std::any_of(names.cbegin(), names.cend(), [&kv](const std::string & name) {
-        return name == kv.first;
-      }))
-    {
-      results.push_back(kv.second.get_type());
-    } else {
+  results.reserve(names.size());
+
+  for (const auto & name : names) {
+    auto it = parameters_.find(name);
+    if (it != parameters_.cend()) {
+      results.push_back(it->second.value.get_type());
+    } else if (allow_undeclared_) {
+      // parameter not found, but undeclared allowed, so return not set
       results.push_back(rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET);
+    } else {
+      throw rclcpp::exceptions::ParameterNotDeclaredException(name);
     }
   }
+
+  if (results.size() != names.size()) {
+    throw std::runtime_error("results and names unexpectedly different sizes");
+  }
+
   return results;
 }
 
@@ -391,12 +811,39 @@ NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint6
   return result;
 }
 
+NodeParameters::OnParametersSetCallbackType
+NodeParameters::set_on_parameters_set_callback(OnParametersSetCallbackType callback)
+{
+  auto existing_callback = on_parameters_set_callback_;
+  on_parameters_set_callback_ = callback;
+  return existing_callback;
+}
+
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
 void
 NodeParameters::register_param_change_callback(ParametersCallbackFunction callback)
 {
-  if (parameters_callback_) {
-    RCUTILS_LOG_WARN("param_change_callback already registered, "
-      "overwriting previous callback");
+  if (on_parameters_set_callback_) {
+    RCLCPP_WARN(
+      node_logging_->get_logger(),
+      "on_parameters_set_callback already registered, overwriting previous callback");
   }
-  parameters_callback_ = callback;
+  on_parameters_set_callback_ = callback;
+}
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
+const std::map<std::string, rclcpp::ParameterValue> &
+NodeParameters::get_parameter_overrides() const
+{
+  return parameter_overrides_;
 }

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -34,7 +34,7 @@ rclcpp::PublisherBase::SharedPtr
 NodeTopics::create_publisher(
   const std::string & topic_name,
   const rclcpp::PublisherFactory & publisher_factory,
-  rcl_publisher_options_t & publisher_options,
+  const rcl_publisher_options_t & publisher_options,
   bool use_intra_process)
 {
   // Create the MessageT specific Publisher using the factory, but store it as PublisherBase.
@@ -47,13 +47,17 @@ NodeTopics::create_publisher(
     // Get the intra process manager instance for this context.
     auto ipm = context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
     // Register the publisher with the intra process manager.
-    uint64_t intra_process_publisher_id =
-      publisher_factory.add_publisher_to_intra_process_manager(ipm.get(), publisher);
-    // Create a function to be called when publisher to do the intra process publish.
-    auto shared_publish_callback = publisher_factory.create_shared_publish_callback(ipm);
+    if (publisher_options.qos.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
+      throw std::invalid_argument(
+              "intraprocess communication is not allowed with keep all history qos policy");
+    }
+    if (publisher_options.qos.depth == 0) {
+      throw std::invalid_argument(
+              "intraprocess communication is not allowed with a zero qos history depth value");
+    }
+    uint64_t intra_process_publisher_id = ipm->add_publisher(publisher);
     publisher->setup_intra_process(
       intra_process_publisher_id,
-      shared_publish_callback,
       ipm,
       publisher_options);
   }
@@ -64,11 +68,22 @@ NodeTopics::create_publisher(
 
 void
 NodeTopics::add_publisher(
-  rclcpp::PublisherBase::SharedPtr publisher)
+  rclcpp::PublisherBase::SharedPtr publisher,
+  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
 {
-  // The publisher is not added to a callback group or anthing like that for now.
-  // It may be stored within the NodeTopics class or the NodeBase class in the future.
-  (void)publisher;
+  // Assign to a group.
+  if (callback_group) {
+    if (!node_base_->callback_group_in_node(callback_group)) {
+      throw std::runtime_error("Cannot create publisher, callback group not in node.");
+    }
+  } else {
+    callback_group = node_base_->get_default_callback_group();
+  }
+
+  for (auto & publisher_event : publisher->get_event_handlers()) {
+    callback_group->add_waitable(publisher_event);
+  }
+
   // Notify the executor that a new publisher was created using the parent Node.
   {
     auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
@@ -84,7 +99,7 @@ rclcpp::SubscriptionBase::SharedPtr
 NodeTopics::create_subscription(
   const std::string & topic_name,
   const rclcpp::SubscriptionFactory & subscription_factory,
-  rcl_subscription_options_t & subscription_options,
+  const rcl_subscription_options_t & subscription_options,
   bool use_intra_process)
 {
   auto subscription = subscription_factory.create_typed_subscription(
@@ -93,10 +108,12 @@ NodeTopics::create_subscription(
   // Setup intra process publishing if requested.
   if (use_intra_process) {
     auto context = node_base_->get_context();
-    auto intra_process_manager =
+    auto ipm =
       context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
-    subscription_factory.setup_intra_process(
-      intra_process_manager, subscription, subscription_options);
+    uint64_t intra_process_subscription_id = ipm->add_subscription(subscription);
+    auto options_copy = subscription_options;
+    options_copy.ignore_local_publications = false;
+    subscription->setup_intra_process(intra_process_subscription_id, ipm, options_copy);
   }
 
   // Return the completed subscription.
@@ -114,9 +131,13 @@ NodeTopics::add_subscription(
       // TODO(jacquelinekay): use custom exception
       throw std::runtime_error("Cannot create subscription, callback group not in node.");
     }
-    callback_group->add_subscription(subscription);
   } else {
-    node_base_->get_default_callback_group()->add_subscription(subscription);
+    callback_group = node_base_->get_default_callback_group();
+  }
+
+  callback_group->add_subscription(subscription);
+  for (auto & subscription_event : subscription->get_event_handlers()) {
+    callback_group->add_waitable(subscription_event);
   }
 
   // Notify the executor that a new subscription was created using the parent Node.
@@ -130,3 +151,9 @@ NodeTopics::add_subscription(
     }
   }
 }
+
+rclcpp::node_interfaces::NodeBaseInterface *
+NodeTopics::get_node_base_interface() const
+{
+  return node_base_;
+}

rclcpp/src/rclcpp/node_options.cpp

@@ -21,6 +21,8 @@
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/logging.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
 
 using rclcpp::exceptions::throw_from_rcl_error;
 
@@ -42,6 +44,9 @@ rcl_node_options_t_destructor(rcl_node_options_t * node_options)
         "failed to finalize rcl node options: %s", rcl_get_error_string().str);
       rcl_reset_error();
     }
+
+    delete node_options;
+    node_options = nullptr;
   }
 }
 }  // namespace detail
@@ -60,12 +65,19 @@ NodeOptions &
 NodeOptions::operator=(const NodeOptions & other)
 {
   if (this != &other) {
+    this->node_options_.reset();
     this->context_ = other.context_;
     this->arguments_ = other.arguments_;
-    this->initial_parameters_ = other.initial_parameters_;
+    this->parameter_overrides_ = other.parameter_overrides_;
     this->use_global_arguments_ = other.use_global_arguments_;
     this->use_intra_process_comms_ = other.use_intra_process_comms_;
     this->start_parameter_services_ = other.start_parameter_services_;
+    this->start_parameter_event_publisher_ = other.start_parameter_event_publisher_;
+    this->parameter_event_qos_ = other.parameter_event_qos_;
+    this->parameter_event_publisher_options_ = other.parameter_event_publisher_options_;
+    this->allow_undeclared_parameters_ = other.allow_undeclared_parameters_;
+    this->automatically_declare_parameters_from_overrides_ =
+      other.automatically_declare_parameters_from_overrides_;
     this->allocator_ = other.allocator_;
   }
   return *this;
@@ -90,7 +102,7 @@ NodeOptions::get_rcl_node_options() const
       }
     }
 
-    if (this->arguments_.size() > std::numeric_limits<int>::max()) {
+    if (this->arguments_.size() > static_cast<size_t>(std::numeric_limits<int>::max())) {
       throw_from_rcl_error(RCL_RET_INVALID_ARGUMENT, "Too many args");
     }
 
@@ -134,87 +146,129 @@ NodeOptions::arguments(const std::vector<std::string> & arguments)
 }
 
 std::vector<rclcpp::Parameter> &
-NodeOptions::initial_parameters()
+NodeOptions::parameter_overrides()
 {
-  return this->initial_parameters_;
+  return this->parameter_overrides_;
 }
 
 const std::vector<rclcpp::Parameter> &
-NodeOptions::initial_parameters() const
+NodeOptions::parameter_overrides() const
 {
-  return this->initial_parameters_;
+  return this->parameter_overrides_;
 }
 
 NodeOptions &
-NodeOptions::initial_parameters(const std::vector<rclcpp::Parameter> & initial_parameters)
+NodeOptions::parameter_overrides(const std::vector<rclcpp::Parameter> & parameter_overrides)
 {
-  this->initial_parameters_ = initial_parameters;
+  this->parameter_overrides_ = parameter_overrides;
   return *this;
 }
 
-const bool &
+bool
 NodeOptions::use_global_arguments() const
 {
-  return this->node_options_->use_global_arguments;
+  return this->use_global_arguments_;
 }
 
 NodeOptions &
-NodeOptions::use_global_arguments(const bool & use_global_arguments)
+NodeOptions::use_global_arguments(bool use_global_arguments)
 {
   this->node_options_.reset();  // reset node options to make it be recreated on next access.
   this->use_global_arguments_ = use_global_arguments;
   return *this;
 }
 
-const bool &
+bool
 NodeOptions::use_intra_process_comms() const
 {
   return this->use_intra_process_comms_;
 }
 
 NodeOptions &
-NodeOptions::use_intra_process_comms(const bool & use_intra_process_comms)
+NodeOptions::use_intra_process_comms(bool use_intra_process_comms)
 {
   this->use_intra_process_comms_ = use_intra_process_comms;
   return *this;
 }
 
-const bool &
+bool
 NodeOptions::start_parameter_services() const
 {
   return this->start_parameter_services_;
 }
 
 NodeOptions &
-NodeOptions::start_parameter_services(const bool & start_parameter_services)
+NodeOptions::start_parameter_services(bool start_parameter_services)
 {
   this->start_parameter_services_ = start_parameter_services;
   return *this;
 }
 
-const bool &
+bool
 NodeOptions::start_parameter_event_publisher() const
 {
   return this->start_parameter_event_publisher_;
 }
 
 NodeOptions &
-NodeOptions::start_parameter_event_publisher(const bool & start_parameter_event_publisher)
+NodeOptions::start_parameter_event_publisher(bool start_parameter_event_publisher)
 {
   this->start_parameter_event_publisher_ = start_parameter_event_publisher;
   return *this;
 }
 
-const rmw_qos_profile_t &
-NodeOptions::parameter_event_qos_profile() const
+const rclcpp::QoS &
+NodeOptions::parameter_event_qos() const
 {
-  return this->parameter_event_qos_profile_;
+  return this->parameter_event_qos_;
 }
 
