0.7.16

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

rclcpp/CHANGELOG.rst

@@ -2,48 +2,70 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.8.0 (2019-09-26)
+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)
 ------------------
-* clean up publisher and subscription creation logic (`#867 <https://github.com/ros2/rclcpp/issues/867>`_)
-* Take parameter overrides provided through the CLI. (`#865 <https://github.com/ros2/rclcpp/issues/865>`_)
-* add more context to exception message (`#858 <https://github.com/ros2/rclcpp/issues/858>`_)
-* remove features and related code which were deprecated in dashing (`#852 <https://github.com/ros2/rclcpp/issues/852>`_)
-* check valid timer handler 1st to reduce the time window for scan. (`#841 <https://github.com/ros2/rclcpp/issues/841>`_)
-* Add throwing parameter name if parameter is not set (`#833 <https://github.com/ros2/rclcpp/issues/833>`_)
-* Fix typo in deprecated warning. (`#848 <https://github.com/ros2/rclcpp/issues/848>`_)
-* Fail on invalid and unknown ROS specific arguments (`#842 <https://github.com/ros2/rclcpp/issues/842>`_)
-* Force explicit --ros-args in NodeOptions::arguments(). (`#845 <https://github.com/ros2/rclcpp/issues/845>`_)
-* Use of -r/--remap flags where appropriate. (`#834 <https://github.com/ros2/rclcpp/issues/834>`_)
-* Fix hang with timers in MultiThreadedExecutor (`#835 <https://github.com/ros2/rclcpp/issues/835>`_) (`#836 <https://github.com/ros2/rclcpp/issues/836>`_)
-* 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>`_)
-* Crash in callback group pointer vector iterator (`#814 <https://github.com/ros2/rclcpp/issues/814>`_)
-* Wrap documentation examples in code blocks (`#830 <https://github.com/ros2/rclcpp/issues/830>`_)
-* add callback group as member variable and constructor arg (`#811 <https://github.com/ros2/rclcpp/issues/811>`_)
-* Fix get_node_interfaces functions taking a pointer (`#821 <https://github.com/ros2/rclcpp/issues/821>`_)
-* Delete unnecessary call for get_node_by_group (`#823 <https://github.com/ros2/rclcpp/issues/823>`_)
-* Allow passing logger by const ref (`#820 <https://github.com/ros2/rclcpp/issues/820>`_)
-* Explain return value of spin_until_future_complete (`#792 <https://github.com/ros2/rclcpp/issues/792>`_)
-* Adapt to '--ros-args ... [--]'-based ROS args extraction (`#816 <https://github.com/ros2/rclcpp/issues/816>`_)
-* Add line break after first open paren in multiline function call (`#785 <https://github.com/ros2/rclcpp/issues/785>`_)
-* remove mock msgs from rclcpp (`#800 <https://github.com/ros2/rclcpp/issues/800>`_)
-* Make TimeSource ignore use_sim_time events coming from other nodes. (`#799 <https://github.com/ros2/rclcpp/issues/799>`_)
-* Allow registering multiple on_parameters_set_callback (`#772 <https://github.com/ros2/rclcpp/issues/772>`_)
-* Add free function for creating service clients (`#788 <https://github.com/ros2/rclcpp/issues/788>`_)
-* Include missing rcl headers in use. (`#782 <https://github.com/ros2/rclcpp/issues/782>`_)
-* Switch the NodeParameters lock to recursive. (`#781 <https://github.com/ros2/rclcpp/issues/781>`_)
-* changed on_parameter_event qos profile to rmw_qos_profile_parameter_events (`#774 <https://github.com/ros2/rclcpp/issues/774>`_)
-* Adding a factory method to create a Duration from seconds (`#567 <https://github.com/ros2/rclcpp/issues/567>`_)
-* Fix a comparison with a sign mismatch (`#771 <https://github.com/ros2/rclcpp/issues/771>`_)
-* delete superfluous spaces (`#770 <https://github.com/ros2/rclcpp/issues/770>`_)
-* Use params from node '/\*\*' from parameter YAML file (`#762 <https://github.com/ros2/rclcpp/issues/762>`_)
-* Add ignore override argument to declare parameter (`#767 <https://github.com/ros2/rclcpp/issues/767>`_)
-* use default parameter descriptor in parameters interface (`#765 <https://github.com/ros2/rclcpp/issues/765>`_)
-* Added support for const member functions (`#763 <https://github.com/ros2/rclcpp/issues/763>`_)
-* add get_actual_qos() feature to subscriptions (`#754 <https://github.com/ros2/rclcpp/issues/754>`_)
 * 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, Carl Delsey, Chris Lalancette, Dan Rose, Dirk Thomas, Esteve Fernandez, Guillaume Autran, Jacob Perron, Karsten Knese, Luca Della Vedova, M. M, Michel Hidalgo, Scott K Logan, Shane Loretz, Todd Malsbary, William Woodall, bpwilcox, fujitatomoya, ivanpauno
+* Contributors: Alberto Soragna, Shane Loretz, ivanpauno
 
 0.7.5 (2019-05-30)
 ------------------

rclcpp/CMakeLists.txt

@@ -7,7 +7,6 @@ find_package(builtin_interfaces REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rcl_yaml_param_parser REQUIRED)
-find_package(rcpputils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
@@ -20,7 +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)
@@ -107,7 +110,6 @@ add_library(${PROJECT_NAME}
 ament_target_dependencies(${PROJECT_NAME}
   "rcl"
   "rcl_yaml_param_parser"
-  "rcpputils"
   "builtin_interfaces"
   "rosgraph_msgs"
   "rosidl_typesupport_cpp"
@@ -131,7 +133,6 @@ ament_export_libraries(${PROJECT_NAME})
 
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl)
-ament_export_dependencies(rcpputils)
 ament_export_dependencies(builtin_interfaces)
 ament_export_dependencies(rosgraph_msgs)
 ament_export_dependencies(rosidl_typesupport_cpp)
@@ -146,12 +147,8 @@ if(BUILD_TESTING)
 
   find_package(rmw_implementation_cmake REQUIRED)
 
-  find_package(test_msgs REQUIRED)
-
   include(cmake/rclcpp_add_build_failure_test.cmake)
 
-  add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/test/resources")
-
   ament_add_gtest(test_client test/test_client.cpp)
   if(TARGET test_client)
     ament_target_dependencies(test_client
@@ -217,7 +214,6 @@ if(BUILD_TESTING)
   if(TARGET test_node)
     ament_target_dependencies(test_node
       "rcl_interfaces"
-      "rcpputils"
       "rmw"
       "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
@@ -262,11 +258,6 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_node_global_args ${PROJECT_NAME})
   endif()
-  ament_add_gtest(test_node_options test/test_node_options.cpp)
-  if(TARGET test_node_options)
-    ament_target_dependencies(test_node_options "rcl")
-    target_link_libraries(test_node_options ${PROJECT_NAME})
-  endif()
   ament_add_gtest(test_parameter_client test/test_parameter_client.cpp)
   if(TARGET test_parameter_client)
     ament_target_dependencies(test_parameter_client
@@ -369,6 +360,7 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
   endif()
+  find_package(test_msgs REQUIRED)
   ament_add_gtest(test_subscription_traits test/test_subscription_traits.cpp)
   if(TARGET test_subscription_traits)
     ament_target_dependencies(test_subscription_traits
@@ -384,17 +376,38 @@ if(BUILD_TESTING)
     target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
   endif()
 
+  get_default_rmw_implementation(default_rmw)
+  find_package(${default_rmw} REQUIRED)
+  get_rmw_typesupport(typesupport_impls_cpp "${default_rmw}" LANGUAGE "cpp")
+  get_rmw_typesupport(typesupport_impls_c "${default_rmw}" LANGUAGE "c")
+  set(mock_msg_files
+    "test/mock_msgs/srv/Mock.srv")
+  rosidl_generate_interfaces(mock_msgs
+    ${mock_msg_files}
+    LIBRARY_NAME "rclcpp"
+    SKIP_INSTALL)
+
   set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
   if(WIN32)
     set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
   endif()
 
-  ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp)
-  ament_target_dependencies(test_externally_defined_services
-    "rcl"
-    "test_msgs"
-  )
-  target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
+  ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp
+    APPEND_LIBRARY_DIRS "${append_library_dirs}")
+  if(TARGET test_externally_defined_services)
+    ament_target_dependencies(test_externally_defined_services
+      "rcl"
+    )
+    target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
+    foreach(typesupport_impl_cpp ${typesupport_impls_cpp})
+      rosidl_target_interfaces(test_externally_defined_services
+        mock_msgs ${typesupport_impl_cpp})
+    endforeach()
+    foreach(typesupport_impl_c ${typesupport_impls_c})
+      rosidl_target_interfaces(test_externally_defined_services
+        mock_msgs ${typesupport_impl_c})
+    endforeach()
+  endif()
 
   ament_add_gtest(test_duration test/test_duration.cpp
     APPEND_LIBRARY_DIRS "${append_library_dirs}")
@@ -466,10 +479,16 @@ if(BUILD_TESTING)
     target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
   endif()
 
-  # Install test resources
-  install(
-    DIRECTORY test/resources
-    DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/test)
+  ament_add_gtest(test_local_parameters test/test_local_parameters.cpp)
+  if(TARGET test_local_parameters)
+    ament_target_dependencies(test_local_parameters
+      "rcl_interfaces"
+      "rmw"
+      "rosidl_generator_cpp"
+      "rosidl_typesupport_cpp"
+    )
+    target_link_libraries(test_local_parameters ${PROJECT_NAME})
+  endif()
 endif()
 
 ament_package()

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -184,12 +184,10 @@ public:
     } 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_ ||
+      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 "
+        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");
@@ -211,8 +209,7 @@ public:
     } 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"
+      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");

rclcpp/include/rclcpp/callback_group.hpp

@@ -21,9 +21,9 @@
 #include <vector>
 
 #include "rclcpp/client.hpp"
-#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/publisher.hpp"
 #include "rclcpp/service.hpp"
-#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/subscription.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/waitable.hpp"
@@ -62,40 +62,25 @@ public:
   RCLCPP_PUBLIC
   explicit CallbackGroup(CallbackGroupType group_type);
 
-  template<typename Function>
-  rclcpp::SubscriptionBase::SharedPtr
-  find_subscription_ptrs_if(Function func) const
-  {
-    return _find_ptrs_if_impl<rclcpp::SubscriptionBase, Function>(func, subscription_ptrs_);
-  }
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::SubscriptionBase::WeakPtr> &
+  get_subscription_ptrs() const;
 
-  template<typename Function>
-  rclcpp::TimerBase::SharedPtr
-  find_timer_ptrs_if(Function func) const
-  {
-    return _find_ptrs_if_impl<rclcpp::TimerBase, Function>(func, timer_ptrs_);
-  }
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::TimerBase::WeakPtr> &
+  get_timer_ptrs() const;
 
-  template<typename Function>
-  rclcpp::ServiceBase::SharedPtr
-  find_service_ptrs_if(Function func) const
-  {
-    return _find_ptrs_if_impl<rclcpp::ServiceBase, Function>(func, service_ptrs_);
-  }
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::ServiceBase::WeakPtr> &
+  get_service_ptrs() const;
 
-  template<typename Function>
-  rclcpp::ClientBase::SharedPtr
-  find_client_ptrs_if(Function func) const
-  {
-    return _find_ptrs_if_impl<rclcpp::ClientBase, Function>(func, client_ptrs_);
-  }
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::ClientBase::WeakPtr> &
+  get_client_ptrs() const;
 
-  template<typename Function>
-  rclcpp::Waitable::SharedPtr
-  find_waitable_ptrs_if(Function func) const
-  {
-    return _find_ptrs_if_impl<rclcpp::Waitable, Function>(func, waitable_ptrs_);
-  }
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::Waitable::WeakPtr> &
+  get_waitable_ptrs() const;
 
   RCLCPP_PUBLIC
   std::atomic_bool &
@@ -145,21 +130,6 @@ protected:
   std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
   std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
   std::atomic_bool can_be_taken_from_;
-
-private:
-  template<typename TypeT, typename Function>
-  typename TypeT::SharedPtr _find_ptrs_if_impl(
-    Function func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-    for (auto & weak_ptr : vect_ptrs) {
-      auto ref_ptr = weak_ptr.lock();
-      if (ref_ptr && func(ref_ptr)) {
-        return ref_ptr;
-      }
-    }
-    return typename TypeT::SharedPtr();
-  }
 };
 
 }  // namespace callback_group

rclcpp/include/rclcpp/clock.hpp

@@ -105,9 +105,9 @@ public:
    *
    * 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
+   * \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.

rclcpp/include/rclcpp/create_client.hpp

@@ -1,56 +0,0 @@
-// 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_CLIENT_HPP_
-#define RCLCPP__CREATE_CLIENT_HPP_
-
-#include <memory>
-#include <string>
-
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_services_interface.hpp"
-#include "rmw/rmw.h"
-
-namespace rclcpp
-{
-
-/// Create a service client with a given type.
-/// \internal
-template<typename ServiceT>
-typename rclcpp::Client<ServiceT>::SharedPtr
-create_client(
-  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-  std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,
-  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
-  const std::string & service_name,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
-{
-  rcl_client_options_t options = rcl_client_get_default_options();
-  options.qos = qos_profile;
-
-  auto cli = rclcpp::Client<ServiceT>::make_shared(
-    node_base.get(),
-    node_graph,
-    service_name,
-    options);
-
-  auto cli_base_ptr = std::dynamic_pointer_cast<rclcpp::ClientBase>(cli);
-  node_services->add_client(cli_base_ptr, group);
-  return cli;
-}
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__CREATE_CLIENT_HPP_

rclcpp/include/rclcpp/create_publisher.hpp

@@ -29,6 +29,36 @@
 namespace rclcpp
 {
 
+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)
+{
+  auto publisher_options = rcl_publisher_get_default_options();
+  publisher_options.qos = qos_profile;
+
+  auto pub = node_topics->create_publisher(
+    topic_name,
+    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(event_callbacks, allocator),
+    publisher_options,
+    use_intra_process_comms);
+
+  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()
@@ -37,7 +67,7 @@ namespace rclcpp
 template<
   typename MessageT,
   typename AllocatorT = std::allocator<void>,
-  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
+  typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>,
   typename NodeT>
 std::shared_ptr<PublisherT>
 create_publisher(
@@ -46,23 +76,43 @@ create_publisher(
   const rclcpp::QoS & qos,
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-  )
-)
+))
 {
-  // Extract the NodeTopicsInterface from the NodeT.
   using rclcpp::node_interfaces::get_node_topics_interface;
   auto node_topics = get_node_topics_interface(node);
 