 NodeOptions &
-NodeOptions::parameter_event_qos_profile(const rmw_qos_profile_t & parameter_event_qos_profile)
+NodeOptions::parameter_event_qos(const rclcpp::QoS & parameter_event_qos)
 {
-  this->parameter_event_qos_profile_ = parameter_event_qos_profile;
+  this->parameter_event_qos_ = parameter_event_qos;
+  return *this;
+}
+
+const rclcpp::PublisherOptionsBase &
+NodeOptions::parameter_event_publisher_options() const
+{
+  return parameter_event_publisher_options_;
+}
+
+NodeOptions &
+NodeOptions::parameter_event_publisher_options(
+  const rclcpp::PublisherOptionsBase & parameter_event_publisher_options)
+{
+  parameter_event_publisher_options_ = parameter_event_publisher_options;
+  return *this;
+}
+
+bool
+NodeOptions::allow_undeclared_parameters() const
+{
+  return this->allow_undeclared_parameters_;
+}
+
+NodeOptions &
+NodeOptions::allow_undeclared_parameters(bool allow_undeclared_parameters)
+{
+  this->allow_undeclared_parameters_ = allow_undeclared_parameters;
+  return *this;
+}
+
+bool
+NodeOptions::automatically_declare_parameters_from_overrides() const
+{
+  return this->automatically_declare_parameters_from_overrides_;
+}
+
+NodeOptions &
+NodeOptions::automatically_declare_parameters_from_overrides(
+  bool automatically_declare_parameters_from_overrides)
+{
+  this->automatically_declare_parameters_from_overrides_ =
+    automatically_declare_parameters_from_overrides;
   return *this;
 }
 
@@ -248,7 +302,7 @@ NodeOptions::get_domain_id_from_env() const
   _dupenv_s(&ros_domain_id, &ros_domain_id_size, env_var);
 #endif
   if (ros_domain_id) {
-    uint32_t number = strtoul(ros_domain_id, NULL, 0);
+    uint32_t number = static_cast<uint32_t>(strtoul(ros_domain_id, NULL, 0));
     if (number == (std::numeric_limits<uint32_t>::max)()) {
 #ifdef _WIN32
       // free the ros_domain_id before throwing, if getenv was used on Windows

rclcpp/src/rclcpp/parameter.cpp

@@ -12,12 +12,24 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rclcpp/parameter.hpp"
+
 #include <ostream>
 #include <sstream>
 #include <string>
 #include <vector>
 
-#include "rclcpp/parameter.hpp"
+// When compiling this file, Windows produces a deprecation warning for the
+// deprecated function prototype of NodeParameters::register_param_change_callback().
+// Other compilers do not.
+#if defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+#include "rclcpp/node_interfaces/node_parameters.hpp"
+#if defined(_WIN32)
+# pragma warning(pop)
+#endif
 #include "rclcpp/utilities.hpp"
 
 using rclcpp::ParameterType;
@@ -28,11 +40,33 @@ Parameter::Parameter()
 {
 }
 
+Parameter::Parameter(const std::string & name)
+: name_(name), value_()
+{
+}
+
 Parameter::Parameter(const std::string & name, const rclcpp::ParameterValue & value)
 : name_(name), value_(value)
 {
 }
 
+Parameter::Parameter(const rclcpp::node_interfaces::ParameterInfo & parameter_info)
+: Parameter(parameter_info.descriptor.name, parameter_info.value)
+{
+}
+
+bool
+Parameter::operator==(const Parameter & rhs) const
+{
+  return this->name_ == rhs.name_ && this->value_ == rhs.value_;
+}
+
+bool
+Parameter::operator!=(const Parameter & rhs) const
+{
+  return !(*this == rhs);
+}
+
 ParameterType
 Parameter::get_type() const
 {
@@ -57,6 +91,12 @@ Parameter::get_value_message() const
   return value_.to_value_msg();
 }
 
+const rclcpp::ParameterValue &
+Parameter::get_parameter_value() const
+{
+  return value_;
+}
+
 bool
 Parameter::as_bool() const
 {

rclcpp/src/rclcpp/parameter_client.cpp

@@ -146,7 +146,7 @@ AsyncParametersClient::get_parameters(
       auto & pvalues = cb_f.get()->values;
 
       for (auto & pvalue : pvalues) {
-        auto i = &pvalue - &pvalues[0];
+        auto i = static_cast<size_t>(&pvalue - &pvalues[0]);
         rcl_interfaces::msg::Parameter parameter;
         parameter.name = request->names[i];
         parameter.value = pvalue;

rclcpp/src/rclcpp/parameter_service.cpp

@@ -57,11 +57,15 @@ ParameterService::ParameterService(
       const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
       std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> response)
     {
-      auto types = node_params->get_parameter_types(request->names);
-      std::transform(types.cbegin(), types.cend(),
-      std::back_inserter(response->types), [](const uint8_t & type) {
-        return static_cast<rclcpp::ParameterType>(type);
-      });
+      try {
+        auto types = node_params->get_parameter_types(request->names);
+        std::transform(types.cbegin(), types.cend(),
+        std::back_inserter(response->types), [](const uint8_t & type) {
+          return static_cast<rclcpp::ParameterType>(type);
+        });
+      } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
+        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to get parameter types: %s", ex.what());
+      }
     },
     qos_profile, nullptr);
 
@@ -73,12 +77,20 @@ ParameterService::ParameterService(
       const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
     {
-      std::vector<rclcpp::Parameter> pvariants;
+      // Set parameters one-by-one, since there's no way to return a partial result if
+      // set_parameters() fails.
+      auto result = rcl_interfaces::msg::SetParametersResult();
       for (auto & p : request->parameters) {
-        pvariants.push_back(rclcpp::Parameter::from_parameter_msg(p));
+        try {
+          result = node_params->set_parameters_atomically(
+            {rclcpp::Parameter::from_parameter_msg(p)});
+        } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
+          RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to set parameter: %s", ex.what());
+          result.successful = false;
+          result.reason = ex.what();
+        }
+        response->results.push_back(result);
       }
-      auto results = node_params->set_parameters(pvariants);
-      response->results = results;
     },
     qos_profile, nullptr);
 
@@ -96,8 +108,15 @@ ParameterService::ParameterService(
       [](const rcl_interfaces::msg::Parameter & p) {
         return rclcpp::Parameter::from_parameter_msg(p);
       });
-      auto result = node_params->set_parameters_atomically(pvariants);
-      response->result = result;
+      try {
+        auto result = node_params->set_parameters_atomically(pvariants);
+        response->result = result;
+      } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
+        RCLCPP_WARN(
+          rclcpp::get_logger("rclcpp"), "Failed to set parameters atomically: %s", ex.what());
+        response->result.successful = false;
+        response->result.reason = "One or more parameters wer not declared before setting";
+      }
     },
     qos_profile, nullptr);
 
@@ -109,8 +128,12 @@ ParameterService::ParameterService(
       const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Response> response)
     {
-      auto descriptors = node_params->describe_parameters(request->names);
-      response->descriptors = descriptors;
+      try {
+        auto descriptors = node_params->describe_parameters(request->names);
+        response->descriptors = descriptors;
+      } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
+        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to describe parameters: %s", ex.what());
+      }
     },
     qos_profile, nullptr);
 

rclcpp/src/rclcpp/parameter_value.cpp

@@ -154,7 +154,7 @@ ParameterValue::ParameterValue(const int64_t int_value)
 
 ParameterValue::ParameterValue(const float double_value)
 {
-  value_.double_value = double_value;
+  value_.double_value = static_cast<double>(double_value);
   value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
 }
 
@@ -227,3 +227,15 @@ ParameterValue::to_value_msg() const
 {
   return value_;
 }
+
+bool
+ParameterValue::operator==(const ParameterValue & rhs) const
+{
+  return this->value_ == rhs.value_;
+}
+
+bool
+ParameterValue::operator!=(const ParameterValue & rhs) const
+{
+  return this->value_ != rhs.value_;
+}

rclcpp/src/rclcpp/publisher_base.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_base.hpp"
 
 #include <rmw/error_handling.h>
 #include <rmw/rmw.h>
@@ -22,6 +22,7 @@
 #include <mutex>
 #include <sstream>
 #include <string>
+#include <vector>
 
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 #include "rcutils/logging_macros.h"
@@ -30,10 +31,10 @@
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/exceptions.hpp"
+#include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/expand_topic_or_service_name.hpp"
 
 using rclcpp::PublisherBase;
 
@@ -43,8 +44,7 @@ PublisherBase::PublisherBase(
   const rosidl_message_type_support_t & type_support,
   const rcl_publisher_options_t & publisher_options)
 : rcl_node_handle_(node_base->get_shared_rcl_node_handle()),
-  intra_process_is_enabled_(false), intra_process_publisher_id_(0),
-  store_intra_process_message_(nullptr)
+  intra_process_is_enabled_(false), intra_process_publisher_id_(0)
 {
   rcl_ret_t ret = rcl_publisher_init(
     &publisher_handle_,
@@ -81,6 +81,9 @@ PublisherBase::PublisherBase(
 
 PublisherBase::~PublisherBase()
 {
+  // must fini the events before fini-ing the publisher
+  event_handlers_.clear();
+
   if (rcl_publisher_fini(&intra_process_publisher_handle_, rcl_node_handle_.get()) != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
@@ -154,6 +157,12 @@ PublisherBase::get_publisher_handle() const
   return &publisher_handle_;
 }
 
+const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
+PublisherBase::get_event_handlers() const
+{
+  return event_handlers_;
+}
+
 size_t
 PublisherBase::get_subscription_count() const
 {
@@ -208,6 +217,12 @@ PublisherBase::get_actual_qos() const
   return *qos;
 }
 
+bool
+PublisherBase::assert_liveliness() const
+{
+  return RCL_RET_OK == rcl_publisher_assert_liveliness(&publisher_handle_);
+}
+
 bool
 PublisherBase::operator==(const rmw_gid_t & gid) const
 {
@@ -235,16 +250,22 @@ PublisherBase::operator==(const rmw_gid_t * gid) const
   return result;
 }
 
+rclcpp::mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+PublisherBase::make_mapped_ring_buffer(size_t size) const
+{
+  (void)size;
+  return nullptr;
+}
+
 void
 PublisherBase::setup_intra_process(
   uint64_t intra_process_publisher_id,
-  StoreMessageCallbackT store_callback,
   IntraProcessManagerSharedPtr ipm,
   const rcl_publisher_options_t & intra_process_options)
 {
   // Intraprocess configuration is not allowed with "durability" qos policy non "volatile".
   if (this->get_actual_qos().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
-    throw exceptions::InvalidParametersException(
+    throw std::invalid_argument(
             "intraprocess communication is not allowed with durability qos policy non-volatile");
   }
   const char * topic_name = this->get_topic_name();
@@ -275,7 +296,6 @@ PublisherBase::setup_intra_process(
   }
 
   intra_process_publisher_id_ = intra_process_publisher_id;
-  store_intra_process_message_ = store_callback;
   weak_ipm_ = ipm;
   intra_process_is_enabled_ = true;
 

rclcpp/src/rclcpp/qos.cpp

@@ -0,0 +1,207 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/qos.hpp"
+
+#include <rmw/types.h>
+
+namespace rclcpp
+{
+
+QoSInitialization::QoSInitialization(rmw_qos_history_policy_t history_policy_arg, size_t depth_arg)
+: history_policy(history_policy_arg), depth(depth_arg)
+{}
+
+QoSInitialization
+QoSInitialization::from_rmw(const rmw_qos_profile_t & rmw_qos)
+{
+  switch (rmw_qos.history) {
+    case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
+      return KeepAll();
+    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
+    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
+    case RMW_QOS_POLICY_HISTORY_UNKNOWN:
+    default:
+      return KeepLast(rmw_qos.depth);
+  }
+}
+
+KeepAll::KeepAll()
+: QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 0)
+{}
+
+KeepLast::KeepLast(size_t depth)
+: QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_LAST, depth)
+{}
+
+QoS::QoS(
+  const QoSInitialization & qos_initialization,
+  const rmw_qos_profile_t & initial_profile)
+: rmw_qos_profile_(initial_profile)
+{
+  rmw_qos_profile_.history = qos_initialization.history_policy;
+  rmw_qos_profile_.depth = qos_initialization.depth;
+}
+
+QoS::QoS(size_t history_depth)
+: QoS(KeepLast(history_depth))
+{}
+
+rmw_qos_profile_t &
+QoS::get_rmw_qos_profile()
+{
+  return rmw_qos_profile_;
+}
+
+const rmw_qos_profile_t &
+QoS::get_rmw_qos_profile() const
+{
+  return rmw_qos_profile_;
+}
+
+QoS &
+QoS::history(rmw_qos_history_policy_t history)
+{
+  rmw_qos_profile_.history = history;
+  return *this;
+}
+
+QoS &
+QoS::keep_last(size_t depth)
+{
+  rmw_qos_profile_.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
+  rmw_qos_profile_.depth = depth;
+  return *this;
+}
+
+QoS &
+QoS::keep_all()
+{
+  rmw_qos_profile_.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
+  rmw_qos_profile_.depth = 0;
+  return *this;
+}
+
+QoS &
+QoS::reliability(rmw_qos_reliability_policy_t reliability)
+{
+  rmw_qos_profile_.reliability = reliability;
+  return *this;
+}
+
+QoS &
+QoS::reliable()
+{
+  return this->reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+}
+
+QoS &
+QoS::best_effort()
+{
+  return this->reliability(RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);
+}
+
+QoS &
+QoS::durability(rmw_qos_durability_policy_t durability)
+{
+  rmw_qos_profile_.durability = durability;
+  return *this;
+}
+
+QoS &
+QoS::durability_volatile()
+{
+  return this->durability(RMW_QOS_POLICY_DURABILITY_VOLATILE);
+}
+
+QoS &
+QoS::transient_local()
+{
+  return this->durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+}
+
+QoS &
+QoS::deadline(rmw_time_t deadline)
+{
+  rmw_qos_profile_.deadline = deadline;
+  return *this;
+}
+
+QoS &
+QoS::deadline(const rclcpp::Duration & deadline)
+{
+  return this->deadline(deadline.to_rmw_time());
+}
+
+QoS &
+QoS::lifespan(rmw_time_t lifespan)
+{
+  rmw_qos_profile_.lifespan = lifespan;
+  return *this;
+}
+
+QoS &
+QoS::lifespan(const rclcpp::Duration & lifespan)
+{
+  return this->lifespan(lifespan.to_rmw_time());
+}
+
+QoS &
+QoS::liveliness(rmw_qos_liveliness_policy_t liveliness)
+{
+  rmw_qos_profile_.liveliness = liveliness;
+  return *this;
+}
+
+QoS &
+QoS::liveliness_lease_duration(rmw_time_t liveliness_lease_duration)
+{
+  rmw_qos_profile_.liveliness_lease_duration = liveliness_lease_duration;
+  return *this;
+}
+
+QoS &
+QoS::liveliness_lease_duration(const rclcpp::Duration & liveliness_lease_duration)
+{
+  return this->liveliness_lease_duration(liveliness_lease_duration.to_rmw_time());
+}
+
+QoS &
+QoS::avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions)
+{
+  rmw_qos_profile_.avoid_ros_namespace_conventions = avoid_ros_namespace_conventions;
+  return *this;
+}
+
+SensorDataQoS::SensorDataQoS(const QoSInitialization & qos_initialization)
+: QoS(qos_initialization, rmw_qos_profile_sensor_data)
+{}
+
+ParametersQoS::ParametersQoS(const QoSInitialization & qos_initialization)
+: QoS(qos_initialization, rmw_qos_profile_parameters)
+{}
+
+ServicesQoS::ServicesQoS(const QoSInitialization & qos_initialization)
+: QoS(qos_initialization, rmw_qos_profile_services_default)
+{}
+
+ParameterEventsQoS::ParameterEventsQoS(const QoSInitialization & qos_initialization)
+: QoS(qos_initialization, rmw_qos_profile_parameter_events)
+{}
+
+SystemDefaultsQoS::SystemDefaultsQoS(const QoSInitialization & qos_initialization)
+: QoS(qos_initialization, rmw_qos_profile_system_default)
+{}
+
+}  // namespace rclcpp

rclcpp/src/rclcpp/qos_event.cpp

@@ -0,0 +1,55 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/qos_event.hpp"
+
+namespace rclcpp
+{
+
+QOSEventHandlerBase::~QOSEventHandlerBase()
+{
+  if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {
+    RCUTILS_LOG_ERROR_NAMED(
+      "rclcpp",
+      "Error in destruction of rcl event handle: %s", rcl_get_error_string().str);
+    rcl_reset_error();
+  }
+}
+
+/// Get the number of ready events.
+size_t
+QOSEventHandlerBase::get_number_of_ready_events()
+{
+  return 1;
+}
+
+/// Add the Waitable to a wait set.
+bool
+QOSEventHandlerBase::add_to_wait_set(rcl_wait_set_t * wait_set)
+{
+  rcl_ret_t ret = rcl_wait_set_add_event(wait_set, &event_handle_, &wait_set_event_index_);
+  if (RCL_RET_OK != ret) {
+    exceptions::throw_from_rcl_error(ret, "Couldn't add event to wait set");
+  }
+  return true;
+}
+
+/// Check if the Waitable is ready.
+bool
+QOSEventHandlerBase::is_ready(rcl_wait_set_t * wait_set)
+{
+  return wait_set->events[wait_set_event_index_] == &event_handle_;
+}
+
+}  // namespace rclcpp

rclcpp/src/rclcpp/signal_handler.cpp

@@ -165,13 +165,15 @@ __safe_strerror(int errnum, char * buffer, size_t buffer_length)
 {
 #if defined(_WIN32)
   strerror_s(buffer, buffer_length, errnum);
-#elif (defined(_GNU_SOURCE) && !defined(ANDROID))
+#elif defined(_GNU_SOURCE) && (!defined(ANDROID) || __ANDROID_API__ >= 23)
+  /* GNU-specific */
   char * msg = strerror_r(errnum, buffer, buffer_length);
   if (msg != buffer) {
     strncpy(buffer, msg, buffer_length);
     buffer[buffer_length - 1] = '\0';
   }
 #else
+  /* XSI-compliant */
   int error_status = strerror_r(errnum, buffer, buffer_length);
   if (error_status != 0) {
     throw std::runtime_error("Failed to get error string for errno: " + std::to_string(errnum));

rclcpp/src/rclcpp/subscription_base.cpp

@@ -12,11 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_base.hpp"
 
 #include <cstdio>
 #include <memory>
 #include <string>
+#include <vector>
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
@@ -121,6 +122,12 @@ SubscriptionBase::get_intra_process_subscription_handle() const
   return intra_process_subscription_handle_;
 }
 
+const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
+SubscriptionBase::get_event_handlers() const
+{
+  return event_handlers_;
+}
+
 const rosidl_message_type_support_t &
 SubscriptionBase::get_message_type_support_handle() const
 {
@@ -147,3 +154,34 @@ SubscriptionBase::get_publisher_count() const
   }
   return inter_process_publisher_count;
 }
+
+void SubscriptionBase::setup_intra_process(
+  uint64_t intra_process_subscription_id,
+  IntraProcessManagerWeakPtr weak_ipm,
+  const rcl_subscription_options_t & intra_process_options)
+{
+  std::string intra_process_topic_name = std::string(get_topic_name()) + "/_intra";
+  rcl_ret_t ret = rcl_subscription_init(
+    intra_process_subscription_handle_.get(),
+    node_handle_.get(),
+    rclcpp::type_support::get_intra_process_message_msg_type_support(),
+    intra_process_topic_name.c_str(),
+    &intra_process_options);
+  if (ret != RCL_RET_OK) {
+    if (ret == RCL_RET_TOPIC_NAME_INVALID) {
+      auto rcl_node_handle = node_handle_.get();
+      // this will throw on any validation problem
+      rcl_reset_error();
+      expand_topic_or_service_name(
+        intra_process_topic_name,
+        rcl_node_get_name(rcl_node_handle),
+        rcl_node_get_namespace(rcl_node_handle));
+    }
+
+    rclcpp::exceptions::throw_from_rcl_error(ret, "could not create intra process subscription");
+  }
+
+  intra_process_subscription_id_ = intra_process_subscription_id;
+  weak_ipm_ = weak_ipm;
+  use_intra_process_ = true;
+}

rclcpp/src/rclcpp/time.cpp

@@ -62,17 +62,13 @@ Time::Time(int64_t nanoseconds, rcl_clock_type_t clock_type)
   rcl_time_.nanoseconds = nanoseconds;
 }
 
-Time::Time(const Time & rhs)
-: rcl_time_(rhs.rcl_time_)
-{
-  rcl_time_.nanoseconds = rhs.rcl_time_.nanoseconds;
-}
+Time::Time(const Time & rhs) = default;
 
 Time::Time(
   const builtin_interfaces::msg::Time & time_msg,
-  rcl_clock_type_t ros_time)
+  rcl_clock_type_t clock_type)
+: rcl_time_(init_time_point(clock_type))
 {
-  rcl_time_ = init_time_point(ros_time);
   if (time_msg.sec < 0) {
     throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
   }
@@ -94,31 +90,25 @@ Time::~Time()
 Time::operator builtin_interfaces::msg::Time() const
 {
   builtin_interfaces::msg::Time msg_time;
-  msg_time.sec = static_cast<std::int32_t>(RCL_NS_TO_S(rcl_time_.nanoseconds));
-  msg_time.nanosec = static_cast<std::uint32_t>(rcl_time_.nanoseconds % (1000 * 1000 * 1000));
+  constexpr rcl_time_point_value_t kRemainder = RCL_S_TO_NS(1);
+  const auto result = std::div(rcl_time_.nanoseconds, kRemainder);
+  if (result.rem >= 0) {
+    msg_time.sec = static_cast<std::int32_t>(result.quot);
+    msg_time.nanosec = static_cast<std::uint32_t>(result.rem);
+  } else {
+    msg_time.sec = static_cast<std::int32_t>(result.quot - 1);
+    msg_time.nanosec = static_cast<std::uint32_t>(kRemainder + result.rem);
+  }
   return msg_time;
 }
 
 Time &
-Time::operator=(const Time & rhs)
-{
-  rcl_time_ = rhs.rcl_time_;
-  return *this;
-}
+Time::operator=(const Time & rhs) = default;
 
 Time &
 Time::operator=(const builtin_interfaces::msg::Time & time_msg)
 {
-  if (time_msg.sec < 0) {
-    throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
-  }
-
-
-  rcl_clock_type_t ros_time = RCL_ROS_TIME;
-  rcl_time_ = init_time_point(ros_time);  // TODO(tfoote) hard coded ROS here
-
-  rcl_time_.nanoseconds = RCL_S_TO_NS(static_cast<int64_t>(time_msg.sec));
-  rcl_time_.nanoseconds += time_msg.nanosec;
+  *this = Time(time_msg);
   return *this;
 }
 

rclcpp/src/rclcpp/time_source.cpp

@@ -25,10 +25,11 @@
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp/parameter_client.hpp"
+#include "rclcpp/parameter_events_filter.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/time_source.hpp"
 
-
 namespace rclcpp
 {
 
@@ -78,39 +79,42 @@ void TimeSource::attachNode(
 
   logger_ = node_logging_->get_logger();
 