-  // Create the publisher.
+  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),
-    qos
+    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(
+      options.event_callbacks,
+      allocator
+    ),
+    options.template to_rcl_publisher_options<MessageT>(qos),
+    use_intra_process
   );
-
-  // Add the publisher to the node topics interface.
   node_topics->add_publisher(pub, options.callback_group);
-
   return std::dynamic_pointer_cast<PublisherT>(pub);
 }
 

rclcpp/include/rclcpp/create_subscription.hpp

@@ -29,6 +29,49 @@
 namespace rclcpp
 {
 
+template<
+  typename MessageT,
+  typename CallbackT,
+  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,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT, AllocatorT>::SharedPtr
+  msg_mem_strat,
+  typename std::shared_ptr<AllocatorT> allocator)
+{
+  auto subscription_options = rcl_subscription_get_default_options();
+  subscription_options.qos = qos_profile;
+  subscription_options.ignore_local_publications = ignore_local_publications;
+
+  auto factory = rclcpp::create_subscription_factory
+    <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
+    std::forward<CallbackT>(callback),
+    event_callbacks,
+    msg_mem_strat,
+    allocator);
+
+  auto sub = node_topics->create_subscription(
+    topic_name,
+    factory,
+    subscription_options,
+    use_intra_process_comms);
+  node_topics->add_subscription(sub, group);
+  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()
@@ -42,10 +85,6 @@ template<
   typename CallbackMessageT =
   typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
   typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >,
   typename NodeT>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
@@ -56,21 +95,48 @@ create_subscription(
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   ),
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-    MessageMemoryStrategyT::create_default()
-  )
-)
+  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));
 
-  auto factory = rclcpp::create_subscription_factory<MessageT>(
-    std::forward<CallbackT>(callback),
-    options,
-    msg_mem_strat
-  );
+  if (!msg_mem_strat) {
+    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
+    msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, AllocatorT>::create_default();
+  }
 
-  auto sub = node_topics->create_subscription(topic_name, factory, qos);
+  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);
 }

rclcpp/include/rclcpp/create_timer.hpp

@@ -20,8 +20,8 @@
 #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/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"
 

rclcpp/include/rclcpp/detail/README.md

@@ -1,3 +0,0 @@
-Notice that headers in this folder should only provide symbols in the rclcpp::detail namespace.
-
-Also that these headers are not considered part of the public API and are subject to change without notice.

rclcpp/include/rclcpp/detail/resolve_use_intra_process.hpp

@@ -1,55 +0,0 @@
-// 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__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_
-#define RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_
-
-#include <stdexcept>
-
-#include "rclcpp/intra_process_setting.hpp"
-
-namespace rclcpp
-{
-
-namespace detail
-{
-
-template<typename OptionsT, typename NodeBaseT>
-bool
-resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)
-{
-  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_base.get_use_intra_process_default();
-      break;
-    default:
-      throw std::runtime_error("Unrecognized IntraProcessSetting value");
-      break;
-  }
-
-  return use_intra_process;
-}
-
-}  // namespace detail
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_

rclcpp/include/rclcpp/duration.hpp

@@ -28,12 +28,10 @@ class RCLCPP_PUBLIC Duration
 public:
   Duration(int32_t seconds, uint32_t nanoseconds);
 
-  // This constructor matches any numeric value - ints or floats
   explicit Duration(rcl_duration_value_t nanoseconds);
 
   explicit Duration(std::chrono::nanoseconds nanoseconds);
 
-  // This constructor matches any std::chrono value other than nanoseconds
   // intentionally not using explicit to create a conversion constructor
   template<class Rep, class Period>
   // cppcheck-suppress noExplicitConstructor
@@ -57,11 +55,14 @@ public:
   operator=(const Duration & rhs);
 
   Duration &
-  operator=(const builtin_interfaces::msg::Duration & Duration_msg);
+  operator=(const builtin_interfaces::msg::Duration & duration_msg);
 
   bool
   operator==(const rclcpp::Duration & rhs) const;
 
+  bool
+  operator!=(const rclcpp::Duration & rhs) const;
+
   bool
   operator<(const rclcpp::Duration & rhs) const;
 
@@ -96,10 +97,6 @@ public:
   double
   seconds() const;
 
-  // Create a duration object from a floating point number representing seconds
-  static Duration
-  from_seconds(double seconds);
-
   template<class DurationT>
   DurationT
   to_chrono() const

rclcpp/include/rclcpp/exceptions.hpp

@@ -17,14 +17,11 @@
 
 #include <stdexcept>
 #include <string>
-#include <vector>
 
 #include "rcl/error_handling.h"
 #include "rcl/types.h"
 #include "rclcpp/visibility_control.hpp"
 
-#include "rcpputils/join.hpp"
-
 namespace rclcpp
 {
 namespace exceptions
@@ -170,31 +167,6 @@ public:
   RCLInvalidArgument(const RCLErrorBase & base_exc, const std::string & prefix);
 };
 
-/// Created when the ret is RCL_RET_INVALID_ROS_ARGS.
-class RCLInvalidROSArgsError : public RCLErrorBase, public std::runtime_error
-{
-public:
-  RCLCPP_PUBLIC
-  RCLInvalidROSArgsError(
-    rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
-  RCLCPP_PUBLIC
-  RCLInvalidROSArgsError(const RCLErrorBase & base_exc, const std::string & prefix);
-};
-
-/// Thrown when unparsed ROS specific arguments are found.
-class UnknownROSArgsError : public std::runtime_error
-{
-public:
-  explicit UnknownROSArgsError(std::vector<std::string> && unknown_ros_args_in)
-  : std::runtime_error(
-      "found unknown ROS arguments: '" + rcpputils::join(unknown_ros_args_in, "', '") + "'"),
-    unknown_ros_args(unknown_ros_args_in)
-  {
-  }
-
-  const std::vector<std::string> unknown_ros_args;
-};
-
 /// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
 class InvalidEventError : public std::runtime_error
 {
@@ -247,13 +219,6 @@ class ParameterImmutableException : public std::runtime_error
   using std::runtime_error::runtime_error;
 };
 
-/// Thrown if parameter is modified while in a set callback.
-class ParameterModifiedInCallbackException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
 }  // namespace exceptions
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/executor.hpp

@@ -35,6 +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
 {
@@ -48,7 +49,6 @@ namespace executor
 /// Return codes to be used with spin_until_future_complete.
 /**
  * SUCCESS: The future is complete and can be accessed with "get" without blocking.
- *          This does not indicate that the operation succeeded; "get" may still throw an exception.
  * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
  * TIMEOUT: Spinning timed out.
  */
@@ -212,8 +212,8 @@ public:
 
   /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
   /**
-   * \param[in] future The future to wait on. If this function returns SUCCESS, the future can be
-   *   accessed without blocking (though it may still throw an exception).
+   * \param[in] future The future to wait on. If SUCCESS, the future is safe to access after this
+   *   function.
    * \param[in] timeout Optional timeout parameter, which gets passed to Executor::spin_node_once.
    *   `-1` is block forever, `0` is non-blocking.
    *   If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return
@@ -244,9 +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) {
@@ -334,6 +339,10 @@ protected:
   rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
+  RCLCPP_PUBLIC
+  void
+  get_next_timer(AnyExecutable & any_exec);
+
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
@@ -365,6 +374,10 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(Executor)
 
+  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_;
 };

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
 #define RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
 
-#include <chrono>
 #include <memory>
 #include <mutex>
 #include <set>
@@ -49,13 +48,13 @@ 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(
     const executor::ExecutorArgs & args = executor::ExecutorArgs(),
     size_t number_of_threads = 0,
-    bool yield_before_execute = false,
-    std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
+    bool yield_before_execute = false);
 
   RCLCPP_PUBLIC
   virtual ~MultiThreadedExecutor();
@@ -79,7 +78,6 @@ private:
   std::mutex wait_mutex_;
   size_t number_of_threads_;
   bool yield_before_execute_;
-  std::chrono::nanoseconds next_exec_timeout_;
 
   std::set<TimerBase::SharedPtr> scheduled_timers_;
 };

rclcpp/include/rclcpp/function_traits.hpp

@@ -88,8 +88,7 @@ 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
@@ -106,8 +105,7 @@ struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...) co
 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(__cdecl ClassT::*)(Args ...) const, FArgs ...>
->
+  std::_Binder<std::_Unforced, ReturnTypeT (ClassT::*)(Args ...) const, FArgs ...>>
 #else
 #error "Unsupported C++ compiler / standard library"
 #endif
@@ -121,7 +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/memory_strategy.hpp

@@ -79,11 +79,6 @@ public:
     rclcpp::executor::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
-  virtual void
-  get_next_timer(
-    rclcpp::executor::AnyExecutable & any_exec,
-    const WeakNodeList & weak_nodes) = 0;
-
   virtual void
   get_next_waitable(
     rclcpp::executor::AnyExecutable & any_exec,
@@ -107,11 +102,6 @@ public:
     std::shared_ptr<const rcl_client_t> client_handle,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::TimerBase::SharedPtr
-  get_timer_by_handle(
-    std::shared_ptr<const rcl_timer_t> timer_handle,
-    const WeakNodeList & weak_nodes);
-
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
     rclcpp::callback_group::CallbackGroup::SharedPtr group,
@@ -132,11 +122,6 @@ public:
     rclcpp::ClientBase::SharedPtr client,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
-  get_group_by_timer(
-    rclcpp::TimerBase::SharedPtr timer,
-    const WeakNodeList & weak_nodes);
-
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_waitable(
     rclcpp::Waitable::SharedPtr waitable,

rclcpp/include/rclcpp/message_memory_strategy.hpp

@@ -95,17 +95,16 @@ public:
       rclcpp::exceptions::throw_from_rcl_error(ret);
     }
 
-    auto serialized_msg = std::shared_ptr<rcl_serialized_message_t>(
-      msg,
-      [](rmw_serialized_message_t * msg) {
-        auto ret = rmw_serialized_message_fini(msg);
-        delete msg;
-        if (ret != RCL_RET_OK) {
-          RCUTILS_LOG_ERROR_NAMED(
-            "rclcpp",
-            "failed to destroy serialized message: %s", rcl_get_error_string().str);
-        }
-      });
+    auto serialized_msg = std::shared_ptr<rcl_serialized_message_t>(msg,
+        [](rmw_serialized_message_t * msg) {
+          auto ret = rmw_serialized_message_fini(msg);
+          delete msg;
+          if (ret != RCL_RET_OK) {
+            RCUTILS_LOG_ERROR_NAMED(
+              "rclcpp",
+              "failed to destroy serialized message: %s", rcl_get_error_string().str);
+          }
+        });
 
     return serialized_msg;
   }

rclcpp/include/rclcpp/node.hpp

@@ -151,17 +151,15 @@ public:
    *
    * For example, all of these cases will work:
    *
-   * ```cpp
-   * 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().volatile());
-   * {
-   *   rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
-   *   pub = node->create_publisher<MsgT>("chatter", custom_qos);
-   * }
-   * ```
+   *   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.
@@ -174,7 +172,7 @@ public:
   template<
     typename MessageT,
     typename AllocatorT = std::allocator<void>,
-    typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
+    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
   std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name,
@@ -183,6 +181,44 @@ public:
     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 Custom allocator.
+   * \return Shared pointer to the created publisher.
+   */
+  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 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<AllocatorT> allocator);
+
+  /// Create and return a Publisher.
+  /**
+   * \param[in] topic_name The topic for this publisher to publish on.
+   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
+   * \param[in] allocator Optional custom allocator.
+   * \return Shared pointer to the created publisher.
+   */
+  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 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<AllocatorT> allocator = nullptr);
+
   /// Create and return a Subscription.
   /**
    * \param[in] topic_name The topic to subscribe on.
@@ -192,18 +228,16 @@ public:
    * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
    * \return Shared pointer to the created subscription.
    */
+  /* TODO(jacquelinekay):
+     Windows build breaks when static member function passed as default
+     argument to msg_mem_strat, nullptr is a workaround.
+   */
   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 MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      CallbackMessageT,
-      AllocatorT
-    >
-  >
+    typename SubscriptionT = rclcpp::Subscription<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>>
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
@@ -211,10 +245,84 @@ public:
     CallbackT && callback,
     const SubscriptionOptionsWithAllocator<AllocatorT> & options =
     SubscriptionOptionsWithAllocator<AllocatorT>(),
-    typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-      MessageMemoryStrategyT::create_default()
-    )
-  );
+    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT
+    >::SharedPtr
+    msg_mem_strat = nullptr);
+
+  /// Create and return a Subscription.
+  /**
+   * \param[in] topic_name The topic to subscribe on.
+   * \param[in] callback The user-defined callback function.
+   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
+   * \param[in] group The callback group for this subscription. NULL for no callback group.
+   * \param[in] ignore_local_publications True to ignore local publications.
+   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
+   * \param[in] allocator Optional custom allocator.
+   * \return Shared pointer to the created subscription.
+   */
+  /* TODO(jacquelinekay):
+     Windows build breaks when static member function passed as default
+     argument to msg_mem_strat, nullptr is a workaround.
+   */
+  template<
+    typename MessageT,
+    typename CallbackT,
+    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,
+    CallbackT && callback,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
+    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);
+
+  /// Create and return a Subscription.
+  /**
+   * \param[in] topic_name The topic to subscribe on.
+   * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
+   * \param[in] callback The user-defined callback function.
+   * \param[in] group The callback group for this subscription. NULL for no callback group.
+   * \param[in] ignore_local_publications True to ignore local publications.
+   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
+   * \param[in] allocator Optional custom allocator.
+   * \return Shared pointer to the created subscription.
+   */
+  /* TODO(jacquelinekay):
+     Windows build breaks when static member function passed as default
+     argument to msg_mem_strat, nullptr is a workaround.
+   */
+  template<
+    typename MessageT,
+    typename CallbackT,
+    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,
+    CallbackT && callback,
+    size_t qos_history_depth,
+    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);
 
   /// Create a timer.
   /**
@@ -229,7 +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(
@@ -237,7 +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(
@@ -261,8 +382,6 @@ public:
    * are ignored, and should be specified using the name argument to this
    * function and the default value's type instead.
    *
-   * If `ignore_override` is `true`, the parameter override will be ignored.
-   *
    * 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
@@ -276,8 +395,6 @@ public:
    *   did not override it.
    * \param[in] parameter_descriptor An optional, custom description for
    *   the parameter.
-   * \param[in] ignore_override When `true`, the parameter override is ignored.
-   *    Default to `false`.
    * \return A const reference to the value of the parameter.
    * \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
    *   has already been declared.
@@ -292,8 +409,7 @@ public:
     const std::string & name,
     const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false);
+    rcl_interfaces::msg::ParameterDescriptor());
 
   /// Declare and initialize a parameter with a type.
   /**
@@ -322,8 +438,7 @@ public:
     const std::string & name,
     const ParameterT & default_value,
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false);
+    rcl_interfaces::msg::ParameterDescriptor());
 
   /// Declare and initialize several parameters with the same namespace and type.
   /**
@@ -338,12 +453,11 @@ public:
    * expanding "namespace.key".
    * This allows you to declare several parameters at once without a namespace.
    *
-   * The map contains default values for parameters.
-   * There is another overload which takes the std::pair with the default value
-   * and descriptor.
-   *
-   * If `ignore_overrides` is `true`, all the overrides of the parameters declared
-   * by the function call will be ignored.
+   * 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.
@@ -352,8 +466,6 @@ public:
    *
    * \param[in] namespace_ The namespace in which to declare the parameters.
    * \param[in] parameters The parameters to set in the given namespace.
-   * \param[in] ignore_overrides When `true`, the parameters overrides are ignored.
-   *    Default to `false`.
    * \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
    *   has already been declared.
    * \throws rclcpp::exceptions::InvalidParametersException if a parameter
@@ -365,8 +477,7 @@ public:
   std::vector<ParameterT>
   declare_parameters(
     const std::string & namespace_,
-    const std::map<std::string, ParameterT> & parameters,
-    bool ignore_overrides = false);
+    const std::map<std::string, ParameterT> & parameters);
 
   /// Declare and initialize several parameters with the same namespace and type.
   /**
@@ -382,8 +493,7 @@ public:
     const std::map<
       std::string,
       std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
-    > & parameters,
-    bool ignore_overrides = false);
+    > & parameters);
 
   /// Undeclare a previously declared parameter.
   /**
@@ -514,6 +624,38 @@ 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 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 ParameterT>
+  [[deprecated("use declare_parameters() instead")]]
+  void
+  set_parameters_if_not_set(
+    const std::string & name,
+    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
@@ -657,6 +799,28 @@ public:
     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
+   * in the parameter.
+   * 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 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
@@ -727,12 +891,10 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
-  using OnSetParametersCallbackHandle =
-    rclcpp::node_interfaces::OnSetParametersCallbackHandle;
   using OnParametersSetCallbackType =
     rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
 
-  /// Add a callback for when parameters are being set.
+  /// 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
@@ -742,21 +904,19 @@ public:
    *
    * For an example callback:
    *
-   * ```cpp
-   * 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";
+   *   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;
    *   }
-   *   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.
@@ -770,68 +930,9 @@ public:
    *
    * Some constraints like read_only are enforced before the callback is called.
    *
-   * The callback may introspect other already set parameters (by calling any
-   * of the {get,list,describe}_parameter() methods), but may *not* modify
-   * other parameters (by calling any of the {set,declare}_parameter() methods)
-   * or modify the registered callback itself (by calling the
-   * set_on_parameters_set_callback() method).  If a callback tries to do any
-   * of the latter things,
-   * rclcpp::exceptions::ParameterModifiedInCallbackException will be thrown.
-   *
-   * The callback functions must remain valid as long as the
-   * returned smart pointer is valid.
-   * The returned smart pointer can be promoted to a shared version.
-   *
-   * Resetting or letting the smart pointer go out of scope unregisters the callback.
-   * `remove_on_set_parameters_callback` can also be used.
-   *
-   * The registered callbacks are called when a parameter is set.
-   * When a callback returns a not successful result, the remaining callbacks aren't called.
-   * The order of the callback is the reverse from the registration order.
-   *
-   * \param callback The callback to register.
-   * \returns A shared pointer. The callback is valid as long as the smart pointer is alive.
-   * \throws std::bad_alloc if the allocation of the OnSetParametersCallbackHandle fails.
-   */
-  RCLCPP_PUBLIC
-  OnSetParametersCallbackHandle::SharedPtr
-  add_on_set_parameters_callback(OnParametersSetCallbackType callback);
-
-  /// Remove a callback registered with `add_on_set_parameters_callback`.
-  /**
-   * Delete a handler returned by `add_on_set_parameters_callback`.
-   *
-   * e.g.:
-   *
-   *    `remove_on_set_parameters_callback(scoped_callback.get())`
-   *
-   * As an alternative, the smart pointer can be reset:
-   *
-   *    `scoped_callback.reset()`
-   *
-   * Supposing that `scoped_callback` was the only owner.
-   *
-   * Calling `remove_on_set_parameters_callback` more than once with the same handler,
-   * or calling it after the shared pointer has been reset is an error.
-   * Resetting or letting the smart pointer go out of scope after calling
-   * `remove_on_set_parameters_callback` is not a problem.
-   *
-   * \param handler The callback handler to remove.
-   * \throws std::runtime_error if the handler was not created with `add_on_set_parameters_callback`,
-   *   or if it has been removed before.
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
-
-  /// Register a callback to be called anytime a parameter is about to be changed.
-  /**
-   * With this method, only one callback can be set at a time. The callback that was previously
-   * set by this method is returned or `nullptr` if no callback was previously set.
-   *
-   * The callbacks added with `add_on_set_parameters_callback` are stored in a different place.
-   * `remove_on_set_parameters_callback` can't be used with the callbacks registered with this
-   * method. For removing it, use `set_on_parameters_set_callback(nullptr)`.
+   * 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.
@@ -839,9 +940,20 @@ public:
    *   otherwise nullptr.
    */
   RCLCPP_PUBLIC
-  OnParametersSetCallbackType
+  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.
+   */
+  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.
@@ -956,17 +1068,15 @@ public:
    *
    * For example, consider:
    *
-   * ```cpp
-   * auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
-   * node->get_sub_namespace();  // -> ""
-   * auto sub_node1 = node->create_sub_node("a");
-   * sub_node1->get_sub_namespace();  // -> "a"
-   * auto sub_node2 = sub_node1->create_sub_node("b");
-   * sub_node2->get_sub_namespace();  // -> "a/b"
-   * auto sub_node3 = node->create_sub_node("foo");
-   * sub_node3->get_sub_namespace();  // -> "foo"
-   * node->get_sub_namespace();  // -> ""
-   * ```
+   *   auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
+   *   node->get_sub_namespace();  // -> ""
+   *   auto sub_node1 = node->create_sub_node("a");
+   *   sub_node1->get_sub_namespace();  // -> "a"
+   *   auto sub_node2 = sub_node1->create_sub_node("b");
+   *   sub_node2->get_sub_namespace();  // -> "a/b"
+   *   auto sub_node3 = node->create_sub_node("foo");
+   *   sub_node3->get_sub_namespace();  // -> "foo"
+   *   node->get_sub_namespace();  // -> ""
    *
    * get_namespace() will return the original node namespace, and will not
    * include the sub-namespace if one exists.
@@ -988,17 +1098,15 @@ public:
    *
    * For example, consider:
    *
-   * ```cpp
-   * auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
-   * node->get_effective_namespace();  // -> "/my_ns"
-   * auto sub_node1 = node->create_sub_node("a");
-   * sub_node1->get_effective_namespace();  // -> "/my_ns/a"
-   * auto sub_node2 = sub_node1->create_sub_node("b");
-   * sub_node2->get_effective_namespace();  // -> "/my_ns/a/b"
-   * auto sub_node3 = node->create_sub_node("foo");
-   * sub_node3->get_effective_namespace();  // -> "/my_ns/foo"
-   * node->get_effective_namespace();  // -> "/my_ns"
-   * ```
+   *   auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
+   *   node->get_effective_namespace();  // -> "/my_ns"
+   *   auto sub_node1 = node->create_sub_node("a");
+   *   sub_node1->get_effective_namespace();  // -> "/my_ns/a"
+   *   auto sub_node2 = sub_node1->create_sub_node("b");
+   *   sub_node2->get_effective_namespace();  // -> "/my_ns/a/b"
+   *   auto sub_node3 = node->create_sub_node("foo");
+   *   sub_node3->get_effective_namespace();  // -> "/my_ns/foo"
+   *   node->get_effective_namespace();  // -> "/my_ns"
    *
    * \sa get_namespace()
    * \sa get_sub_namespace()

rclcpp/include/rclcpp/node_impl.hpp

@@ -36,7 +36,6 @@
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/create_client.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"
 #include "rclcpp/create_subscription.hpp"
@@ -79,20 +78,48 @@ Node::create_publisher(
     options);
 }
 
+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<AllocatorT> allocator)
+{
+  PublisherOptionsWithAllocator<AllocatorT> pub_options;
+  pub_options.allocator = allocator;
+  return this->create_publisher<MessageT, AllocatorT, PublisherT>(
+    topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), pub_options);
+}
+
+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<AllocatorT> allocator)
+{
+  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
+  qos.get_rmw_qos_profile() = qos_profile;
+
+  PublisherOptionsWithAllocator<AllocatorT> pub_options;
+  pub_options.allocator = allocator;
+  return this->create_publisher<MessageT, AllocatorT, PublisherT>(topic_name, qos, pub_options);
+}
+
 template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename CallbackMessageT,
-  typename SubscriptionT,
-  typename MessageMemoryStrategyT>
+  typename SubscriptionT>
 std::shared_ptr<SubscriptionT>
 Node::create_subscription(
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   CallbackT && callback,
   const SubscriptionOptionsWithAllocator<AllocatorT> & options,
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>::SharedPtr
+  msg_mem_strat)
 {
   return rclcpp::create_subscription<MessageT>(
     *this,
@@ -103,6 +130,65 @@ Node::create_subscription(
     msg_mem_strat);
 }
 
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename Alloc,
+  typename SubscriptionT>
+std::shared_ptr<SubscriptionT>
+Node::create_subscription(
+  const std::string & topic_name,
+  CallbackT && callback,
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  bool ignore_local_publications,
+  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)
+{
+  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
+  qos.get_rmw_qos_profile() = qos_profile;
+
+  SubscriptionOptionsWithAllocator<Alloc> sub_options;
+  sub_options.callback_group = group;
+  sub_options.ignore_local_publications = ignore_local_publications;
+  sub_options.allocator = allocator;
+
+  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
+    topic_name, qos, std::forward<CallbackT>(callback), sub_options, msg_mem_strat);
+}
+
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename Alloc,
+  typename SubscriptionT>
+std::shared_ptr<SubscriptionT>
+Node::create_subscription(
+  const std::string & topic_name,
+  CallbackT && callback,
+  size_t qos_history_depth,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  bool ignore_local_publications,
+  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)
+{
+  SubscriptionOptionsWithAllocator<Alloc> sub_options;
+  sub_options.callback_group = group;
+  sub_options.ignore_local_publications = ignore_local_publications;
+  sub_options.allocator = allocator;
+
+  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
+    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>
 typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
@@ -125,13 +211,21 @@ Node::create_client(
   const rmw_qos_profile_t & qos_profile,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  return rclcpp::create_client<ServiceT>(
-    node_base_,
+  rcl_client_options_t options = rcl_client_get_default_options();
+  options.qos = qos_profile;
+
+  using rclcpp::Client;
+  using rclcpp::ClientBase;
+
+  auto cli = Client<ServiceT>::make_shared(
+    node_base_.get(),
     node_graph_,
-    node_services_,
     extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
-    qos_profile,
-    group);
+    options);
+
+  auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
+  node_services_->add_client(cli_base_ptr, group);
+  return cli;
 }
 
 template<typename ServiceT, typename CallbackT>
@@ -156,14 +250,12 @@ auto
 Node::declare_parameter(
   const std::string & name,
   const ParameterT & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
-  bool ignore_override)
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
 {
   return this->declare_parameter(
     name,
     rclcpp::ParameterValue(default_value),
-    parameter_descriptor,
-    ignore_override
+    parameter_descriptor
   ).get<ParameterT>();
 }
 
@@ -171,19 +263,14 @@ template<typename ParameterT>
 std::vector<ParameterT>
 Node::declare_parameters(
   const std::string & namespace_,
-  const std::map<std::string, ParameterT> & parameters,
-  bool ignore_overrides)
+  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, ignore_overrides](auto element) {
-      return this->declare_parameter(
-        normalized_namespace + element.first,
-        element.second,
-        rcl_interfaces::msg::ParameterDescriptor(),
-        ignore_overrides);
+    [this, &normalized_namespace](auto element) {
+      return this->declare_parameter(normalized_namespace + element.first, element.second);
     }
   );
   return result;
@@ -196,26 +283,62 @@ Node::declare_parameters(
   const std::map<
     std::string,
     std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
-  > & parameters,
-  bool ignore_overrides)
+  > & 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, ignore_overrides](auto element) {
+    [this, &normalized_namespace](auto element) {
       return static_cast<ParameterT>(
         this->declare_parameter(
           normalized_namespace + element.first,
           element.second.first,
-          element.second.second,
-          ignore_overrides)
+          element.second.second)
       );
     }
   );
   return result;
 }
 
+template<typename ParameterT>
+void
+Node::set_parameter_if_not_set(
+  const std::string & name,
+  const ParameterT & 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 ParameterT>
+void
+Node::set_parameters_if_not_set(
+  const std::string & name,
+  const std::map<std::string, ParameterT> & values)
+{
+  std::vector<rclcpp::Parameter> params;
+
+  for (const auto & val : values) {
+    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));
+    }
+  }
+
+  this->set_parameters(params);
+}
+
 template<typename ParameterT>
 bool
 Node::get_parameter(const std::string & name, ParameterT & parameter) const
@@ -268,6 +391,31 @@ Node::get_parameters(
   return result;
 }
 