-  rclcpp::Parameter use_sim_time_param;
-  if (node_parameters_->get_parameter("use_sim_time", use_sim_time_param)) {
-    if (use_sim_time_param.get_type() == rclcpp::PARAMETER_BOOL) {
-      if (use_sim_time_param.get_value<bool>() == true) {
-        parameter_state_ = SET_TRUE;
-        enable_ros_time();
-        create_clock_sub();
-      }
-    } else {
-      RCLCPP_ERROR(logger_, "Invalid type for parameter 'use_sim_time' %s should be bool",
-        use_sim_time_param.get_type_name().c_str());
+  // Though this defaults to false, it can be overridden by initial parameter values for the node,
+  // which may be given by the user at the node's construction or even by command-line arguments.
+  rclcpp::ParameterValue use_sim_time_param;
+  const char * use_sim_time_name = "use_sim_time";
+  if (!node_parameters_->has_parameter(use_sim_time_name)) {
+    use_sim_time_param = node_parameters_->declare_parameter(
+      use_sim_time_name,
+      rclcpp::ParameterValue(false),
+      rcl_interfaces::msg::ParameterDescriptor());
+  } else {
+    use_sim_time_param = node_parameters_->get_parameter(use_sim_time_name).get_parameter_value();
+  }
+  if (use_sim_time_param.get_type() == rclcpp::PARAMETER_BOOL) {
+    if (use_sim_time_param.get<bool>()) {
+      parameter_state_ = SET_TRUE;
+      enable_ros_time();
+      create_clock_sub();
     }
   } else {
-    RCLCPP_DEBUG(logger_, "'use_sim_time' parameter not set, using wall time by default.");
+    // TODO(wjwwood): use set_on_parameters_set_callback to catch the type mismatch,
+    //   before the use_sim_time parameter can ever be set to an invalid value
+    RCLCPP_ERROR(logger_, "Invalid type '%s' for parameter 'use_sim_time', should be 'bool'",
+      rclcpp::to_string(use_sim_time_param.get_type()).c_str());
   }
 
   // TODO(tfoote) use parameters interface not subscribe to events via topic ticketed #609
-  parameter_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
-    node_base_,
+  parameter_subscription_ = rclcpp::AsyncParametersClient::on_parameter_event(
     node_topics_,
-    node_graph_,
-    node_services_
-  );
-  parameter_subscription_ =
-    parameter_client_->on_parameter_event(std::bind(&TimeSource::on_parameter_event,
-      this, std::placeholders::_1));
+    std::bind(&TimeSource::on_parameter_event, this, std::placeholders::_1));
 }
 
 void TimeSource::detachNode()
 {
   this->ros_time_active_ = false;
   clock_subscription_.reset();
-  parameter_client_.reset();
+  parameter_subscription_.reset();
   node_base_.reset();
   node_topics_.reset();
   node_graph_.reset();
@@ -199,26 +203,13 @@ void TimeSource::create_clock_sub()
     // Subscription already created.
     return;
   }
-  const std::string topic_name = "/clock";
 
-  rclcpp::callback_group::CallbackGroup::SharedPtr group;
-  using rclcpp::message_memory_strategy::MessageMemoryStrategy;
-  auto msg_mem_strat = MessageMemoryStrategy<MessageT, Alloc>::create_default();
-  auto allocator = std::make_shared<Alloc>();
-  auto cb = std::bind(&TimeSource::clock_cb, this, std::placeholders::_1);
-
-  clock_subscription_ = rclcpp::create_subscription<
-    MessageT, decltype(cb), Alloc, MessageT, SubscriptionT
-    >(
-    node_topics_.get(),
-    topic_name,
-    std::move(cb),
-    rmw_qos_profile_default,
-    group,
-    false,
-    false,
-    msg_mem_strat,
-    allocator);
+  clock_subscription_ = rclcpp::create_subscription<rosgraph_msgs::msg::Clock>(
+    node_topics_,
+    "/clock",
+    rclcpp::QoS(QoSInitialization::from_rmw(rmw_qos_profile_default)),
+    std::bind(&TimeSource::clock_cb, this, std::placeholders::_1)
+  );
 }
 
 void TimeSource::destroy_clock_sub()
@@ -229,13 +220,17 @@ void TimeSource::destroy_clock_sub()
 
 void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
 {
+  // Filter out events on 'use_sim_time' parameter instances in other nodes.
+  if (event->node != node_base_->get_fully_qualified_name()) {
+    return;
+  }
   // Filter for only 'use_sim_time' being added or changed.
   rclcpp::ParameterEventsFilter filter(event, {"use_sim_time"},
     {rclcpp::ParameterEventsFilter::EventType::NEW,
       rclcpp::ParameterEventsFilter::EventType::CHANGED});
   for (auto & it : filter.get_events()) {
     if (it.second->value.type != ParameterType::PARAMETER_BOOL) {
-      RCLCPP_ERROR(logger_, "use_sim_time parameter set to something besides a bool");
+      RCLCPP_ERROR(logger_, "use_sim_time parameter cannot be set to anything but a bool");
       continue;
     }
     if (it.second->value.bool_value) {

rclcpp/src/rclcpp/timer.cpp

@@ -19,6 +19,8 @@
 #include <memory>
 
 #include "rclcpp/contexts/default_context.hpp"
+#include "rclcpp/exceptions.hpp"
+
 #include "rcutils/logging_macros.h"
 
 using rclcpp::TimerBase;
@@ -75,6 +77,17 @@ TimerBase::cancel()
   }
 }
 
+bool
+TimerBase::is_canceled()
+{
+  bool is_canceled = false;
+  rcl_ret_t ret = rcl_timer_is_canceled(timer_handle_.get(), &is_canceled);
+  if (ret != RCL_RET_OK) {
+    rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't get timer cancelled state");
+  }
+  return is_canceled;
+}
+
 void
 TimerBase::reset()
 {

rclcpp/src/rclcpp/utilities.cpp

@@ -24,45 +24,48 @@
 #include "rcl/error_handling.h"
 #include "rcl/rcl.h"
 
-void
-rclcpp::init(int argc, char const * const argv[], const rclcpp::InitOptions & init_options)
+namespace rclcpp
 {
-  using rclcpp::contexts::default_context::get_global_default_context;
+
+void
+init(int argc, char const * const argv[], const InitOptions & init_options)
+{
+  using contexts::default_context::get_global_default_context;
   get_global_default_context()->init(argc, argv, init_options);
   // Install the signal handlers.
-  rclcpp::install_signal_handlers();
+  install_signal_handlers();
 }
 
 bool
-rclcpp::install_signal_handlers()
+install_signal_handlers()
 {
-  return rclcpp::SignalHandler::get_global_signal_handler().install();
+  return SignalHandler::get_global_signal_handler().install();
 }
 
 bool
-rclcpp::signal_handlers_installed()
+signal_handlers_installed()
 {
-  return rclcpp::SignalHandler::get_global_signal_handler().is_installed();
+  return SignalHandler::get_global_signal_handler().is_installed();
 }
 
 bool
-rclcpp::uninstall_signal_handlers()
+uninstall_signal_handlers()
 {
-  return rclcpp::SignalHandler::get_global_signal_handler().uninstall();
+  return SignalHandler::get_global_signal_handler().uninstall();
 }
 
 std::vector<std::string>
-rclcpp::init_and_remove_ros_arguments(
+init_and_remove_ros_arguments(
   int argc,
   char const * const argv[],
-  const rclcpp::InitOptions & init_options)
+  const InitOptions & init_options)
 {
-  rclcpp::init(argc, argv, init_options);
-  return rclcpp::remove_ros_arguments(argc, argv);
+  init(argc, argv, init_options);
+  return remove_ros_arguments(argc, argv);
 }
 
 std::vector<std::string>
-rclcpp::remove_ros_arguments(int argc, char const * const argv[])
+remove_ros_arguments(int argc, char const * const argv[])
 {
   rcl_allocator_t alloc = rcl_get_default_allocator();
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -71,7 +74,7 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
 
   ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
   if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to parse arguments");
+    exceptions::throw_from_rcl_error(ret, "failed to parse arguments");
   }
 
   int nonros_argc = 0;
@@ -84,9 +87,9 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
     &nonros_argc,
     &nonros_argv);
 
-  if (RCL_RET_OK != ret) {
+  if (RCL_RET_OK != ret || nonros_argc < 0) {
     // Not using throw_from_rcl_error, because we may need to append deallocation failures.
-    rclcpp::exceptions::RCLErrorBase base_exc(ret, rcl_get_error_state());
+    exceptions::RCLErrorBase base_exc(ret, rcl_get_error_state());
     rcl_reset_error();
     if (NULL != nonros_argv) {
       alloc.deallocate(nonros_argv, alloc.state);
@@ -97,13 +100,12 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
         rcl_get_error_string().str;
       rcl_reset_error();
     }
-    throw rclcpp::exceptions::RCLError(base_exc, "");
+    throw exceptions::RCLError(base_exc, "");
   }
 
-  std::vector<std::string> return_arguments;
-  return_arguments.resize(nonros_argc);
+  std::vector<std::string> return_arguments(static_cast<size_t>(nonros_argc));
 
-  for (int ii = 0; ii < nonros_argc; ++ii) {
+  for (size_t ii = 0; ii < static_cast<size_t>(nonros_argc); ++ii) {
     return_arguments[ii] = std::string(nonros_argv[ii]);
   }
 
@@ -113,7 +115,7 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
 
   ret = rcl_arguments_fini(&parsed_args);
   if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(
+    exceptions::throw_from_rcl_error(
       ret, "failed to cleanup parsed arguments, leaking memory");
   }
 
@@ -121,9 +123,9 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
 }
 
 bool
-rclcpp::ok(rclcpp::Context::SharedPtr context)
+ok(Context::SharedPtr context)
 {
-  using rclcpp::contexts::default_context::get_global_default_context;
+  using contexts::default_context::get_global_default_context;
   if (nullptr == context) {
     context = get_global_default_context();
   }
@@ -131,30 +133,30 @@ rclcpp::ok(rclcpp::Context::SharedPtr context)
 }
 
 bool
-rclcpp::is_initialized(rclcpp::Context::SharedPtr context)
+is_initialized(Context::SharedPtr context)
 {
-  return rclcpp::ok(context);
+  return ok(context);
 }
 
 bool
-rclcpp::shutdown(rclcpp::Context::SharedPtr context, const std::string & reason)
+shutdown(Context::SharedPtr context, const std::string & reason)
 {
-  using rclcpp::contexts::default_context::get_global_default_context;
+  using contexts::default_context::get_global_default_context;
   auto default_context = get_global_default_context();
   if (nullptr == context) {
     context = default_context;
   }
   bool ret = context->shutdown(reason);
   if (context == default_context) {
-    rclcpp::uninstall_signal_handlers();
+    uninstall_signal_handlers();
   }
   return ret;
 }
 
 void
-rclcpp::on_shutdown(std::function<void()> callback, rclcpp::Context::SharedPtr context)
+on_shutdown(std::function<void()> callback, Context::SharedPtr context)
 {
-  using rclcpp::contexts::default_context::get_global_default_context;
+  using contexts::default_context::get_global_default_context;
   if (nullptr == context) {
     context = get_global_default_context();
   }
@@ -162,9 +164,9 @@ rclcpp::on_shutdown(std::function<void()> callback, rclcpp::Context::SharedPtr c
 }
 
 bool
-rclcpp::sleep_for(const std::chrono::nanoseconds & nanoseconds, rclcpp::Context::SharedPtr context)
+sleep_for(const std::chrono::nanoseconds & nanoseconds, Context::SharedPtr context)
 {
-  using rclcpp::contexts::default_context::get_global_default_context;
+  using contexts::default_context::get_global_default_context;
   if (nullptr == context) {
     context = get_global_default_context();
   }
@@ -172,13 +174,15 @@ rclcpp::sleep_for(const std::chrono::nanoseconds & nanoseconds, rclcpp::Context:
 }
 
 const char *
-rclcpp::get_c_string(const char * string_in)
+get_c_string(const char * string_in)
 {
   return string_in;
 }
 
 const char *
-rclcpp::get_c_string(const std::string & string_in)
+get_c_string(const std::string & string_in)
 {
   return string_in.c_str();
 }
+
+}  // namespace rclcpp

rclcpp/src/rclcpp/waitable.cpp

@@ -34,6 +34,12 @@ Waitable::get_number_of_ready_clients()
   return 0u;
 }
 
+size_t
+Waitable::get_number_of_ready_events()
+{
+  return 0u;
+}
+
 size_t
 Waitable::get_number_of_ready_services()
 {