+template<typename ParameterT>
+void
+Node::get_parameter_or_set(
+  const std::string & name,
+  ParameterT & value,
+  const ParameterT & alternative_value)
+{
+  std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
+
+  bool got_parameter = get_parameter(sub_name, value);
+  if (!got_parameter) {
+    this->set_parameters({
+        rclcpp::Parameter(sub_name, alternative_value),
+      });
+    value = alternative_value;
+  }
+}
+
+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/node_parameters.hpp

@@ -17,7 +17,6 @@
 
 #include <map>
 #include <memory>
-#include <list>
 #include <string>
 #include <vector>
 
@@ -51,30 +50,6 @@ struct ParameterInfo
   rcl_interfaces::msg::ParameterDescriptor descriptor;
 };
 
-// Internal RAII-style guard for mutation recursion
-class ParameterMutationRecursionGuard
-{
-public:
-  explicit ParameterMutationRecursionGuard(bool & allow_mod)
-  : allow_modification_(allow_mod)
-  {
-    if (!allow_modification_) {
-      throw rclcpp::exceptions::ParameterModifiedInCallbackException(
-              "cannot set or declare a parameter, or change the callback from within set callback");
-    }
-
-    allow_modification_ = false;
-  }
-
-  ~ParameterMutationRecursionGuard()
-  {
-    allow_modification_ = true;
-  }
-
-private:
-  bool & allow_modification_;
-};
-
 /// Implementation of the NodeParameters part of the Node API.
 class NodeParameters : public NodeParametersInterface
 {
@@ -105,8 +80,7 @@ public:
   declare_parameter(
     const std::string & name,
     const rclcpp::ParameterValue & default_value,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
-    bool ignore_override) override;
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor) override;
 
   RCLCPP_PUBLIC
   void
@@ -158,38 +132,26 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const override;
 
-  RCLCPP_PUBLIC
-  OnSetParametersCallbackHandle::SharedPtr
-  add_on_set_parameters_callback(OnParametersSetCallbackType callback) override;
-
-  RCLCPP_PUBLIC
-  void
-  remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
-
   RCLCPP_PUBLIC
   OnParametersSetCallbackType
   set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
 
+  [[deprecated("use set_on_parameters_set_callback() instead")]]
+  RCLCPP_PUBLIC
+  void
+  register_param_change_callback(OnParametersSetCallbackType callback) override;
+
   RCLCPP_PUBLIC
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;
 
-  using CallbacksContainerType = std::list<OnSetParametersCallbackHandle::WeakPtr>;
-
 private:
   RCLCPP_DISABLE_COPY(NodeParameters)
 
-  mutable std::recursive_mutex mutex_;
-
-  // There are times when we don't want to allow modifications to parameters
-  // (particularly when a set_parameter callback tries to call set_parameter,
-  // declare_parameter, etc).  In those cases, this will be set to false.
-  bool parameter_modification_enabled_{true};
+  mutable std::mutex mutex_;
 
   OnParametersSetCallbackType on_parameters_set_callback_ = nullptr;
 
-  CallbacksContainerType on_parameters_set_callback_container_;
-
   std::map<std::string, ParameterInfo> parameters_;
 
   std::map<std::string, rclcpp::ParameterValue> parameter_overrides_;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
 
 #include <map>
-#include <memory>
 #include <string>
 #include <vector>
 
@@ -33,18 +32,6 @@ namespace rclcpp
 namespace node_interfaces
 {
 
-struct OnSetParametersCallbackHandle
-{
-  RCLCPP_SMART_PTR_DEFINITIONS(OnSetParametersCallbackHandle)
-
-  using OnParametersSetCallbackType =
-    std::function<
-    rcl_interfaces::msg::SetParametersResult(
-      const std::vector<rclcpp::Parameter> &)>;
-
-  OnParametersSetCallbackType callback;
-};
-
 /// Pure virtual interface class for the NodeParameters part of the Node API.
 class NodeParametersInterface
 {
@@ -66,8 +53,7 @@ public:
     const std::string & name,
     const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false) = 0;
+    rcl_interfaces::msg::ParameterDescriptor()) = 0;
 
   /// Undeclare a parameter.
   /**
@@ -171,25 +157,13 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const = 0;
 
-  using OnParametersSetCallbackType = OnSetParametersCallbackHandle::OnParametersSetCallbackType;
+  using OnParametersSetCallbackType =
+    std::function<
+    rcl_interfaces::msg::SetParametersResult(const std::vector<rclcpp::Parameter> &)
+    >;
 
-  /// Add a callback for when parameters are being set.
-  /**
-   * \sa rclcpp::Node::add_on_set_parameters_callback
-   */
-  RCLCPP_PUBLIC
-  virtual
-  OnSetParametersCallbackHandle::SharedPtr
-  add_on_set_parameters_callback(OnParametersSetCallbackType callback) = 0;
-
-  /// Remove a callback registered with `add_on_set_parameters_callback`.
-  /**
-   * \sa rclcpp::Node::remove_on_set_parameters_callback
-   */
-  RCLCPP_PUBLIC
-  virtual
-  void
-  remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) = 0;
+  using ParametersCallbackFunction [[deprecated("use OnParametersSetCallbackType instead")]] =
+    OnParametersSetCallbackType;
 
   /// Register a callback for when parameters are being set, return an existing one.
   /**
@@ -200,6 +174,12 @@ public:
   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(OnParametersSetCallbackType callback) = 0;
+
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -49,7 +49,8 @@ public:
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
-    const rclcpp::QoS & qos) override;
+    const rcl_publisher_options_t & publisher_options,
+    bool use_intra_process) override;
 
   RCLCPP_PUBLIC
   void
@@ -62,7 +63,8 @@ public:
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
-    const rclcpp::QoS & qos) override;
+    const rcl_subscription_options_t & subscription_options,
+    bool use_intra_process) override;
 
   RCLCPP_PUBLIC
   void

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -50,7 +50,8 @@ public:
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
-    const rclcpp::QoS & qos) = 0;
+    const rcl_publisher_options_t & publisher_options,
+    bool use_intra_process) = 0;
 
   RCLCPP_PUBLIC
   virtual
@@ -65,7 +66,8 @@ public:
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
-    const rclcpp::QoS & qos) = 0;
+    const rcl_subscription_options_t & subscription_options,
+    bool use_intra_process) = 0;
 
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_options.hpp

@@ -99,7 +99,7 @@ public:
   /// Set the arguments, return this for parameter idiom.
   /**
    * These arguments are used to extract remappings used by the node and other
-   * ROS specific settings, as well as user defined non-ROS arguments.
+   * settings.
    *
    * This will cause the internal rcl_node_options_t struct to be invalidated.
    */

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,
@@ -53,22 +62,31 @@ public:
     const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
     const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    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,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    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,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::Parameter>>
@@ -271,11 +289,7 @@ public:
   {
     return get_parameter_impl(
       parameter_name,
-      std::function<T()>([&parameter_name]() -> T
-      {
-        throw std::runtime_error("Parameter '" + parameter_name + "' is not set");
-      })
-    );
+      std::function<T()>([]() -> T {throw std::runtime_error("Parameter not set");}));
   }
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/parameter_events_filter.hpp

@@ -44,20 +44,16 @@ public:
    * \param[in] event The parameter event message to filter.
    * \param[in] names A list of parameter names of interest.
    * \param[in] types A list of the types of parameter events of iterest.
-   *    EventType NEW, DELETED, or CHANGED
-   *
-   * Example Usage:
-   *
-   * If you have recieved a parameter event and are only interested in parameters foo and
-   * bar being added or changed but don't care about deletion.
-   *
-   * ```cpp
-   * auto res = rclcpp::ParameterEventsFilter(
-   *   event_shared_ptr,
-   *   {"foo", "bar"},
-   *   {rclcpp::ParameterEventsFilter::EventType::NEW, rclcpp::ParameterEventsFilter::EventType::CHANGED});
-   * ```
-   */
+  *    EventType NEW, DELETED, or CHANGED
+  *
+  * Example Usage:
+  * If you have recieved a parameter event and are only interested in parameters foo and
+  * bar being added or changed but don't care about deletion.
+  *    auto res = rclcpp::ParameterEventsFilter(
+  *      event_shared_ptr,
+  *      {"foo", "bar"},
+  *      {rclcpp::ParameterEventsFilter::EventType::NEW, rclcpp::ParameterEventsFilter::EventType::CHANGED});
+  */
   RCLCPP_PUBLIC
   ParameterEventsFilter(
     rcl_interfaces::msg::ParameterEvent::SharedPtr event,

rclcpp/include/rclcpp/publisher.hpp

@@ -32,12 +32,9 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
-#include "rclcpp/detail/resolve_use_intra_process.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/publisher_options.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -45,79 +42,41 @@ namespace rclcpp
 {
 
 /// A publisher publishes messages of any type to a topic.
-template<typename MessageT, typename AllocatorT = std::allocator<void>>
+template<typename MessageT, typename Alloc = std::allocator<void>>
 class Publisher : public PublisherBase
 {
 public:
-  using MessageAllocatorTraits = allocator::AllocRebind<MessageT, AllocatorT>;
-  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAllocator, MessageT>;
+  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+  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, AllocatorT>)
+  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, Alloc>)
 
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
-    const rclcpp::QoS & qos,
-    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+    const rcl_publisher_options_t & publisher_options,
+    const PublisherEventCallbacks & event_callbacks,
+    const std::shared_ptr<MessageAlloc> & allocator)
   : PublisherBase(
       node_base,
       topic,
       *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
-      options.template to_rcl_publisher_options<MessageT>(qos)),
-    options_(options),
-    message_allocator_(new MessageAllocator(*options.get_allocator().get()))
+      publisher_options),
+    message_allocator_(allocator)
   {
     allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
 
-    if (options_.event_callbacks.deadline_callback) {
-      this->add_event_handler(
-        options_.event_callbacks.deadline_callback,
+    if (event_callbacks.deadline_callback) {
+      this->add_event_handler(event_callbacks.deadline_callback,
         RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
     }
-    if (options_.event_callbacks.liveliness_callback) {
-      this->add_event_handler(
-        options_.event_callbacks.liveliness_callback,
+    if (event_callbacks.liveliness_callback) {
+      this->add_event_handler(event_callbacks.liveliness_callback,
         RCL_PUBLISHER_LIVELINESS_LOST);
     }
-
-    // Setup continues in the post construction method, post_init_setup().
-  }
-
-  /// Called post construction, so that construction may continue after shared_from_this() works.
-  virtual
-  void
-  post_init_setup(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    const std::string & topic,
-    const rclcpp::QoS & qos,
-    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
-  {
-    // Topic is unused for now.
-    (void)topic;
-
-    // If needed, setup intra process communication.
-    if (rclcpp::detail::resolve_use_intra_process(options_, *node_base)) {
-      auto context = node_base->get_context();
-      // 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.
-      if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
-        throw std::invalid_argument(
-                "intraprocess communication is not allowed with keep all history qos policy");
-      }
-      if (qos.get_rmw_qos_profile().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(this->shared_from_this());
-      this->setup_intra_process(
-        intra_process_publisher_id,
-        ipm,
-        options.template to_rcl_publisher_options<MessageT>(qos));
-    }
   }
 
   virtual ~Publisher()
@@ -128,7 +87,7 @@ public:
   {
     return mapped_ring_buffer::MappedRingBuffer<
       MessageT,
-      typename Publisher<MessageT, AllocatorT>::MessageAllocator
+      typename Publisher<MessageT, Alloc>::MessageAlloc
     >::make_shared(size, this->get_allocator());
   }
 
@@ -168,6 +127,18 @@ public:
     }
   }
 
+// 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<const MessageT> & msg)
+  {
+    publish(*msg);
+  }
+
   virtual void
   publish(const MessageT & msg)
   {
@@ -179,20 +150,55 @@ public:
     // 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 = MessageAllocatorTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocatorTraits::construct(*message_allocator_.get(), ptr, msg);
+    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
+    MessageAllocTraits::construct(*message_allocator_.get(), ptr, msg);
     MessageUniquePtr unique_msg(ptr, message_deleter_);
     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)
+  {
+    if (!msg) {
+      throw std::runtime_error("msg argument is nullptr");
+    }
+    return this->publish(*msg);
+  }
+
   void
   publish(const rcl_serialized_message_t & serialized_msg)
   {
     return this->do_serialized_publish(&serialized_msg);
   }
 
-  std::shared_ptr<MessageAllocator>
-  get_allocator() const
+// 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->do_serialized_publish(serialized_msg.get());
+  }
+
+  std::shared_ptr<MessageAlloc> get_allocator() const
   {
     return message_allocator_;
   }
@@ -266,7 +272,7 @@ protected:
       throw std::runtime_error("cannot publisher msg which is a null pointer");
     }
     uint64_t message_seq =
-      ipm->template store_intra_process_message<MessageT, AllocatorT>(publisher_id, msg);
+      ipm->template store_intra_process_message<MessageT, Alloc>(publisher_id, msg);
     return message_seq;
   }
 
@@ -284,13 +290,11 @@ protected:
       throw std::runtime_error("cannot publisher msg which is a null pointer");
     }
     uint64_t message_seq =
-      ipm->template store_intra_process_message<MessageT, AllocatorT>(publisher_id, std::move(msg));
+      ipm->template store_intra_process_message<MessageT, Alloc>(publisher_id, std::move(msg));
     return message_seq;
   }
 
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> options_;
-
-  std::shared_ptr<MessageAllocator> message_allocator_;
+  std::shared_ptr<MessageAlloc> message_allocator_;
 
   MessageDeleter message_deleter_;
 };

rclcpp/include/rclcpp/publisher_base.hpp

@@ -52,7 +52,7 @@ namespace intra_process_manager
 class IntraProcessManager;
 }
 
-class PublisherBase : public std::enable_shared_from_this<PublisherBase>
+class PublisherBase
 {
   friend ::rclcpp::node_interfaces::NodeTopicsInterface;
 
@@ -184,9 +184,8 @@ public:
 
   /// Implementation utility function that creates a typed mapped ring buffer.
   RCLCPP_PUBLIC
-  virtual
   mapped_ring_buffer::MappedRingBufferBase::SharedPtr
-  make_mapped_ring_buffer(size_t size) const;
+  virtual make_mapped_ring_buffer(size_t size) const;
 
   /// Implementation utility function used to setup intra process publishing after creation.
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/publisher_factory.hpp