rclcpp/test/executors/test_multi_threaded_executor.cpp

@@ -86,7 +86,7 @@ TEST_F(TestMultiThreadedExecutor, timer_over_take) {
 
       {
         std::lock_guard<std::mutex> lock(last_mutex);
-        double diff = std::abs((now - last).nanoseconds()) / 1.0e9;
+        double diff = static_cast<double>(std::abs((now - last).nanoseconds())) / 1.0e9;
         last = now;
 
         if (diff < PERIOD - TOLERANCE || diff > PERIOD + TOLERANCE) {

rclcpp/test/node_interfaces/node_wrapper.hpp

@@ -0,0 +1,64 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NODE_INTERFACES__NODE_WRAPPER_HPP_
+#define NODE_INTERFACES__NODE_WRAPPER_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+
+class NodeWrapper
+{
+public:
+  explicit NodeWrapper(const std::string & name)
+  : node(std::make_shared<rclcpp::Node>(name))
+  {}
+
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
+  get_node_base_interface() {return this->node->get_node_base_interface();}
+
+  rclcpp::node_interfaces::NodeClockInterface::SharedPtr
+  get_node_clock_interface() {return this->node->get_node_clock_interface();}
+
+  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
+  get_node_graph_interface() {return this->node->get_node_graph_interface();}
+
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
+  get_node_logging_interface() {return this->node->get_node_logging_interface();}
+
+  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
+  get_node_timers_interface() {return this->node->get_node_timers_interface();}
+
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
+  get_node_topics_interface() {return this->node->get_node_topics_interface();}
+
+  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
+  get_node_services_interface() {return this->node->get_node_services_interface();}
+
+  rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
+  get_node_waitables_interface() {return this->node->get_node_waitables_interface();}
+
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
+  get_node_parameters_interface() {return this->node->get_node_parameters_interface();}
+
+  rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
+  get_node_time_source_interface() {return this->node->get_node_time_source_interface();}
+
+private:
+  rclcpp::Node::SharedPtr node;
+};
+
+#endif  // NODE_INTERFACES__NODE_WRAPPER_HPP_

rclcpp/test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_rclcpp_node.cpp

@@ -0,0 +1,28 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+
+int main(void)
+{
+  auto node = std::make_shared<rclcpp::Node>("test_node");
+  std::shared_ptr<const rclcpp::Node> const_node_ptr = node;
+  // Should fail because a const node cannot have a non-const method called on it.
+  rclcpp::node_interfaces::NodeTopicsInterface * result =
+    rclcpp::node_interfaces::get_node_topics_interface(const_node_ptr);
+  (void)result;
+}

rclcpp/test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_wrapped_node.cpp

@@ -0,0 +1,30 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+
+#include "../node_wrapper.hpp"
+
+int main(void)
+{
+  auto node = std::make_shared<NodeWrapper>("test_wrapped_node");
+  std::shared_ptr<const NodeWrapper> const_node_ptr = node;
+  // Should fail because a const node cannot have a non-const method called on it.
+  rclcpp::node_interfaces::NodeTopicsInterface * result =
+    rclcpp::node_interfaces::get_node_topics_interface(const_node_ptr);
+  (void)result;
+}

rclcpp/test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_rclcpp_node.cpp

@@ -0,0 +1,28 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+
+int main(void)
+{
+  auto node = std::make_shared<rclcpp::Node>("test_node");
+  const rclcpp::Node & const_node_reference = *node;
+  // Should fail because a const node cannot have a non-const method called on it.
+  rclcpp::node_interfaces::NodeTopicsInterface * result =
+    rclcpp::node_interfaces::get_node_topics_interface(const_node_reference);
+  (void)result;
+}

rclcpp/test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_wrapped_node.cpp

@@ -0,0 +1,30 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+
+#include "../node_wrapper.hpp"
+
+int main(void)
+{
+  auto node = std::make_shared<NodeWrapper>("test_wrapped_node");
+  const NodeWrapper & const_node_reference = *node;
+  // Should fail because a const node cannot have a non-const method called on it.
+  rclcpp::node_interfaces::NodeTopicsInterface * result =
+    rclcpp::node_interfaces::get_node_topics_interface(const_node_reference);
+  (void)result;
+}

rclcpp/test/node_interfaces/test_get_node_interfaces.cpp

@@ -0,0 +1,117 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+#include <string>
+
+#include "gtest/gtest.h"
+
+#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "./node_wrapper.hpp"
+
+static const std::string node_suffix = "test_get_node_interfaces";  // NOLINT
+
+class TestGetNodeInterfaces : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+    node = std::make_shared<rclcpp::Node>(node_suffix);
+    wrapped_node = std::make_shared<NodeWrapper>("wrapped_" + node_suffix);
+  }
+
+  static void TearDownTestCase()
+  {
+    node.reset();
+    wrapped_node.reset();
+  }
+
+  static rclcpp::Node::SharedPtr node;
+  static std::shared_ptr<NodeWrapper> wrapped_node;
+};
+
+rclcpp::Node::SharedPtr TestGetNodeInterfaces::node = nullptr;
+std::shared_ptr<NodeWrapper> TestGetNodeInterfaces::wrapped_node = nullptr;
+
+TEST_F(TestGetNodeInterfaces, rclcpp_node_shared_ptr) {
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(this->node);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
+TEST_F(TestGetNodeInterfaces, node_shared_ptr) {
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(this->wrapped_node);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
+TEST_F(TestGetNodeInterfaces, rclcpp_node_reference) {
+  rclcpp::Node & node_reference = *this->node;
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(node_reference);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
+TEST_F(TestGetNodeInterfaces, node_reference) {
+  NodeWrapper & wrapped_node_reference = *this->wrapped_node;
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(wrapped_node_reference);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
+TEST_F(TestGetNodeInterfaces, rclcpp_node_pointer) {
+  rclcpp::Node * node_pointer = this->node.get();
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(node_pointer);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
+TEST_F(TestGetNodeInterfaces, node_pointer) {
+  NodeWrapper * wrapped_node_pointer = this->wrapped_node.get();
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(wrapped_node_pointer);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
+TEST_F(TestGetNodeInterfaces, interface_shared_pointer) {
+  std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> interface_shared_ptr =
+    this->node->get_node_topics_interface();
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(interface_shared_ptr);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}

rclcpp/test/rclcpp/test_node_options.cpp

@@ -0,0 +1,57 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <vector>
+
+#include "rcl/allocator.h"
+#include "rcl/arguments.h"
+#include "rcl/remap.h"
+
+#include "rclcpp/node_options.hpp"
+
+
+TEST(TestNodeOptions, use_global_arguments) {
+  {
+    auto options = rclcpp::NodeOptions();
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions().use_global_arguments(false);
+    EXPECT_FALSE(options.use_global_arguments());
+    EXPECT_FALSE(options.get_rcl_node_options()->use_global_arguments);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions().use_global_arguments(true);
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions();
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+    options.use_global_arguments(false);
+    EXPECT_FALSE(options.use_global_arguments());
+    EXPECT_FALSE(options.get_rcl_node_options()->use_global_arguments);
+    options.use_global_arguments(true);
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+  }
+}

rclcpp/test/test_create_timer.cpp

@@ -0,0 +1,63 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <atomic>
+#include <chrono>
+#include <memory>
+
+#include "rclcpp/create_timer.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "node_interfaces/node_wrapper.hpp"
+
+using namespace std::chrono_literals;
+
+TEST(TestCreateTimer, timer_executes)
+{
+  rclcpp::init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>("test_create_timer_node");
+
+  std::atomic<bool> got_callback{false};
+
+  rclcpp::TimerBase::SharedPtr timer;
+  timer = rclcpp::create_timer(
+    node,
+    node->get_clock(),
+    rclcpp::Duration(0ms),
+    [&got_callback, &timer]() {
+      got_callback = true;
+      timer->cancel();
+    });
+
+  rclcpp::spin_some(node);
+
+  ASSERT_TRUE(got_callback);
+  rclcpp::shutdown();
+}
+
+TEST(TestCreateTimer, call_with_node_wrapper_compiles)
+{
+  rclcpp::init(0, nullptr);
+  NodeWrapper node("test_create_timer_call_with_node_wrapper_compiles");
+
+  rclcpp::TimerBase::SharedPtr timer;
+  timer = rclcpp::create_timer(
+    node,
+    node.get_node_clock_interface()->get_clock(),
+    rclcpp::Duration(0ms),
+    []() {});
+  rclcpp::shutdown();
+}

rclcpp/test/test_duration.cpp

@@ -32,11 +32,7 @@ class TestDuration : public ::testing::Test
 {
 };
 
-// TEST(TestDuration, conversions) {
-// TODO(tfoote) Implement conversion methods
-// }
-
-TEST(TestDuration, operators) {
+TEST_F(TestDuration, operators) {
   rclcpp::Duration old(1, 0);
   rclcpp::Duration young(2, 0);
 
@@ -45,28 +41,30 @@ TEST(TestDuration, operators) {
   EXPECT_TRUE(old <= young);
   EXPECT_TRUE(young >= old);
   EXPECT_FALSE(young == old);
+  EXPECT_TRUE(young != old);
 
   rclcpp::Duration add = old + young;
-  EXPECT_EQ(add.nanoseconds(), (rcl_duration_value_t)(old.nanoseconds() + young.nanoseconds()));
+  EXPECT_EQ(add.nanoseconds(), old.nanoseconds() + young.nanoseconds());
   EXPECT_EQ(add, old + young);
 
   rclcpp::Duration sub = young - old;
-  EXPECT_EQ(sub.nanoseconds(), (rcl_duration_value_t)(young.nanoseconds() - old.nanoseconds()));
+  EXPECT_EQ(sub.nanoseconds(), young.nanoseconds() - old.nanoseconds());
   EXPECT_EQ(sub, young - old);
 
   rclcpp::Duration scale = old * 3;
-  EXPECT_EQ(scale.nanoseconds(), (rcl_duration_value_t)(old.nanoseconds() * 3));
+  EXPECT_EQ(scale.nanoseconds(), old.nanoseconds() * 3);
 
   rclcpp::Duration time = rclcpp::Duration(0, 0);
   rclcpp::Duration copy_constructor_duration(time);
   rclcpp::Duration assignment_op_duration = rclcpp::Duration(1, 0);
+  (void)assignment_op_duration;
   assignment_op_duration = time;
 
   EXPECT_TRUE(time == copy_constructor_duration);
   EXPECT_TRUE(time == assignment_op_duration);
 }
 
-TEST(TestDuration, chrono_overloads) {
+TEST_F(TestDuration, chrono_overloads) {
   int64_t ns = 123456789l;
   auto chrono_ns = std::chrono::nanoseconds(ns);
   auto d1 = rclcpp::Duration(ns);
@@ -75,9 +73,17 @@ TEST(TestDuration, chrono_overloads) {
   EXPECT_EQ(d1, d2);
   EXPECT_EQ(d1, d3);
   EXPECT_EQ(d2, d3);
+
+  // check non-nanosecond durations
+  std::chrono::milliseconds chrono_ms(100);
+  auto d4 = rclcpp::Duration(chrono_ms);
+  EXPECT_EQ(chrono_ms, d4.to_chrono<std::chrono::nanoseconds>());
+  std::chrono::duration<double, std::chrono::seconds::period> chrono_float_seconds(3.14);
+  auto d5 = rclcpp::Duration(chrono_float_seconds);
+  EXPECT_EQ(chrono_float_seconds, d5.to_chrono<decltype(chrono_float_seconds)>());
 }
 