@@ -24,7 +24,6 @@
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
 #include "rclcpp/publisher.hpp"
-#include "rclcpp/publisher_options.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -42,9 +41,6 @@ namespace rclcpp
  * called from a templated "create_publisher" method on the Node class, and
  * is passed to the non-templated "create_publisher" method on the NodeTopics
  * class where it is used to create and setup the Publisher.
- *
- * It also handles the two step construction of Publishers, first calling
- * the constructor and then the post_init_setup() method.
  */
 struct PublisherFactory
 {
@@ -53,33 +49,39 @@ struct PublisherFactory
     rclcpp::PublisherBase::SharedPtr(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-      const rclcpp::QoS & qos
-    )>;
+      const rcl_publisher_options_t & publisher_options)>;
 
-  const PublisherFactoryFunction create_typed_publisher;
+  PublisherFactoryFunction create_typed_publisher;
 };
 
-/// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, AllocatorT>.
-template<typename MessageT, typename AllocatorT, typename PublisherT>
+/// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, Alloc>.
+template<typename MessageT, typename Alloc, typename PublisherT>
 PublisherFactory
-create_publisher_factory(const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+create_publisher_factory(
+  const PublisherEventCallbacks & event_callbacks,
+  std::shared_ptr<Alloc> allocator)
 {
-  PublisherFactory factory {
-    // factory function that creates a MessageT specific PublisherT
-    [options](
-      rclcpp::node_interfaces::NodeBaseInterface * node_base,
-      const std::string & topic_name,
-      const rclcpp::QoS & qos
+  PublisherFactory factory;
+
+  // factory function that creates a MessageT specific PublisherT
+  factory.create_typed_publisher =
+    [event_callbacks, allocator](
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic_name,
+    const rcl_publisher_options_t & publisher_options
     ) -> std::shared_ptr<PublisherT>
     {
-      auto publisher = std::make_shared<PublisherT>(node_base, topic_name, qos, options);
-      // This is used for setting up things like intra process comms which
-      // require this->shared_from_this() which cannot be called from
-      // the constructor.
-      publisher->post_init_setup(node_base, topic_name, qos, options);
-      return publisher;
-    }
-  };
+      auto options_copy = publisher_options;
+      auto message_alloc = std::make_shared<typename PublisherT::MessageAlloc>(*allocator.get());
+      options_copy.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
+
+      return std::make_shared<PublisherT>(
+        node_base,
+        topic_name,
+        options_copy,
+        event_callbacks,
+        message_alloc);
+    };
 
   // return the factory now that it is populated
   return factory;

rclcpp/include/rclcpp/publisher_options.hpp

@@ -19,21 +19,16 @@
 #include <string>
 #include <vector>
 
-#include "rcl/publisher.h"
-
-#include "rclcpp/allocator/allocator_common.hpp"
+#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
 {
 
-namespace callback_group
-{
-class CallbackGroup;
-}  // namespace callback_group
-
 /// Non-templated part of PublisherOptionsWithAllocator<Allocator>.
 struct PublisherOptionsBase
 {
@@ -44,7 +39,7 @@ struct PublisherOptionsBase
   PublisherEventCallbacks event_callbacks;
 
   /// Callback group in which the waitable items from the publisher should be placed.
-  std::shared_ptr<rclcpp::callback_group::CallbackGroup> callback_group;
+  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
 };
 
 /// Structure containing optional configuration for Publishers.
@@ -69,26 +64,11 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
     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>(*this->get_allocator().get());
-    result.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc);
+    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;
   }
-
-  /// Get the allocator, creating one if needed.
-  std::shared_ptr<Allocator>
-  get_allocator() const
-  {
-    if (!this->allocator) {
-      // TODO(wjwwood): I would like to use the commented line instead, but
-      //   cppcheck 1.89 fails with:
-      //     Syntax Error: AST broken, binary operator '>' doesn't have two operands.
-      // return std::make_shared<Allocator>();
-      std::shared_ptr<Allocator> tmp(new Allocator());
-      return tmp;
-    }
-    return this->allocator;
-  }
 };
 
 using PublisherOptions = PublisherOptionsWithAllocator<std::allocator<void>>;

rclcpp/include/rclcpp/rclcpp.hpp

@@ -48,8 +48,7 @@
  *   - rclcpp::Node::get_parameter()
  *   - rclcpp::Node::describe_parameters()
  *   - rclcpp::Node::list_parameters()
- *   - rclcpp::Node::add_on_set_parameters_callback()
- *   - rclcpp::Node::remove_on_set_parameters_callback()
+ *   - rclcpp::Node::register_param_change_callback()
  *   - rclcpp::Parameter
  *   - rclcpp::ParameterValue
  *   - rclcpp::AsyncParametersClient

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

@@ -164,31 +164,40 @@ public:
         if (!group || !group->can_be_taken_from().load()) {
           continue;
         }
-        group->find_subscription_ptrs_if(
-          [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
+        for (auto & weak_subscription : group->get_subscription_ptrs()) {
+          auto subscription = weak_subscription.lock();
+          if (subscription) {
             subscription_handles_.push_back(subscription->get_subscription_handle());
             if (subscription->get_intra_process_subscription_handle()) {
               subscription_handles_.push_back(
                 subscription->get_intra_process_subscription_handle());
             }
-            return false;
-          });
-        group->find_service_ptrs_if([this](const rclcpp::ServiceBase::SharedPtr & service) {
+          }
+        }
+        for (auto & weak_service : group->get_service_ptrs()) {
+          auto service = weak_service.lock();
+          if (service) {
             service_handles_.push_back(service->get_service_handle());
-            return false;
-          });
-        group->find_client_ptrs_if([this](const rclcpp::ClientBase::SharedPtr & client) {
+          }
+        }
+        for (auto & weak_client : group->get_client_ptrs()) {
+          auto client = weak_client.lock();
+          if (client) {
             client_handles_.push_back(client->get_client_handle());
-            return false;
-          });
-        group->find_timer_ptrs_if([this](const rclcpp::TimerBase::SharedPtr & timer) {
+          }
+        }
+        for (auto & weak_timer : group->get_timer_ptrs()) {
+          auto timer = weak_timer.lock();
+          if (timer) {
             timer_handles_.push_back(timer->get_timer_handle());
-            return false;
-          });
-        group->find_waitable_ptrs_if([this](const rclcpp::Waitable::SharedPtr & waitable) {
+          }
+        }
+        for (auto & weak_waitable : group->get_waitable_ptrs()) {
+          auto waitable = weak_waitable.lock();
+          if (waitable) {
             waitable_handles_.push_back(waitable);
-            return false;
-          });
+          }
+        }
       }
     }
     return has_invalid_weak_nodes;
@@ -365,41 +374,6 @@ public:
     }
   }
 
-  virtual void
-  get_next_timer(
-    executor::AnyExecutable & any_exec,
-    const WeakNodeList & weak_nodes)
-  {
-    auto it = timer_handles_.begin();
-    while (it != timer_handles_.end()) {
-      auto timer = get_timer_by_handle(*it, weak_nodes);
-      if (timer) {
-        // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_timer(timer, weak_nodes);
-        if (!group) {
-          // Group was not found, meaning the timer is not valid...
-          // Remove it from the ready list and continue looking
-          it = timer_handles_.erase(it);
-          continue;
-        }
-        if (!group->can_be_taken_from().load()) {
-          // Group is mutually exclusive and is being used, so skip it for now
-          // Leave it to be checked next time, but continue searching
-          ++it;
-          continue;
-        }
-        // Otherwise it is safe to set and return the any_exec
-        any_exec.timer = timer;
-        any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_nodes);
-        timer_handles_.erase(it);
-        return;
-      }
-      // Else, the service is no longer valid, remove it and continue
-      it = timer_handles_.erase(it);
-    }
-  }
-
   virtual void
   get_next_waitable(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes)
   {

rclcpp/include/rclcpp/subscription.hpp

@@ -32,16 +32,13 @@
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
 #include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/detail/resolve_use_intra_process.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/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/subscription_base.hpp"
-#include "rclcpp/subscription_options.hpp"
 #include "rclcpp/subscription_traits.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -58,19 +55,15 @@ class NodeTopicsInterface;
 /// Subscription implementation, templated on the type of message this subscription receives.
 template<
   typename CallbackMessageT,
-  typename AllocatorT = std::allocator<void>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >>
+  typename Alloc = std::allocator<void>>
 class Subscription : public SubscriptionBase
 {
   friend class rclcpp::node_interfaces::NodeTopicsInterface;
 
 public:
-  using MessageAllocatorTraits = allocator::AllocRebind<CallbackMessageT, AllocatorT>;
-  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAllocator, CallbackMessageT>;
+  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>;
 
@@ -78,66 +71,44 @@ public:
 
   /// Default constructor.
   /**
-   * The constructor for a subscription is almost never called directly.
-   * Instead, subscriptions should be instantiated through the function
-   * rclcpp::create_subscription().
-   *
-   * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
+   * The constructor for a subscription is almost never called directly. Instead, subscriptions
+   * should be instantiated through Node::create_subscription.
+   * \param[in] node_handle 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] callback User defined callback to call when a message is received.
-   * \param[in] options options for the subscription.
-   * \param[in] message_memory_strategy The memory strategy to be used for managing message memory.
+   * \param[in] memory_strategy The memory strategy to be used for managing message memory.
    */
   Subscription(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    std::shared_ptr<rcl_node_t> node_handle,
     const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
-    const rclcpp::QoS & qos,
-    AnySubscriptionCallback<CallbackMessageT, AllocatorT> callback,
-    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-    typename MessageMemoryStrategyT::SharedPtr message_memory_strategy)
+    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())
   : SubscriptionBase(
-      node_base,
+      node_handle,
       type_support_handle,
       topic_name,
-      options.template to_rcl_subscription_options<CallbackMessageT>(qos),
+      subscription_options,
       rclcpp::subscription_traits::is_serialized_subscription_argument<CallbackMessageT>::value),
     any_callback_(callback),
-    message_memory_strategy_(message_memory_strategy)
+    message_memory_strategy_(memory_strategy)
   {
-    if (options.event_callbacks.deadline_callback) {
-      this->add_event_handler(
-        options.event_callbacks.deadline_callback,
+    if (event_callbacks.deadline_callback) {
+      this->add_event_handler(event_callbacks.deadline_callback,
         RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
     }
-    if (options.event_callbacks.liveliness_callback) {
-      this->add_event_handler(
-        options.event_callbacks.liveliness_callback,
+    if (event_callbacks.liveliness_callback) {
+      this->add_event_handler(event_callbacks.liveliness_callback,
         RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
     }
   }
 
-  /// Called after construction to continue setup that requires shared_from_this().
-  void
-  post_init_setup(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    const rclcpp::QoS & qos,
-    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
-  {
-    // Setup intra process publishing if requested.
-    if (rclcpp::detail::resolve_use_intra_process(options, *node_base)) {
-      auto context = node_base->get_context();
-      using rclcpp::intra_process_manager::IntraProcessManager;
-      auto ipm = context->get_sub_context<IntraProcessManager>();
-      uint64_t intra_process_subscription_id = ipm->add_subscription(this->shared_from_this());
-      this->setup_intra_process(
-        intra_process_subscription_id,
-        ipm,
-        options.template to_rcl_subscription_options<CallbackMessageT>(qos));
-    }
-  }
-
   /// Support dynamically setting the message memory strategy.
   /**
    * Behavior may be undefined if called while the subscription could be executing.
@@ -145,7 +116,7 @@ public:
    */
   void set_message_memory_strategy(
     typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
-    AllocatorT>::SharedPtr message_memory_strategy)
+    Alloc>::SharedPtr message_memory_strategy)
   {
     message_memory_strategy_ = message_memory_strategy;
   }
@@ -264,7 +235,7 @@ private:
       throw std::runtime_error(
               "intra process take called after destruction of intra process manager");
     }
-    ipm->template take_intra_process_message<CallbackMessageT, AllocatorT>(
+    ipm->template take_intra_process_message<CallbackMessageT, Alloc>(
       publisher_id, message_sequence, subscription_id, message);
   }
 
@@ -280,7 +251,7 @@ private:
       throw std::runtime_error(
               "intra process take called after destruction of intra process manager");
     }
-    ipm->template take_intra_process_message<CallbackMessageT, AllocatorT>(
+    ipm->template take_intra_process_message<CallbackMessageT, Alloc>(
       publisher_id, message_sequence, subscription_id, message);
   }
 
@@ -301,8 +272,8 @@ private:
 
   RCLCPP_DISABLE_COPY(Subscription)
 
-  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_callback_;
-  typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, AllocatorT>::SharedPtr
+  AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
+  typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
     message_memory_strategy_;
 };
 

rclcpp/include/rclcpp/subscription_base.hpp

@@ -36,7 +36,7 @@ namespace rclcpp
 
 namespace node_interfaces
 {
-class NodeBaseInterface;
+class NodeTopicsInterface;
 }  // namespace node_interfaces
 
 namespace intra_process_manager
@@ -50,14 +50,14 @@ 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 std::enable_shared_from_this<SubscriptionBase>
+class SubscriptionBase
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
 
   /// Default constructor.
   /**
-   * \param[in] node_base NodeBaseInterface pointer used in parts of the setup.
+   * \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.
@@ -65,7 +65,7 @@ public:
    */
   RCLCPP_PUBLIC
   SubscriptionBase(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    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,
@@ -98,32 +98,14 @@ public:
   const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
   get_event_handlers() 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;
-
   /// Borrow a new message.
   /** \return Shared pointer to the fresh message. */
-  RCLCPP_PUBLIC
-  virtual
-  std::shared_ptr<void>
+  virtual std::shared_ptr<void>
   create_message() = 0;
 
   /// Borrow a new serialized message
   /** \return Shared pointer to a rcl_message_serialized_t. */
-  RCLCPP_PUBLIC
-  virtual
-  std::shared_ptr<rcl_serialized_message_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.
@@ -131,37 +113,27 @@ public:
    * \param[in] message Shared pointer to the message to handle.
    * \param[in] message_info Metadata associated with this message.
    */
-  RCLCPP_PUBLIC
-  virtual
-  void
+  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. */
-  RCLCPP_PUBLIC
-  virtual
-  void
+  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. */
-  RCLCPP_PUBLIC
-  virtual
-  void
+  virtual void
   return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message) = 0;
 
-  RCLCPP_PUBLIC
-  virtual
-  void
+  virtual void
   handle_intra_process_message(
     rcl_interfaces::msg::IntraProcessMessage & ipm,
     const rmw_message_info_t & message_info) = 0;
 