-TEST(TestDuration, overflows) {
+TEST_F(TestDuration, overflows) {
   rclcpp::Duration max(std::numeric_limits<rcl_duration_value_t>::max());
   rclcpp::Duration min(std::numeric_limits<rcl_duration_value_t>::min());
 
@@ -98,7 +104,7 @@ TEST(TestDuration, overflows) {
   EXPECT_THROW(base_d_neg * 4, std::underflow_error);
 }
 
-TEST(TestDuration, negative_duration) {
+TEST_F(TestDuration, negative_duration) {
   rclcpp::Duration assignable_duration = rclcpp::Duration(0) - rclcpp::Duration(5, 0);
 
   {
@@ -121,9 +127,106 @@ TEST(TestDuration, negative_duration) {
   }
 }
 
-TEST(TestDuration, maximum_duration) {
+TEST_F(TestDuration, maximum_duration) {
   rclcpp::Duration max_duration = rclcpp::Duration::max();
   rclcpp::Duration max(std::numeric_limits<int32_t>::max(), 999999999);
 
   EXPECT_EQ(max_duration, max);
 }
+
+static const int64_t HALF_SEC_IN_NS = 500 * 1000 * 1000;
+static const int64_t ONE_SEC_IN_NS = 1000 * 1000 * 1000;
+static const int64_t ONE_AND_HALF_SEC_IN_NS = 3 * HALF_SEC_IN_NS;
+
+TEST_F(TestDuration, std_chrono_constructors) {
+  EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration(0.0s));
+  EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration(0s));
+  EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration(1.5s));
+  EXPECT_EQ(rclcpp::Duration(-1, 0), rclcpp::Duration(-1s));
+}
+
+TEST_F(TestDuration, conversions) {
+  {
+    const rclcpp::Duration duration(HALF_SEC_IN_NS);
+    const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, 0);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), HALF_SEC_IN_NS);
+
+    const auto rmw_time = duration.to_rmw_time();
+    EXPECT_EQ(rmw_time.sec, 0u);
+    EXPECT_EQ(rmw_time.nsec, static_cast<uint64_t>(HALF_SEC_IN_NS));
+
+    const auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), HALF_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Duration duration(ONE_SEC_IN_NS);
+    const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, 1);
+    EXPECT_EQ(duration_msg.nanosec, 0u);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), ONE_SEC_IN_NS);
+
+    const auto rmw_time = duration.to_rmw_time();
+    EXPECT_EQ(rmw_time.sec, 1u);
+    EXPECT_EQ(rmw_time.nsec, 0u);
+
+    const auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), ONE_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Duration duration(ONE_AND_HALF_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, 1);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), ONE_AND_HALF_SEC_IN_NS);
+
+    auto rmw_time = duration.to_rmw_time();
+    EXPECT_EQ(rmw_time.sec, 1u);
+    EXPECT_EQ(rmw_time.nsec, static_cast<uint64_t>(HALF_SEC_IN_NS));
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), ONE_AND_HALF_SEC_IN_NS);
+  }
+
+  {
+    rclcpp::Duration duration(-HALF_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, -1);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -HALF_SEC_IN_NS);
+
+    EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), -HALF_SEC_IN_NS);
+  }
+
+  {
+    rclcpp::Duration duration(-ONE_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, -1);
+    EXPECT_EQ(duration_msg.nanosec, 0u);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -ONE_SEC_IN_NS);
+
+    EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), -ONE_SEC_IN_NS);
+  }
+
+  {
+    rclcpp::Duration duration(-ONE_AND_HALF_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, -2);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -ONE_AND_HALF_SEC_IN_NS);
+
+    EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), -ONE_AND_HALF_SEC_IN_NS);
+  }
+}

rclcpp/test/test_executor.cpp

@@ -60,3 +60,10 @@ TEST_F(TestExecutors, detachOnDestruction) {
     EXPECT_NO_THROW(executor.add_node(node));
   }
 }
+
+// Make sure that the executor can automatically remove expired nodes correctly
+TEST_F(TestExecutors, addTemporaryNode) {
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(std::make_shared<rclcpp::Node>("temporary_node"));
+  EXPECT_NO_THROW(executor.spin_some());
+}

rclcpp/test/test_find_weak_nodes.cpp

@@ -36,15 +36,15 @@ TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {
     rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
   auto existing_node = rclcpp::Node::make_shared("existing_node");
   auto dead_node = rclcpp::Node::make_shared("dead_node");
-  rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
+  rclcpp::memory_strategy::MemoryStrategy::WeakNodeList weak_nodes;
   weak_nodes.push_back(existing_node->get_node_base_interface());
   weak_nodes.push_back(dead_node->get_node_base_interface());
 
   // AND
   // Delete dead_node, creating a dangling pointer in weak_nodes
   dead_node.reset();
-  ASSERT_FALSE(weak_nodes[0].expired());
-  ASSERT_TRUE(weak_nodes[1].expired());
+  ASSERT_FALSE(weak_nodes.front().expired());
+  ASSERT_TRUE(weak_nodes.back().expired());
 
   // WHEN
   bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);
@@ -64,11 +64,11 @@ TEST_F(TestFindWeakNodes, allocator_strategy_no_weak_nodes) {
     rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
   auto existing_node1 = rclcpp::Node::make_shared("existing_node1");
   auto existing_node2 = rclcpp::Node::make_shared("existing_node2");
-  rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
+  rclcpp::memory_strategy::MemoryStrategy::WeakNodeList weak_nodes;
   weak_nodes.push_back(existing_node1->get_node_base_interface());
   weak_nodes.push_back(existing_node2->get_node_base_interface());
-  ASSERT_FALSE(weak_nodes[0].expired());
-  ASSERT_FALSE(weak_nodes[1].expired());
+  ASSERT_FALSE(weak_nodes.front().expired());
+  ASSERT_FALSE(weak_nodes.back().expired());
 
   // WHEN
   bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);

rclcpp/test/test_function_traits.cpp

@@ -80,6 +80,12 @@ struct ObjectMember
     return 7;
   }
 
+  int callback_one_bool_const(bool a) const
+  {
+    (void)a;
+    return 7;
+  }
+
   int callback_two_bools(bool a, bool b)
   {
     (void)a;
@@ -394,6 +400,16 @@ TEST(TestFunctionTraits, argument_types) {
       rclcpp::function_traits::function_traits<decltype(bind_one_bool)>::template argument_type<0>
     >::value, "Functor accepts a bool as first argument");
 
+  auto bind_one_bool_const = std::bind(
+    &ObjectMember::callback_one_bool_const, &object_member, std::placeholders::_1);
+
+  static_assert(
+    std::is_same<
+      bool,
+      rclcpp::function_traits::function_traits<decltype(bind_one_bool_const)>::template
+      argument_type<0>
+    >::value, "Functor accepts a bool as first argument");
+
   auto bind_two_bools = std::bind(
     &ObjectMember::callback_two_bools, &object_member, std::placeholders::_1,
     std::placeholders::_2);
@@ -561,6 +577,14 @@ TEST(TestFunctionTraits, check_arguments) {
   static_assert(
     rclcpp::function_traits::check_arguments<decltype(bind_one_bool), bool>::value,
     "Functor accepts a single bool as arguments");
+
+  auto bind_one_bool_const = std::bind(
+    &ObjectMember::callback_one_bool_const, &object_member, std::placeholders::_1);
+
+  // Test std::bind functions
+  static_assert(
+    rclcpp::function_traits::check_arguments<decltype(bind_one_bool_const), bool>::value,
+    "Functor accepts a single bool as arguments");
 }
 
 /*

rclcpp/test/test_intra_process_manager.cpp

@@ -14,10 +14,13 @@
 
 #include <memory>
 #include <string>
+#include <utility>
 
+#define RCLCPP_BUILDING_LIBRARY 1
 #include "gtest/gtest.h"
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/mapped_ring_buffer.hpp"
 #include "rmw/types.h"
 
 // Mock up publisher and subscription base to avoid needing an rmw impl.
@@ -34,6 +37,9 @@ public:
   PublisherBase()
   : mock_topic_name(""), mock_queue_size(0) {}
 
+  virtual ~PublisherBase()
+  {}
+
   const char * get_topic_name() const
   {
     return mock_topic_name.c_str();
@@ -50,6 +56,14 @@ public:
     return false;
   }
 
+  virtual
+  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+  make_mapped_ring_buffer(size_t size) const
+  {
+    (void)size;
+    return nullptr;
+  }
+
   std::string mock_topic_name;
   size_t mock_queue_size;
 };
@@ -71,6 +85,15 @@ public:
     allocator_ = std::make_shared<MessageAlloc>();
   }
 
+  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+  make_mapped_ring_buffer(size_t size) const override
+  {
+    return mapped_ring_buffer::MappedRingBuffer<
+      T,
+      typename Publisher<T, Alloc>::MessageAlloc
+    >::make_shared(size, allocator_);
+  }
+
   std::shared_ptr<MessageAlloc> get_allocator()
   {
     return allocator_;
@@ -109,10 +132,9 @@ public:
 }  // namespace mock
 }  // namespace rclcpp
 
-// Prevent rclcpp/publisher.hpp and rclcpp/subscription.hpp from being imported.
-#define RCLCPP__PUBLISHER_HPP_
-#define RCLCPP__SUBSCRIPTION_HPP_
-#define RCLCPP_BUILDING_LIBRARY 1
+// Prevent rclcpp/publisher_base.hpp and rclcpp/subscription.hpp from being imported.
+#define RCLCPP__PUBLISHER_BASE_HPP_
+#define RCLCPP__SUBSCRIPTION_BASE_HPP_
 // Force ipm to use our mock publisher class.
 #define Publisher mock::Publisher
 #define PublisherBase mock::PublisherBase
@@ -155,10 +177,8 @@ TEST(TestIntraProcessManager, nominal) {
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
-  auto p1_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p1);
-  auto p2_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p2);
+  auto p1_id = ipm.add_publisher(p1);
+  auto p2_id = ipm.add_publisher(p2);
   auto s1_id = ipm.add_subscription(s1);
 
   auto ipm_msg = std::make_shared<rcl_interfaces::msg::IntraProcessMessage>();
@@ -169,14 +189,14 @@ TEST(TestIntraProcessManager, nominal) {
   );
 
   auto p1_m1_original_address = unique_msg.get();
-  auto p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
+  auto p1_m1_id = ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   ipm_msg->message_sequence = 43;
   ipm_msg->publisher_id = 43;
   unique_msg.reset(new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg));
 
-  auto p2_m1_id = ipm.store_intra_process_message(p2_id, unique_msg);
+  auto p2_m1_id = ipm.store_intra_process_message(p2_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   ipm.take_intra_process_message(p2_id, p2_m1_id, s1_id, unique_msg);
@@ -198,26 +218,22 @@ TEST(TestIntraProcessManager, nominal) {
   ipm_msg->publisher_id = 44;
   unique_msg.reset(new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg));
 
-  ipm.store_intra_process_message(p1_id, unique_msg);
+  ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   ipm_msg->message_sequence = 45;
   ipm_msg->publisher_id = 45;
   unique_msg.reset(new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg));
 
-  ipm.store_intra_process_message(p1_id, unique_msg);
+  ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   ipm_msg->message_sequence = 46;
   ipm_msg->publisher_id = 46;
   unique_msg.reset(new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg));
 
-  ipm.store_intra_process_message(p1_id, unique_msg);
-  ASSERT_NE(nullptr, unique_msg);
-  if (unique_msg) {
-    EXPECT_EQ(44ul, unique_msg->message_sequence);
-    EXPECT_EQ(44ul, unique_msg->publisher_id);
-  }
+  ipm.store_intra_process_message(p1_id, std::move(unique_msg));
+  ASSERT_EQ(nullptr, unique_msg);
 }
 