-  RCLCPP_PUBLIC
   const rosidl_message_type_support_t &
   get_message_type_support_handle() const;
 
-  RCLCPP_PUBLIC
   bool
   is_serialized() const;
 
@@ -175,9 +147,7 @@ public:
     std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
 
   /// Implemenation detail.
-  RCLCPP_PUBLIC
-  void
-  setup_intra_process(
+  void setup_intra_process(
     uint64_t intra_process_subscription_id,
     IntraProcessManagerWeakPtr weak_ipm,
     const rcl_subscription_options_t & intra_process_options);

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -43,9 +43,6 @@ namespace rclcpp
  * usually called from a templated "create_subscription" method of the Node
  * class, and is passed to the non-templated "create_subscription" method of
  * the NodeTopics class where it is used to create and setup the Subscription.
- *
- * It also handles the two step construction of Subscriptions, first calling
- * the constructor and then the post_init_setup() method.
  */
 struct SubscriptionFactory
 {
@@ -54,62 +51,76 @@ struct SubscriptionFactory
     rclcpp::SubscriptionBase::SharedPtr(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-      const rclcpp::QoS & qos)>;
+      const rcl_subscription_options_t & subscription_options)>;
 
-  const SubscriptionFactoryFunction create_typed_subscription;
+  SubscriptionFactoryFunction create_typed_subscription;
+
+  // Function that takes a MessageT from the intra process manager
+  using SetupIntraProcessFunction = std::function<
+    void (
+      rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm,
+      rclcpp::SubscriptionBase::SharedPtr subscription,
+      const rcl_subscription_options_t & subscription_options)>;
+
+  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,
-  typename AllocatorT,
-  typename CallbackMessageT =
-  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
-  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >>
+  typename Alloc,
+  typename CallbackMessageT,
+  typename SubscriptionT>
 SubscriptionFactory
 create_subscription_factory(
   CallbackT && callback,
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
+  const SubscriptionEventCallbacks & event_callbacks,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT, Alloc>::SharedPtr
+  msg_mem_strat,
+  std::shared_ptr<Alloc> allocator)
 {
-  auto allocator = options.get_allocator();
+  SubscriptionFactory factory;
 
   using rclcpp::AnySubscriptionCallback;
-  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_subscription_callback(allocator);
+  AnySubscriptionCallback<CallbackMessageT, Alloc> any_subscription_callback(allocator);
   any_subscription_callback.set(std::forward<CallbackT>(callback));
 
-  SubscriptionFactory factory {
-    // factory function that creates a MessageT specific SubscriptionT
-    [options, msg_mem_strat, any_subscription_callback](
-      rclcpp::node_interfaces::NodeBaseInterface * node_base,
-      const std::string & topic_name,
-      const rclcpp::QoS & qos
+  auto message_alloc =
+    std::make_shared<typename Subscription<CallbackMessageT, Alloc>::MessageAlloc>();
+
+  // factory function that creates a MessageT specific SubscriptionT
+  factory.create_typed_subscription =
+    [allocator, msg_mem_strat, any_subscription_callback, event_callbacks, message_alloc](
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic_name,
+    const rcl_subscription_options_t & subscription_options
     ) -> rclcpp::SubscriptionBase::SharedPtr
     {
+      auto options_copy = subscription_options;
+      options_copy.allocator =
+        rclcpp::allocator::get_rcl_allocator<CallbackMessageT>(*message_alloc.get());
+
       using rclcpp::Subscription;
       using rclcpp::SubscriptionBase;
 
-      auto sub = Subscription<CallbackMessageT, AllocatorT>::make_shared(
-        node_base,
+      auto sub = Subscription<CallbackMessageT, Alloc>::make_shared(
+        node_base->get_shared_rcl_node_handle(),
         *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
         topic_name,
-        qos,
+        options_copy,
         any_subscription_callback,
-        options,
+        event_callbacks,
         msg_mem_strat);
-      // This is used for setting up things like intra process comms which
-      // require this->shared_from_this() which cannot be called from
-      // the constructor.
-      sub->post_init_setup(node_base, qos, options);
       auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
       return sub_base_ptr;
-    }
-  };
+    };
 
   // return the factory now that it is populated
   return factory;

rclcpp/include/rclcpp/subscription_options.hpp

@@ -70,16 +70,6 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
     result.qos = qos.get_rmw_qos_profile();
     return result;
   }
-
-  /// Get the allocator, creating one if needed.
-  std::shared_ptr<Allocator>
-  get_allocator() const
-  {
-    if (!this->allocator) {
-      return std::make_shared<Allocator>();
-    }
-    return this->allocator;
-  }
 };
 
 using SubscriptionOptions = SubscriptionOptionsWithAllocator<std::allocator<void>>;

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/timer.hpp

@@ -126,6 +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/waitable.hpp

@@ -119,7 +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.
   /**
@@ -128,7 +128,7 @@ public:
    *
    * Example usage:
    *
-   * ```cpp
+   * ```
    * // ... create a wait set and a Waitable
    * // Add the Waitable to the wait set
    * bool add_ret = waitable.add_to_wait_set(wait_set);

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>0.8.0</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>
@@ -26,7 +26,6 @@
 
   <depend>rcl</depend>
   <depend>rcl_yaml_param_parser</depend>
-  <depend>rcpputils</depend>
   <depend>rmw_implementation</depend>
 
   <exec_depend>ament_cmake</exec_depend>

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_cv<typename std::remove_reference<decltype(logger)>::type>::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/callback_group.cpp

@@ -23,6 +23,40 @@ CallbackGroup::CallbackGroup(CallbackGroupType group_type)
 : type_(group_type), can_be_taken_from_(true)
 {}
 
+const std::vector<rclcpp::SubscriptionBase::WeakPtr> &
+CallbackGroup::get_subscription_ptrs() const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+  return subscription_ptrs_;
+}
+
+const std::vector<rclcpp::TimerBase::WeakPtr> &
+CallbackGroup::get_timer_ptrs() const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+  return timer_ptrs_;
+}
+
+const std::vector<rclcpp::ServiceBase::WeakPtr> &
+CallbackGroup::get_service_ptrs() const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+  return service_ptrs_;
+}
+
+const std::vector<rclcpp::ClientBase::WeakPtr> &
+CallbackGroup::get_client_ptrs() const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+  return client_ptrs_;
+}
+
+const std::vector<rclcpp::Waitable::WeakPtr> &
+CallbackGroup::get_waitable_ptrs() const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+  return waitable_ptrs_;
+}
 
 std::atomic_bool &
 CallbackGroup::can_be_taken_from()
@@ -42,12 +76,6 @@ CallbackGroup::add_subscription(
 {
   std::lock_guard<std::mutex> lock(mutex_);
   subscription_ptrs_.push_back(subscription_ptr);
-  subscription_ptrs_.erase(
-    std::remove_if(
-      subscription_ptrs_.begin(),
-      subscription_ptrs_.end(),
-      [](rclcpp::SubscriptionBase::WeakPtr x) {return x.expired();}),
-    subscription_ptrs_.end());
 }
 
 void
@@ -55,12 +83,6 @@ CallbackGroup::add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   timer_ptrs_.push_back(timer_ptr);
-  timer_ptrs_.erase(
-    std::remove_if(
-      timer_ptrs_.begin(),
-      timer_ptrs_.end(),
-      [](rclcpp::TimerBase::WeakPtr x) {return x.expired();}),
-    timer_ptrs_.end());
 }
 
 void
@@ -68,12 +90,6 @@ CallbackGroup::add_service(const rclcpp::ServiceBase::SharedPtr service_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   service_ptrs_.push_back(service_ptr);
-  service_ptrs_.erase(
-    std::remove_if(
-      service_ptrs_.begin(),
-      service_ptrs_.end(),
-      [](rclcpp::ServiceBase::WeakPtr x) {return x.expired();}),
-    service_ptrs_.end());
 }
 
 void
@@ -81,12 +97,6 @@ CallbackGroup::add_client(const rclcpp::ClientBase::SharedPtr client_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   client_ptrs_.push_back(client_ptr);
-  client_ptrs_.erase(
-    std::remove_if(
-      client_ptrs_.begin(),
-      client_ptrs_.end(),
-      [](rclcpp::ClientBase::WeakPtr x) {return x.expired();}),
-    client_ptrs_.end());
 }
 
 void
@@ -94,12 +104,6 @@ CallbackGroup::add_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   waitable_ptrs_.push_back(waitable_ptr);
-  waitable_ptrs_.erase(
-    std::remove_if(
-      waitable_ptrs_.begin(),
-      waitable_ptrs_.end(),
-      [](rclcpp::Waitable::WeakPtr x) {return x.expired();}),
-    waitable_ptrs_.end());
 }
 
 void

rclcpp/src/rclcpp/clock.cpp

@@ -35,7 +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) {
-    exceptions::throw_from_rcl_error(ret, "could not get current time stamp");
+    exceptions::throw_from_rcl_error(ret, "failed to initialize rcl clock");
   }
 }
 
@@ -119,9 +119,8 @@ Clock::create_jump_callback(
   }
 
   // Try to add the jump callback to the clock
-  rcl_ret_t ret = rcl_clock_add_jump_callback(
-    &rcl_clock_, threshold, Clock::on_time_jump,
-    handler.get());
+  rcl_ret_t ret = rcl_clock_add_jump_callback(&rcl_clock_, threshold,
+      Clock::on_time_jump, handler.get());
   if (RCL_RET_OK != ret) {
     exceptions::throw_from_rcl_error(ret, "Failed to add time jump callback");
   }

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)
@@ -68,24 +66,25 @@ Duration::Duration(const rcl_duration_t & 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;
 }
 
@@ -95,6 +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
 {
@@ -122,15 +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");
     }
   }
@@ -150,15 +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");
     }
   }
@@ -181,8 +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 {
@@ -201,7 +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
@@ -225,18 +234,16 @@ Duration::seconds() const
 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 = msg.sec;
-  result.nsec = msg.nanosec;
+  result.sec = static_cast<uint64_t>(msg.sec);
+  result.nsec = static_cast<uint64_t>(msg.nanosec);
   return result;
 }
 
-Duration
-Duration::from_seconds(double seconds)
-{
-  return Duration(static_cast<int64_t>(RCL_S_TO_NS(seconds)));
-}
-
 }  // namespace rclcpp

rclcpp/src/rclcpp/exceptions.cpp

@@ -17,7 +17,6 @@
 #include <cstdio>
 #include <functional>
 #include <string>
-#include <vector>
 
 using namespace std::string_literals;
 
@@ -69,8 +68,6 @@ from_rcl_error(
       return std::make_exception_ptr(RCLBadAlloc(base_exc));
     case RCL_RET_INVALID_ARGUMENT:
       return std::make_exception_ptr(RCLInvalidArgument(base_exc, formatted_prefix));
-    case RCL_RET_INVALID_ROS_ARGS:
-      return std::make_exception_ptr(RCLInvalidROSArgsError(base_exc, formatted_prefix));
     default:
       return std::make_exception_ptr(RCLError(base_exc, formatted_prefix));
   }
@@ -129,18 +126,5 @@ RCLInvalidArgument::RCLInvalidArgument(
 : RCLErrorBase(base_exc), std::invalid_argument(prefix + base_exc.formatted_message)
 {}
 
-RCLInvalidROSArgsError::RCLInvalidROSArgsError(
-  rcl_ret_t ret,
-  const rcl_error_state_t * error_state,
-  const std::string & prefix)
-: RCLInvalidROSArgsError(RCLErrorBase(ret, error_state), prefix)
-{}
-
-RCLInvalidROSArgsError::RCLInvalidROSArgsError(
-  const RCLErrorBase & base_exc,
-  const std::string & prefix)
-: RCLErrorBase(base_exc), std::runtime_error(prefix + base_exc.formatted_message)
-{}
-
 }  // namespace exceptions
 }  // namespace rclcpp

rclcpp/src/rclcpp/executor.cpp

@@ -234,7 +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);
@@ -244,6 +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)
 {
@@ -251,10 +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
@@ -517,23 +523,48 @@ Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
       if (!group) {
         continue;
       }
-      auto timer_ref = group->find_timer_ptrs_if(
-        [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
-          return timer_ptr == timer;
-        });
-      if (timer_ref) {
-        return group;
+      for (auto & weak_timer : group->get_timer_ptrs()) {
+        auto t = weak_timer.lock();
+        if (t == timer) {
+          return group;
+        }
       }
     }
   }
   return rclcpp::callback_group::CallbackGroup::SharedPtr();
 }
 
+void
+Executor::get_next_timer(AnyExecutable & any_exec)
+{
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (!node) {
+      continue;
+    }
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group || !group->can_be_taken_from().load()) {
+        continue;
+      }
+      for (auto & timer_ref : group->get_timer_ptrs()) {
+        auto timer = timer_ref.lock();
+        if (timer && timer->is_ready()) {
+          any_exec.timer = timer;
+          any_exec.callback_group = group;
+          node = get_node_by_group(group);
+          return;
+        }
+      }
+    }
+  }
+}
+
 bool
 Executor::get_next_ready_executable(AnyExecutable & any_executable)
 {
-  // Check the timers to see if there are any that are ready
-  memory_strategy_->get_next_timer(any_executable, weak_nodes_);
+  // Check the timers to see if there are any that are ready, if so return
+  get_next_timer(any_executable);
   if (any_executable.timer) {
     return true;
   }

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -27,11 +27,8 @@ using rclcpp::executors::MultiThreadedExecutor;
 MultiThreadedExecutor::MultiThreadedExecutor(
   const rclcpp::executor::ExecutorArgs & args,
   size_t number_of_threads,
-  bool yield_before_execute,
-  std::chrono::nanoseconds next_exec_timeout)
-: executor::Executor(args),
-  yield_before_execute_(yield_before_execute),
-  next_exec_timeout_(next_exec_timeout)
+  bool yield_before_execute)
+: executor::Executor(args), yield_before_execute_(yield_before_execute)
 {
   number_of_threads_ = number_of_threads ? number_of_threads : std::thread::hardware_concurrency();
   if (number_of_threads_ == 0) {
@@ -80,7 +77,7 @@ MultiThreadedExecutor::run(size_t)
       if (!rclcpp::ok(this->context_) || !spinning.load()) {
         return;
       }
-      if (!get_next_executable(any_exec, next_exec_timeout_)) {
+      if (!get_next_executable(any_exec)) {
         continue;
       }
       if (any_exec.timer) {

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -32,14 +32,16 @@ MemoryStrategy::get_subscription_by_handle(
       if (!group) {
         continue;
       }
-      auto match_subscription = group->find_subscription_ptrs_if(
-        [&subscriber_handle](const rclcpp::SubscriptionBase::SharedPtr & subscription) -> bool {
-          return
-          (subscription->get_subscription_handle() == subscriber_handle) ||
-          (subscription->get_intra_process_subscription_handle() == subscriber_handle);
-        });
-      if (match_subscription) {
-        return match_subscription;
+      for (auto & weak_subscription : group->get_subscription_ptrs()) {
+        auto subscription = weak_subscription.lock();
+        if (subscription) {
+          if (subscription->get_subscription_handle() == subscriber_handle) {
+            return subscription;
+          }
+          if (subscription->get_intra_process_subscription_handle() == subscriber_handle) {
+            return subscription;
+          }
+        }
       }
     }
   }
@@ -61,12 +63,11 @@ MemoryStrategy::get_service_by_handle(
       if (!group) {
         continue;
       }
-      auto service_ref = group->find_service_ptrs_if(
-        [&service_handle](const rclcpp::ServiceBase::SharedPtr & service) -> bool {
-          return service->get_service_handle() == service_handle;
-        });
-      if (service_ref) {
-        return service_ref;
+      for (auto & weak_service : group->get_service_ptrs()) {
+        auto service = weak_service.lock();
+        if (service && service->get_service_handle() == service_handle) {
+          return service;
+        }
       }
     }
   }
@@ -88,39 +89,11 @@ MemoryStrategy::get_client_by_handle(
       if (!group) {
         continue;
       }
-      auto client_ref = group->find_client_ptrs_if(
-        [&client_handle](const rclcpp::ClientBase::SharedPtr & client) -> bool {
-          return client->get_client_handle() == client_handle;
-        });
-      if (client_ref) {
-        return client_ref;
-      }
-    }
-  }
-  return nullptr;
-}
-
-rclcpp::TimerBase::SharedPtr
-MemoryStrategy::get_timer_by_handle(
-  std::shared_ptr<const rcl_timer_t> timer_handle,
-  const WeakNodeList & weak_nodes)
-{
-  for (auto & weak_node : weak_nodes) {
-    auto node = weak_node.lock();
-    if (!node) {
-      continue;
-    }
-    for (auto & weak_group : node->get_callback_groups()) {
-      auto group = weak_group.lock();
-      if (!group) {
-        continue;
-      }
-      auto timer_ref = group->find_timer_ptrs_if(
-        [&timer_handle](const rclcpp::TimerBase::SharedPtr & timer) -> bool {
-          return timer->get_timer_handle() == timer_handle;
-        });
-      if (timer_ref) {
-        return timer_ref;
+      for (auto & weak_client : group->get_client_ptrs()) {
+        auto client = weak_client.lock();
+        if (client && client->get_client_handle() == client_handle) {
+          return client;
+        }
       }
     }
   }
@@ -165,12 +138,11 @@ MemoryStrategy::get_group_by_subscription(
       if (!group) {
         continue;
       }
-      auto match_sub = group->find_subscription_ptrs_if(
-        [&subscription](const rclcpp::SubscriptionBase::SharedPtr & sub) -> bool {
-          return sub == subscription;
-        });
-      if (match_sub) {
-        return group;
+      for (auto & weak_sub : group->get_subscription_ptrs()) {
+        auto sub = weak_sub.lock();
+        if (sub == subscription) {
+          return group;
+        }
       }
     }
   }
@@ -192,12 +164,11 @@ MemoryStrategy::get_group_by_service(
       if (!group) {
         continue;
       }
-      auto service_ref = group->find_service_ptrs_if(
-        [&service](const rclcpp::ServiceBase::SharedPtr & serv) -> bool {
-          return serv == service;
-        });
-      if (service_ref) {
-        return group;
+      for (auto & weak_serv : group->get_service_ptrs()) {
+        auto serv = weak_serv.lock();
+        if (serv && serv == service) {
+          return group;
+        }
       }
     }
   }
@@ -219,39 +190,11 @@ MemoryStrategy::get_group_by_client(
       if (!group) {
         continue;
       }
-      auto client_ref = group->find_client_ptrs_if(
-        [&client](const rclcpp::ClientBase::SharedPtr & cli) -> bool {
-          return cli == client;
-        });
-      if (client_ref) {
-        return group;
-      }
-    }
-  }
-  return nullptr;
-}
-
-rclcpp::callback_group::CallbackGroup::SharedPtr
-MemoryStrategy::get_group_by_timer(
-  rclcpp::TimerBase::SharedPtr timer,
-  const WeakNodeList & weak_nodes)
-{
-  for (auto & weak_node : weak_nodes) {
-    auto node = weak_node.lock();
-    if (!node) {
-      continue;
-    }
-    for (auto & weak_group : node->get_callback_groups()) {
-      auto group = weak_group.lock();
-      if (!group) {
-        continue;
-      }
-      auto timer_ref = group->find_timer_ptrs_if(
-        [&timer](const rclcpp::TimerBase::SharedPtr & time) -> bool {
-          return time == timer;
-        });
-      if (timer_ref) {
-        return group;
+      for (auto & weak_client : group->get_client_ptrs()) {
+        auto cli = weak_client.lock();
+        if (cli && cli == client) {
+          return group;
+        }
       }
     }
   }
@@ -273,12 +216,11 @@ MemoryStrategy::get_group_by_waitable(
       if (!group) {
         continue;
       }
-      auto waitable_ref = group->find_waitable_ptrs_if(
-        [&waitable](const rclcpp::Waitable::SharedPtr & group_waitable) -> bool {
-          return group_waitable == waitable;
-        });
-      if (waitable_ref) {
-        return group;
+      for (auto & weak_waitable : group->get_waitable_ptrs()) {
+        auto group_waitable = weak_waitable.lock();
+        if (group_waitable && group_waitable == waitable) {
+          return group;
+        }
       }
     }
   }

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"
@@ -226,14 +236,9 @@ const rclcpp::ParameterValue &
 Node::declare_parameter(
   const std::string & name,
   const rclcpp::ParameterValue & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
-  bool ignore_override)
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
 {
-  return this->node_parameters_->declare_parameter(
-    name,
-    default_value,
-    parameter_descriptor,
-    ignore_override);
+  return this->node_parameters_->declare_parameter(name, default_value, parameter_descriptor);
 }
 
 void
@@ -316,18 +321,6 @@ Node::list_parameters(const std::vector<std::string> & prefixes, uint64_t depth)
   return node_parameters_->list_parameters(prefixes, depth);
 }
 
-rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr
-Node::add_on_set_parameters_callback(OnParametersSetCallbackType callback)
-{
-  return node_parameters_->add_on_set_parameters_callback(callback);
-}
-
-void
-Node::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const callback)
-{
-  return node_parameters_->remove_on_set_parameters_callback(callback);
-}
-
 rclcpp::Node::OnParametersSetCallbackType
 Node::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
 {

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

@@ -137,8 +137,7 @@ NodeGraph::get_node_names() const
   std::vector<std::string> nodes;
   auto names_and_namespaces = get_node_names_and_namespaces();
 
-  std::transform(
-    names_and_namespaces.begin(),
+  std::transform(names_and_namespaces.begin(),
     names_and_namespaces.end(),
     std::back_inserter(nodes),
     [](std::pair<std::string, std::string> nns) {
@@ -321,9 +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

@@ -12,13 +12,22 @@
 // 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 <functional>
 #include <limits>
 #include <map>
 #include <memory>
@@ -84,37 +93,65 @@ NodeParameters::NodeParameters(
     throw std::runtime_error("Need valid node options in NodeParameters");
   }
 
-  std::vector<const rcl_arguments_t *> argument_sources;
+  // Get paths to yaml files containing initial parameter values
+  std::vector<std::string> yaml_paths;
+
+  auto get_yaml_paths = [&yaml_paths, &options](const rcl_arguments_t * args) {
+      int num_yaml_files = rcl_arguments_get_param_files_count(args);
+      if (num_yaml_files > 0) {
+        char ** param_files;
+        rcl_ret_t ret = rcl_arguments_get_param_files(args, options->allocator, &param_files);
+        if (RCL_RET_OK != ret) {
+          rclcpp::exceptions::throw_from_rcl_error(ret);
+        }
+        auto cleanup_param_files = make_scope_exit(
+          [&param_files, &num_yaml_files, &options]() {
+            for (int i = 0; i < num_yaml_files; ++i) {
+              options->allocator.deallocate(param_files[i], options->allocator.state);
+            }
+            options->allocator.deallocate(param_files, options->allocator.state);
+          });
+        for (int i = 0; i < num_yaml_files; ++i) {
+          yaml_paths.emplace_back(param_files[i]);
+        }
+      }
+    };
+
   // global before local so that local overwrites global
   if (options->use_global_arguments) {
     auto context_ptr = node_base->get_context()->get_rcl_context();
-    argument_sources.push_back(&(context_ptr->global_arguments));
+    get_yaml_paths(&(context_ptr->global_arguments));
   }
-  argument_sources.push_back(&options->arguments);
+  get_yaml_paths(&(options->arguments));
 
   // Get fully qualified node name post-remapping to use to find node's params in yaml files
   combined_name_ = node_base->get_fully_qualified_name();
 
-  for (const rcl_arguments_t * source : argument_sources) {
-    rcl_params_t * params = NULL;
-    rcl_ret_t ret = rcl_arguments_get_param_overrides(source, &params);
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret);
+  // TODO(sloretz) use rcl to parse yaml when circular dependency is solved
+  // See https://github.com/ros2/rcl/issues/252
+  for (const std::string & yaml_path : yaml_paths) {
+    rcl_params_t * yaml_params = rcl_yaml_node_struct_init(options->allocator);
+    if (nullptr == yaml_params) {
+      throw std::bad_alloc();
     }
-    if (params) {
-      auto cleanup_params = make_scope_exit(
-        [params]() {
-          rcl_yaml_node_struct_fini(params);
-        });
-      rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(params);
-      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());
-          }
+    if (!rcl_parse_yaml_file(yaml_path.c_str(), yaml_params)) {
+      std::ostringstream ss;
+      ss << "Failed to parse parameters from file '" << yaml_path << "': " <<
+        rcl_get_error_string().str;
+      rcl_reset_error();
+      throw std::runtime_error(ss.str());
+    }
+
+    rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(yaml_params);
+    rcl_yaml_node_struct_fini(yaml_params);
+
+    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());
         }
       }
     }
@@ -134,8 +171,7 @@ NodeParameters::NodeParameters(
         this->declare_parameter(
           pair.first,
           pair.second,
-          rcl_interfaces::msg::ParameterDescriptor(),
-          true);
+          rcl_interfaces::msg::ParameterDescriptor());
       }
     }
   }
@@ -156,7 +192,7 @@ __lockless_has_parameter(
 // see https://en.cppreference.com/w/cpp/types/numeric_limits/epsilon
 RCLCPP_LOCAL
 bool
-__are_doubles_equal(double x, double y, size_t ulp = 100)
+__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;
 }
@@ -204,7 +240,9 @@ __check_parameter_value_in_range(
   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)) {
+    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)) {
@@ -250,50 +288,20 @@ __check_parameters(
 
 using OnParametersSetCallbackType =
   rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
-using CallbacksContainerType =
-  rclcpp::node_interfaces::NodeParameters::CallbacksContainerType;
-using OnSetParametersCallbackHandle =
-  rclcpp::node_interfaces::OnSetParametersCallbackHandle;
-
-RCLCPP_LOCAL
-rcl_interfaces::msg::SetParametersResult
-__call_on_parameters_set_callbacks(
-  const std::vector<rclcpp::Parameter> & parameters,
-  CallbacksContainerType & callback_container,
-  const OnParametersSetCallbackType & callback)
-{
-  rcl_interfaces::msg::SetParametersResult result;
-  result.successful = true;
-  auto it = callback_container.begin();
-  while (it != callback_container.end()) {
-    auto shared_handle = it->lock();
-    if (nullptr != shared_handle) {
-      result = shared_handle->callback(parameters);
-      if (!result.successful) {
-        return result;
-      }
-      it++;
-    } else {
-      it = callback_container.erase(it);
-    }
-  }
-  if (callback) {
-    result = callback(parameters);
-  }
-  return result;
-}
 
 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,
-  CallbacksContainerType & callback_container,
-  const OnParametersSetCallbackType & callback)
+  OnParametersSetCallbackType on_set_parameters_callback)
 {
   // Call the user callback to see if the new value(s) are allowed.
-  rcl_interfaces::msg::SetParametersResult result =
-    __call_on_parameters_set_callbacks(parameters, callback_container, callback);
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+  if (on_set_parameters_callback) {
+    result = on_set_parameters_callback(parameters);
+  }
   if (!result.successful) {
     return result;
   }
@@ -324,10 +332,9 @@ __declare_parameter_common(
   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,
-  CallbacksContainerType & callback_container,
-  const OnParametersSetCallbackType & callback,
+  OnParametersSetCallbackType on_set_parameters_callback,
   rcl_interfaces::msg::ParameterEvent * parameter_event_out,
-  bool ignore_override = false)
+  bool use_overrides = true)
 {
   using rclcpp::node_interfaces::ParameterInfo;
   std::map<std::string, ParameterInfo> parameter_infos {{name, ParameterInfo()}};
@@ -336,7 +343,7 @@ __declare_parameter_common(
   // 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 (!ignore_override && overrides_it != overrides.end()) {
+  if (use_overrides && overrides_it != overrides.end()) {
     initial_value = &overrides_it->second;
   }
 
@@ -346,8 +353,7 @@ __declare_parameter_common(
   auto result = __set_parameters_atomically_common(
     parameter_wrappers,
     parameter_infos,
-    callback_container,
-    callback);
+    on_set_parameters_callback);
 
   // Add declared parameters to storage.
   parameters_out[name] = parameter_infos.at(name);
@@ -364,12 +370,9 @@ const rclcpp::ParameterValue &
 NodeParameters::declare_parameter(
   const std::string & name,
   const rclcpp::ParameterValue & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
-  bool ignore_override)
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-
-  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+  std::lock_guard<std::mutex> lock(mutex_);
 