 /*
@@ -240,8 +256,7 @@ TEST(TestIntraProcessManager, remove_publisher_before_trying_to_take) {
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
-  auto p1_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p1);
+  auto p1_id = ipm.add_publisher(p1);
   auto s1_id = ipm.add_subscription(s1);
 
   auto ipm_msg = std::make_shared<rcl_interfaces::msg::IntraProcessMessage>();
@@ -251,7 +266,7 @@ TEST(TestIntraProcessManager, remove_publisher_before_trying_to_take) {
     new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg)
   );
 
-  auto p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
+  auto p1_m1_id = ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   ipm.remove_publisher(p1_id);
@@ -290,8 +305,7 @@ TEST(TestIntraProcessManager, removed_subscription_affects_take) {
   s3->mock_topic_name = "nominal1";
   s3->mock_queue_size = 10;
 
-  auto p1_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p1);
+  auto p1_id = ipm.add_publisher(p1);
   auto s1_id = ipm.add_subscription(s1);
   auto s2_id = ipm.add_subscription(s2);
   auto s3_id = ipm.add_subscription(s3);
@@ -304,7 +318,7 @@ TEST(TestIntraProcessManager, removed_subscription_affects_take) {
   );
 
   auto original_message_pointer = unique_msg.get();
-  auto p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
+  auto p1_m1_id = ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   ipm.take_intra_process_message(p1_id, p1_m1_id, s1_id, unique_msg);
@@ -361,8 +375,7 @@ TEST(TestIntraProcessManager, multiple_subscriptions_one_publisher) {
   s3->mock_topic_name = "nominal1";
   s3->mock_queue_size = 10;
 
-  auto p1_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p1);
+  auto p1_id = ipm.add_publisher(p1);
   auto s1_id = ipm.add_subscription(s1);
   auto s2_id = ipm.add_subscription(s2);
   auto s3_id = ipm.add_subscription(s3);
@@ -375,7 +388,7 @@ TEST(TestIntraProcessManager, multiple_subscriptions_one_publisher) {
   );
 
   auto original_message_pointer = unique_msg.get();
-  auto p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
+  auto p1_m1_id = ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   ipm.take_intra_process_message(p1_id, p1_m1_id, s1_id, unique_msg);
@@ -437,12 +450,9 @@ TEST(TestIntraProcessManager, multiple_publishers_one_subscription) {
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
-  auto p1_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p1);
-  auto p2_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p2);
-  auto p3_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p3);
+  auto p1_id = ipm.add_publisher(p1);
+  auto p2_id = ipm.add_publisher(p2);
+  auto p3_id = ipm.add_publisher(p3);
   auto s1_id = ipm.add_subscription(s1);
 
   auto ipm_msg = std::make_shared<rcl_interfaces::msg::IntraProcessMessage>();
@@ -454,7 +464,7 @@ TEST(TestIntraProcessManager, multiple_publishers_one_subscription) {
   );
 
   auto original_message_pointer1 = unique_msg.get();
-  auto p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
+  auto p1_m1_id = ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   // Second publish
@@ -463,7 +473,7 @@ TEST(TestIntraProcessManager, multiple_publishers_one_subscription) {
   unique_msg.reset(new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg));
 
   auto original_message_pointer2 = unique_msg.get();
-  auto p2_m1_id = ipm.store_intra_process_message(p2_id, unique_msg);
+  auto p2_m1_id = ipm.store_intra_process_message(p2_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   // Third publish
@@ -472,7 +482,7 @@ TEST(TestIntraProcessManager, multiple_publishers_one_subscription) {
   unique_msg.reset(new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg));
 
   auto original_message_pointer3 = unique_msg.get();
-  auto p3_m1_id = ipm.store_intra_process_message(p3_id, unique_msg);
+  auto p3_m1_id = ipm.store_intra_process_message(p3_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   // First take
@@ -545,12 +555,9 @@ TEST(TestIntraProcessManager, multiple_publishers_multiple_subscription) {
   s3->mock_topic_name = "nominal1";
   s3->mock_queue_size = 10;
 
-  auto p1_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p1);
-  auto p2_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p2);
-  auto p3_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p3);
+  auto p1_id = ipm.add_publisher(p1);
+  auto p2_id = ipm.add_publisher(p2);
+  auto p3_id = ipm.add_publisher(p3);
   auto s1_id = ipm.add_subscription(s1);
   auto s2_id = ipm.add_subscription(s2);
   auto s3_id = ipm.add_subscription(s3);
@@ -564,7 +571,7 @@ TEST(TestIntraProcessManager, multiple_publishers_multiple_subscription) {
   );
 
   auto original_message_pointer1 = unique_msg.get();
-  auto p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
+  auto p1_m1_id = ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   // Second publish
@@ -573,7 +580,7 @@ TEST(TestIntraProcessManager, multiple_publishers_multiple_subscription) {
   unique_msg.reset(new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg));
 
   auto original_message_pointer2 = unique_msg.get();
-  auto p2_m1_id = ipm.store_intra_process_message(p2_id, unique_msg);
+  auto p2_m1_id = ipm.store_intra_process_message(p2_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   // Third publish
@@ -582,7 +589,7 @@ TEST(TestIntraProcessManager, multiple_publishers_multiple_subscription) {
   unique_msg.reset(new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg));
 
   auto original_message_pointer3 = unique_msg.get();
-  auto p3_m1_id = ipm.store_intra_process_message(p3_id, unique_msg);
+  auto p3_m1_id = ipm.store_intra_process_message(p3_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   // First take
@@ -692,8 +699,7 @@ TEST(TestIntraProcessManager, ring_buffer_displacement) {
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
-  auto p1_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p1);
+  auto p1_id = ipm.add_publisher(p1);
   auto s1_id = ipm.add_subscription(s1);
 
   auto ipm_msg = std::make_shared<rcl_interfaces::msg::IntraProcessMessage>();
@@ -703,8 +709,7 @@ TEST(TestIntraProcessManager, ring_buffer_displacement) {
     new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg)
   );
 
-  auto original_message_pointer1 = unique_msg.get();
-  auto p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
+  auto p1_m1_id = ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   ipm_msg->message_sequence = 43;
@@ -712,7 +717,7 @@ TEST(TestIntraProcessManager, ring_buffer_displacement) {
   unique_msg.reset(new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg));
 
   auto original_message_pointer2 = unique_msg.get();
-  auto p1_m2_id = ipm.store_intra_process_message(p1_id, unique_msg);
+  auto p1_m2_id = ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   ipm.take_intra_process_message(p1_id, p1_m2_id, s1_id, unique_msg);
@@ -728,14 +733,8 @@ TEST(TestIntraProcessManager, ring_buffer_displacement) {
   ipm_msg->publisher_id = 44;
   unique_msg.reset(new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg));
 
-  ipm.store_intra_process_message(p1_id, unique_msg);
-  EXPECT_NE(nullptr, unique_msg);  // Should return the thing in the ring buffer it displaced.
-  if (unique_msg) {
-    // This should have been the first published message.
-    EXPECT_EQ(42ul, unique_msg->message_sequence);
-    EXPECT_EQ(42ul, unique_msg->publisher_id);
-    EXPECT_EQ(original_message_pointer1, unique_msg.get());
-  }
+  ipm.store_intra_process_message(p1_id, std::move(unique_msg));
+  EXPECT_EQ(nullptr, unique_msg);
   unique_msg.reset();
 
   // Since it just got displaced it should no longer be there to take.
@@ -759,8 +758,7 @@ TEST(TestIntraProcessManager, subscription_creation_race_condition) {
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 2;
 
-  auto p1_id =
-    ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p1);
+  auto p1_id = ipm.add_publisher(p1);
 
   auto ipm_msg = std::make_shared<rcl_interfaces::msg::IntraProcessMessage>();
   ipm_msg->message_sequence = 42;
@@ -769,7 +767,7 @@ TEST(TestIntraProcessManager, subscription_creation_race_condition) {
     new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg)
   );
 
-  auto p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
+  auto p1_m1_id = ipm.store_intra_process_message(p1_id, std::move(unique_msg));
   ASSERT_EQ(nullptr, unique_msg);
 
   auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
@@ -808,7 +806,7 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_take) {
     p1->mock_topic_name = "nominal1";
     p1->mock_queue_size = 2;
 
-    p1_id = ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p1);
+    p1_id = ipm.add_publisher(p1);
 
     auto ipm_msg = std::make_shared<rcl_interfaces::msg::IntraProcessMessage>();
     ipm_msg->message_sequence = 42;
@@ -817,7 +815,7 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_take) {
       new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg)
     );
 
-    p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
+    p1_m1_id = ipm.store_intra_process_message(p1_id, std::move(unique_msg));
     ASSERT_EQ(nullptr, unique_msg);
 
     // Explicitly remove publisher from ipm (emulate's publisher's destructor).
@@ -847,7 +845,7 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_store) {
     p1->mock_topic_name = "nominal1";
     p1->mock_queue_size = 2;
 
-    p1_id = ipm.add_publisher<rcl_interfaces::msg::IntraProcessMessage, std::allocator<void>>(p1);
+    p1_id = ipm.add_publisher(p1);
   }
 
   auto ipm_msg = std::make_shared<rcl_interfaces::msg::IntraProcessMessage>();
@@ -857,6 +855,6 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_store) {
     new rcl_interfaces::msg::IntraProcessMessage(*ipm_msg)
   );
 
-  EXPECT_THROW(ipm.store_intra_process_message(p1_id, unique_msg), std::runtime_error);
+  EXPECT_THROW(ipm.store_intra_process_message(p1_id, std::move(unique_msg)), std::runtime_error);
   ASSERT_EQ(nullptr, unique_msg);
 }

rclcpp/test/test_local_parameters.cpp

@@ -21,7 +21,9 @@
 #include "rclcpp/rclcpp.hpp"
 
 TEST(test_local_parameters, set_parameter_if_not_set) {
-  auto node = rclcpp::Node::make_shared("test_local_parameters_set_parameter_if_not_set");
+  auto node = rclcpp::Node::make_shared(
+    "test_local_parameters_set_parameter_if_not_set",
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
 
   {
     // try to set a map of parameters
@@ -29,7 +31,19 @@ TEST(test_local_parameters, set_parameter_if_not_set) {
       {"x", 0.5},
       {"y", 1.0},
     };
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
     node->set_parameters_if_not_set("bar", bar_map);
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
     double bar_x_value;
     ASSERT_TRUE(node->get_parameter("bar.x", bar_x_value));
     EXPECT_EQ(bar_x_value, 0.5);
@@ -51,8 +65,20 @@ TEST(test_local_parameters, set_parameter_if_not_set) {
 
   {
     // set parameters for a map with different types, then try to get them back as a map
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
     node->set_parameter_if_not_set("baz.x", 1.0);
     node->set_parameter_if_not_set("baz.y", "hello");
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
     std::map<std::string, double> baz_map;
     EXPECT_THROW(node->get_parameters("baz", baz_map), rclcpp::ParameterTypeException);
   }

rclcpp/test/test_mapped_ring_buffer.cpp

@@ -12,12 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gtest/gtest.h>
+#include <memory>
+#include <utility>
+
+#include "gtest/gtest.h"
 
 #define RCLCPP_BUILDING_LIBRARY 1  // Prevent including unavailable symbols
-#include <rclcpp/mapped_ring_buffer.hpp>
-
-#include <memory>
+#include "rclcpp/mapped_ring_buffer.hpp"
 
 /*
    Tests get_copy and pop on an empty mrb.
@@ -28,60 +29,90 @@ TEST(TestMappedRingBuffer, empty) {
   // Getting or popping an empty buffer should result in a nullptr.
   rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(1);
 
-  std::unique_ptr<char> actual;
-  mrb.get_copy_at_key(1, actual);
-  EXPECT_EQ(nullptr, actual);
+  std::unique_ptr<char> unique;
+  mrb.get(1, unique);
+  EXPECT_EQ(nullptr, unique);
 
-  mrb.pop_at_key(1, actual);
+  mrb.pop(1, unique);
+  EXPECT_EQ(nullptr, unique);
+
+  std::shared_ptr<const char> shared;
+  mrb.get(1, shared);
+  EXPECT_EQ(nullptr, shared);
+
+  mrb.pop(1, shared);
+  EXPECT_EQ(nullptr, shared);
+}
+
+/*
+   Tests push_and_replace with a temporary object, and using
+   get and pop methods with shared_ptr signature.
+ */
+TEST(TestMappedRingBuffer, temporary_l_value_with_shared_get_pop) {
+  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
+  // Pass in value with temporary object
+  mrb.push_and_replace(1, std::shared_ptr<const char>(new char('a')));
+
+  std::shared_ptr<const char> actual;
+  mrb.get(1, actual);
+  EXPECT_EQ('a', *actual);
+
+  mrb.pop(1, actual);
+  EXPECT_EQ('a', *actual);
+
+  mrb.get(1, actual);
   EXPECT_EQ(nullptr, actual);
 }
 
 /*
-   Tests push_and_replace with a temporary object.
+   Tests push_and_replace with a temporary object, and using
+   get and pop methods with unique_ptr signature.
  */
-TEST(TestMappedRingBuffer, temporary_l_value) {
+TEST(TestMappedRingBuffer, temporary_l_value_with_unique_get_pop) {
   rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
   // Pass in value with temporary object
-  mrb.push_and_replace(1, std::unique_ptr<char>(new char('a')));
+  mrb.push_and_replace(1, std::shared_ptr<const char>(new char('a')));
 
   std::unique_ptr<char> actual;
-  mrb.get_copy_at_key(1, actual);
+  mrb.get(1, actual);
   EXPECT_EQ('a', *actual);
 
-  mrb.pop_at_key(1, actual);
+  mrb.pop(1, actual);
   EXPECT_EQ('a', *actual);
 
-  mrb.get_copy_at_key(1, actual);
+  mrb.get(1, actual);
   EXPECT_EQ(nullptr, actual);
 }
 
 /*
    Tests normal usage of the mrb.
+   Using shared push_and_replace, get and pop methods.
  */
-TEST(TestMappedRingBuffer, nominal) {
+TEST(TestMappedRingBuffer, nominal_push_shared_get_pop_shared) {
   rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
-  std::unique_ptr<char> expected(new char('a'));
-  // Store expected value's address for later comparison.
-  char * expected_orig = expected.get();
+  std::shared_ptr<const char> expected(new char('a'));
 
   EXPECT_FALSE(mrb.push_and_replace(1, expected));
+  EXPECT_EQ(2, expected.use_count());
 
-  std::unique_ptr<char> actual;
-  mrb.get_copy_at_key(1, actual);
+  std::shared_ptr<const char> actual;
+  mrb.get(1, actual);
   EXPECT_NE(nullptr, actual);
   if (actual) {
     EXPECT_EQ('a', *actual);
   }
-  EXPECT_NE(expected_orig, actual.get());
+  EXPECT_EQ(expected, actual);
+  EXPECT_EQ(3, actual.use_count());
 
-  mrb.pop_at_key(1, actual);
-  EXPECT_NE(nullptr, actual);
+  mrb.pop(1, actual);
+  EXPECT_EQ(expected, actual);
   if (actual) {
     EXPECT_EQ('a', *actual);
   }
-  EXPECT_EQ(expected_orig, actual.get());
+  expected.reset();
+  EXPECT_TRUE(actual.unique());
 
-  mrb.get_copy_at_key(1, actual);
+  mrb.get(1, actual);
   EXPECT_EQ(nullptr, actual);
 
   expected.reset(new char('a'));
@@ -93,16 +124,16 @@ TEST(TestMappedRingBuffer, nominal) {
   expected.reset(new char('c'));
   EXPECT_TRUE(mrb.push_and_replace(3, expected));
 
-  mrb.get_copy_at_key(1, actual);
+  mrb.get(1, actual);
   EXPECT_EQ(nullptr, actual);
 
-  mrb.get_copy_at_key(2, actual);
+  mrb.get(2, actual);
   EXPECT_NE(nullptr, actual);
   if (actual) {
     EXPECT_EQ('b', *actual);
   }
 
-  mrb.get_copy_at_key(3, actual);
+  mrb.get(3, actual);
   EXPECT_NE(nullptr, actual);
   if (actual) {
     EXPECT_EQ('c', *actual);
@@ -110,40 +141,167 @@ TEST(TestMappedRingBuffer, nominal) {
 }
 
 /*
-   Tests get_ownership on a normal mrb.
+   Tests normal usage of the mrb.
+   Using shared push_and_replace, unique get and pop methods.
  */
-TEST(TestMappedRingBuffer, get_ownership) {
+TEST(TestMappedRingBuffer, nominal_push_shared_get_pop_unique) {
   rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
-  std::unique_ptr<char> expected(new char('a'));
-  // Store expected value's address for later comparison.
-  char * expected_orig = expected.get();
+  std::shared_ptr<const char> expected(new char('a'));
+  const char * expected_orig = expected.get();
 
   EXPECT_FALSE(mrb.push_and_replace(1, expected));
+  EXPECT_EQ(2, expected.use_count());
 
   std::unique_ptr<char> actual;
-  mrb.get_copy_at_key(1, actual);
+  mrb.get(1, actual);
   EXPECT_NE(nullptr, actual);
   if (actual) {
     EXPECT_EQ('a', *actual);
   }
   EXPECT_NE(expected_orig, actual.get());
+  mrb.pop(1, actual);
+  EXPECT_NE(expected_orig, actual.get());
+  if (actual) {
+    EXPECT_EQ('a', *actual);
+  }
+  mrb.get(1, actual);
+  EXPECT_EQ(nullptr, actual);
 
-  mrb.get_ownership_at_key(1, actual);
+  EXPECT_FALSE(mrb.push_and_replace(1, expected));
+  expected.reset();
+  mrb.pop(1, actual);
+  EXPECT_NE(expected_orig, actual.get());
+  if (actual) {
+    EXPECT_EQ('a', *actual);
+  }
+  mrb.get(1, actual);
+  EXPECT_EQ(nullptr, actual);
+
+  expected.reset(new char('a'));
+  EXPECT_FALSE(mrb.push_and_replace(1, expected));
+
+  expected.reset(new char('b'));
+  EXPECT_FALSE(mrb.push_and_replace(2, expected));
+
+  expected.reset(new char('c'));
+  EXPECT_TRUE(mrb.push_and_replace(3, expected));
+
+  mrb.get(1, actual);
+  EXPECT_EQ(nullptr, actual);
+
+  mrb.get(2, actual);
+  EXPECT_NE(nullptr, actual);
+  if (actual) {
+    EXPECT_EQ('b', *actual);
+  }
+
+  mrb.get(3, actual);
+  EXPECT_NE(nullptr, actual);
+  if (actual) {
+    EXPECT_EQ('c', *actual);
+  }
+}
+
+/*
+   Tests normal usage of the mrb.
+   Using unique push_and_replace, get and pop methods.
+ */
+TEST(TestMappedRingBuffer, nominal_push_unique_get_pop_unique) {
+  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
+  std::unique_ptr<char> expected(new char('a'));
+  const char * expected_orig = expected.get();
+
+  EXPECT_FALSE(mrb.push_and_replace(1, std::move(expected)));
+
+  std::unique_ptr<char> actual;
+  mrb.get(1, actual);
+  EXPECT_NE(nullptr, actual);
+  if (actual) {
+    EXPECT_EQ('a', *actual);
+  }
+  EXPECT_NE(expected_orig, actual.get());
+  mrb.pop(1, actual);
+  if (actual) {
+    EXPECT_EQ('a', *actual);
+  }
+  EXPECT_EQ(expected_orig, actual.get());
+  mrb.get(1, actual);
+  EXPECT_EQ(nullptr, actual);
+
+  expected.reset(new char('a'));
+  EXPECT_FALSE(mrb.push_and_replace(1, std::move(expected)));
+
+  expected.reset(new char('b'));
+  EXPECT_FALSE(mrb.push_and_replace(2, std::move(expected)));
+
+  expected.reset(new char('c'));
+  EXPECT_TRUE(mrb.push_and_replace(3, std::move(expected)));
+
+  mrb.get(1, actual);
+  EXPECT_EQ(nullptr, actual);
+
+  mrb.get(2, actual);
+  EXPECT_NE(nullptr, actual);
+  if (actual) {
+    EXPECT_EQ('b', *actual);
+  }
+
+  mrb.get(3, actual);
+  EXPECT_NE(nullptr, actual);
+  if (actual) {
+    EXPECT_EQ('c', *actual);
+  }
+}
+
+/*
+   Tests normal usage of the mrb.
+   Using unique push_and_replace, shared get and pop methods.
+ */
+TEST(TestMappedRingBuffer, nominal_push_unique_get_pop_shared) {
+  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
+  std::unique_ptr<char> expected(new char('a'));
+  const char * expected_orig = expected.get();
+
+  EXPECT_FALSE(mrb.push_and_replace(1, std::move(expected)));
+
+  std::shared_ptr<const char> actual;
+  mrb.get(1, actual);
   EXPECT_NE(nullptr, actual);
   if (actual) {
     EXPECT_EQ('a', *actual);
   }
   EXPECT_EQ(expected_orig, actual.get());
+  mrb.pop(1, actual);
+  if (actual) {
+    EXPECT_EQ('a', *actual);
+  }
+  EXPECT_EQ(expected_orig, actual.get());
+  mrb.get(1, actual);
+  EXPECT_EQ(nullptr, actual);
 
-  mrb.pop_at_key(1, actual);
+  expected.reset(new char('a'));
+  EXPECT_FALSE(mrb.push_and_replace(1, std::move(expected)));
+
+  expected.reset(new char('b'));
+  EXPECT_FALSE(mrb.push_and_replace(2, std::move(expected)));
+
+  expected.reset(new char('c'));
+  EXPECT_TRUE(mrb.push_and_replace(3, std::move(expected)));
+
+  mrb.get(1, actual);
+  EXPECT_EQ(nullptr, actual);
+
+  mrb.get(2, actual);
   EXPECT_NE(nullptr, actual);
   if (actual) {
-    EXPECT_EQ('a', *actual);  // The value should be the same.
+    EXPECT_EQ('b', *actual);
   }
-  EXPECT_NE(expected_orig, actual.get());  // Even though we pop'ed, we didn't get the original.
 
-  mrb.get_copy_at_key(1, actual);
-  EXPECT_EQ(nullptr, actual);
+  mrb.get(3, actual);
+  EXPECT_NE(nullptr, actual);
+  if (actual) {
+    EXPECT_EQ('c', *actual);
+  }
 }
 
 /*
@@ -152,22 +310,23 @@ TEST(TestMappedRingBuffer, get_ownership) {
 TEST(TestMappedRingBuffer, non_unique_keys) {
   rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
 
-  std::unique_ptr<char> input(new char('a'));
+  std::shared_ptr<const char> input(new char('a'));
   mrb.push_and_replace(1, input);
   input.reset(new char('b'));
 
   // Different value, same key.
   mrb.push_and_replace(1, input);
+  input.reset();
 
   std::unique_ptr<char> actual;
-  mrb.pop_at_key(1, actual);
+  mrb.pop(1, actual);
   EXPECT_NE(nullptr, actual);
   if (actual) {
     EXPECT_EQ('a', *actual);
   }
 
   actual = nullptr;
-  mrb.pop_at_key(1, actual);
+  mrb.pop(1, actual);
   EXPECT_NE(nullptr, actual);
   if (actual) {
     EXPECT_EQ('b', *actual);