   // TODO(sloretz) parameter name validation
   if (name.empty()) {
@@ -389,10 +392,8 @@ NodeParameters::declare_parameter(
     parameter_descriptor,
     parameters_,
     parameter_overrides_,
-    on_parameters_set_callback_container_,
     on_parameters_set_callback_,
-    &parameter_event,
-    ignore_override);
+    &parameter_event);
 
   // If it failed to be set, then throw an exception.
   if (!result.successful) {
@@ -411,9 +412,7 @@ NodeParameters::declare_parameter(
 void
 NodeParameters::undeclare_parameter(const std::string & name)
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-
-  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+  std::lock_guard<std::mutex> lock(mutex_);
 
   auto parameter_info = parameters_.find(name);
   if (parameter_info == parameters_.end()) {
@@ -432,7 +431,7 @@ NodeParameters::undeclare_parameter(const std::string & name)
 bool
 NodeParameters::has_parameter(const std::string & name) const
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
 
   return __lockless_has_parameter(parameters_, name);
 }
@@ -466,9 +465,7 @@ __find_parameter_by_name(
 rcl_interfaces::msg::SetParametersResult
 NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters)
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-
-  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+  std::lock_guard<std::mutex> lock(mutex_);
 
   rcl_interfaces::msg::SetParametersResult result;
 
@@ -517,7 +514,6 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
   std::map<std::string, rclcpp::node_interfaces::ParameterInfo> staged_parameter_changes;
   rcl_interfaces::msg::ParameterEvent parameter_event_msg;
   parameter_event_msg.node = combined_name_;
-  CallbacksContainerType empty_callback_container;
   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.
@@ -527,11 +523,9 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
       rcl_interfaces::msg::ParameterDescriptor(),  // Implicit declare uses default descriptor.
       staged_parameter_changes,
       parameter_overrides_,
-      // Only call callbacks once below
-      empty_callback_container,  // callback_container is explicitly empty
-      nullptr,  // callback is explicitly null.
+      nullptr,  // callback is explicitly null, so that it is called only once, when setting below.
       &parameter_event_msg,
-      true);
+      false);
     if (!result.successful) {
       // Declare failed, return knowing that nothing was changed because the
       // staged changes were not applied.
@@ -578,16 +572,13 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
     }
   }
 
-  // Set all of the parameters including the ones declared implicitly above.
+  // 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_container_,
-    // These callbacks are called once. When a callback returns an unsuccessful result,
-    // the remaining aren't called.
     on_parameters_set_callback_);
 
   // If not successful, then stop here.
@@ -650,7 +641,7 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
 std::vector<rclcpp::Parameter>
 NodeParameters::get_parameters(const std::vector<std::string> & names) const
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   std::vector<rclcpp::Parameter> results;
   results.reserve(names.size());
 
@@ -689,7 +680,7 @@ NodeParameters::get_parameter(
   const std::string & name,
   rclcpp::Parameter & parameter) const
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
 
   auto param_iter = parameters_.find(name);
   if (
@@ -708,7 +699,7 @@ NodeParameters::get_parameters_by_prefix(
   const std::string & prefix,
   std::map<std::string, rclcpp::Parameter> & parameters) const
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
 
   std::string prefix_with_dot = prefix.empty() ? prefix : prefix + ".";
   bool ret = false;
@@ -727,7 +718,7 @@ NodeParameters::get_parameters_by_prefix(
 std::vector<rcl_interfaces::msg::ParameterDescriptor>
 NodeParameters::describe_parameters(const std::vector<std::string> & names) const
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   std::vector<rcl_interfaces::msg::ParameterDescriptor> results;
   results.reserve(names.size());
 
@@ -755,7 +746,7 @@ NodeParameters::describe_parameters(const std::vector<std::string> & names) cons
 std::vector<uint8_t>
 NodeParameters::get_parameter_types(const std::vector<std::string> & names) const
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   std::vector<uint8_t> results;
   results.reserve(names.size());
 
@@ -781,7 +772,7 @@ NodeParameters::get_parameter_types(const std::vector<std::string> & names) cons
 rcl_interfaces::msg::ListParametersResult
 NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   rcl_interfaces::msg::ListParametersResult result;
 
   // TODO(mikaelarguedas) define parameter separator different from "/" to avoid ambiguity
@@ -791,27 +782,25 @@ NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint6
     bool get_all = (prefixes.size() == 0) &&
       ((depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
       (static_cast<uint64_t>(std::count(kv.first.begin(), kv.first.end(), *separator)) < depth));
-    bool prefix_matches = std::any_of(
-      prefixes.cbegin(), prefixes.cend(),
-      [&kv, &depth, &separator](const std::string & prefix) {
-        if (kv.first == prefix) {
-          return true;
-        } else if (kv.first.find(prefix + separator) == 0) {
-          size_t length = prefix.length();
-          std::string substr = kv.first.substr(length);
-          // Cast as unsigned integer to avoid warning
-          return (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
-          (static_cast<uint64_t>(std::count(substr.begin(), substr.end(), *separator)) < depth);
-        }
-        return false;
-      });
+    bool prefix_matches = std::any_of(prefixes.cbegin(), prefixes.cend(),
+        [&kv, &depth, &separator](const std::string & prefix) {
+          if (kv.first == prefix) {
+            return true;
+          } else if (kv.first.find(prefix + separator) == 0) {
+            size_t length = prefix.length();
+            std::string substr = kv.first.substr(length);
+            // Cast as unsigned integer to avoid warning
+            return (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
+            (static_cast<uint64_t>(std::count(substr.begin(), substr.end(), *separator)) < depth);
+          }
+          return false;
+        });
     if (get_all || prefix_matches) {
       result.names.push_back(kv.first);
       size_t last_separator = kv.first.find_last_of(separator);
       if (std::string::npos != last_separator) {
         std::string prefix = kv.first.substr(0, last_separator);
-        if (
-          std::find(result.prefixes.cbegin(), result.prefixes.cend(), prefix) ==
+        if (std::find(result.prefixes.cbegin(), result.prefixes.cend(), prefix) ==
           result.prefixes.cend())
         {
           result.prefixes.push_back(prefix);
@@ -822,65 +811,37 @@ NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint6
   return result;
 }
 
-struct HandleCompare
-  : public std::unary_function<OnSetParametersCallbackHandle::WeakPtr, bool>
-{
-  explicit HandleCompare(const OnSetParametersCallbackHandle * const base)
-  : base_(base) {}
-  bool operator()(const OnSetParametersCallbackHandle::WeakPtr & handle)
-  {
-    auto shared_handle = handle.lock();
-    if (base_ == shared_handle.get()) {
-      return true;
-    }
-    return false;
-  }
-  const OnSetParametersCallbackHandle * const base_;
-};
-
-void
-NodeParameters::remove_on_set_parameters_callback(
-  const OnSetParametersCallbackHandle * const handle)
-{
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
-
-  auto it = std::find_if(
-    on_parameters_set_callback_container_.begin(),
-    on_parameters_set_callback_container_.end(),
-    HandleCompare(handle));
-  if (it != on_parameters_set_callback_container_.end()) {
-    on_parameters_set_callback_container_.erase(it);
-  } else {
-    throw std::runtime_error("Callback doesn't exist");
-  }
-}
-
-OnSetParametersCallbackHandle::SharedPtr
-NodeParameters::add_on_set_parameters_callback(OnParametersSetCallbackType callback)
-{
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
-
-  auto handle = std::make_shared<OnSetParametersCallbackHandle>();
-  handle->callback = callback;
-  // the last callback registered is executed first.
-  on_parameters_set_callback_container_.emplace_front(handle);
-  return handle;
-}
-
 NodeParameters::OnParametersSetCallbackType
 NodeParameters::set_on_parameters_set_callback(OnParametersSetCallbackType callback)
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-
-  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
-
   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 (on_parameters_set_callback_) {
+    RCLCPP_WARN(
+      node_logging_->get_logger(),
+      "on_parameters_set_callback already registered, overwriting previous 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
 {

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -34,10 +34,36 @@ rclcpp::PublisherBase::SharedPtr
 NodeTopics::create_publisher(
   const std::string & topic_name,
   const rclcpp::PublisherFactory & publisher_factory,
-  const rclcpp::QoS & qos)
+  const rcl_publisher_options_t & publisher_options,
+  bool use_intra_process)
 {
-  // Create the MessageT specific Publisher using the factory, but return it as PublisherBase.
-  return publisher_factory.create_typed_publisher(node_base_, topic_name, qos);
+  // Create the MessageT specific Publisher using the factory, but store it as PublisherBase.
+  auto publisher = publisher_factory.create_typed_publisher(
+    node_base_, topic_name, publisher_options);
+
+  // Setup intra process publishing if requested.
+  if (use_intra_process) {
+    auto context = node_base_->get_context();
+    // 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.
+    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,
+      ipm,
+      publisher_options);
+  }
+
+  // Return the completed publisher.
+  return publisher;
 }
 
 void
@@ -73,10 +99,25 @@ rclcpp::SubscriptionBase::SharedPtr
 NodeTopics::create_subscription(
   const std::string & topic_name,
   const rclcpp::SubscriptionFactory & subscription_factory,
-  const rclcpp::QoS & qos)
+  const rcl_subscription_options_t & subscription_options,
+  bool use_intra_process)
 {
-  // Create the MessageT specific Subscription using the factory, but return a SubscriptionBase.
-  return subscription_factory.create_typed_subscription(node_base_, topic_name, qos);
+  auto subscription = subscription_factory.create_typed_subscription(
+    node_base_, topic_name, subscription_options);
+
+  // Setup intra process publishing if requested.
+  if (use_intra_process) {
+    auto context = node_base_->get_context();
+    auto ipm =
+      context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
+    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.
+  return subscription;
 }
 
 void

rclcpp/src/rclcpp/node_options.cpp

@@ -18,7 +18,6 @@
 #include <memory>
 #include <string>
 #include <vector>
-#include <utility>
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/logging.hpp"
@@ -66,16 +65,20 @@ NodeOptions &
 NodeOptions::operator=(const NodeOptions & other)
 {
   if (this != &other) {
+    this->node_options_.reset();
     this->context_ = other.context_;
     this->arguments_ = other.arguments_;
     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->allocator_ = other.allocator_;
+    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;
 }
@@ -91,48 +94,25 @@ NodeOptions::get_rcl_node_options() const
     node_options_->use_global_arguments = this->use_global_arguments_;
     node_options_->domain_id = this->get_domain_id_from_env();
 
-    int c_argc = 0;
-    std::unique_ptr<const char *[]> c_argv;
+    std::unique_ptr<const char *[]> c_args;
     if (!this->arguments_.empty()) {
-      if (this->arguments_.size() > static_cast<size_t>(std::numeric_limits<int>::max())) {
-        throw_from_rcl_error(RCL_RET_INVALID_ARGUMENT, "Too many args");
-      }
-
-      c_argc = static_cast<int>(this->arguments_.size());
-      c_argv.reset(new const char *[c_argc]);
-
+      c_args.reset(new const char *[this->arguments_.size()]);
       for (std::size_t i = 0; i < this->arguments_.size(); ++i) {
-        c_argv[i] = this->arguments_[i].c_str();
+        c_args[i] = this->arguments_[i].c_str();
       }
     }
 
-    rcl_ret_t ret = rcl_parse_arguments(
-      c_argc, c_argv.get(), this->allocator_, &(node_options_->arguments));
+    if (this->arguments_.size() > static_cast<size_t>(std::numeric_limits<int>::max())) {
+      throw_from_rcl_error(RCL_RET_INVALID_ARGUMENT, "Too many args");
+    }
+
+    rmw_ret_t ret = rcl_parse_arguments(
+      static_cast<int>(this->arguments_.size()), c_args.get(), this->allocator_,
+      &(node_options_->arguments));
 
     if (RCL_RET_OK != ret) {
       throw_from_rcl_error(ret, "failed to parse arguments");
     }
-
-    int unparsed_ros_args_count =
-      rcl_arguments_get_count_unparsed_ros(&(node_options_->arguments));
-    if (unparsed_ros_args_count > 0) {
-      int * unparsed_ros_args_indices = nullptr;
-      ret = rcl_arguments_get_unparsed_ros(
-        &(node_options_->arguments), this->allocator_, &unparsed_ros_args_indices);
-      if (RCL_RET_OK != ret) {
-        throw_from_rcl_error(ret, "failed to get unparsed ROS arguments");
-      }
-      try {
-        std::vector<std::string> unparsed_ros_args;
-        for (int i = 0; i < unparsed_ros_args_count; ++i) {
-          unparsed_ros_args.push_back(c_argv[unparsed_ros_args_indices[i]]);
-        }
-        throw exceptions::UnknownROSArgsError(std::move(unparsed_ros_args));
-      } catch (...) {
-        this->allocator_.deallocate(unparsed_ros_args_indices, this->allocator_.state);
-        throw;
-      }
-    }
   }
 
   return node_options_.get();
@@ -187,7 +167,7 @@ NodeOptions::parameter_overrides(const std::vector<rclcpp::Parameter> & paramete
 bool
 NodeOptions::use_global_arguments() const
 {
-  return this->node_options_->use_global_arguments;
+  return this->use_global_arguments_;
 }
 
 NodeOptions &
@@ -322,7 +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

@@ -19,7 +19,17 @@
 #include <string>
 #include <vector>
 
+// 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;

rclcpp/src/rclcpp/parameter_client.cpp

@@ -30,8 +30,7 @@ AsyncParametersClient::AsyncParametersClient(
   const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
   const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
   const std::string & remote_node_name,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  const rmw_qos_profile_t & qos_profile)
 : node_topics_interface_(node_topics_interface)
 {
   if (remote_node_name != "") {
@@ -52,7 +51,7 @@ AsyncParametersClient::AsyncParametersClient(
     remote_node_name_ + "/" + parameter_service_names::get_parameters,
     options);
   auto get_parameters_base = std::dynamic_pointer_cast<ClientBase>(get_parameters_client_);
-  node_services_interface->add_client(get_parameters_base, group);
+  node_services_interface->add_client(get_parameters_base, nullptr);
 
   get_parameter_types_client_ = Client<rcl_interfaces::srv::GetParameterTypes>::make_shared(
     node_base_interface.get(),
@@ -61,7 +60,7 @@ AsyncParametersClient::AsyncParametersClient(
     options);
   auto get_parameter_types_base =
     std::dynamic_pointer_cast<ClientBase>(get_parameter_types_client_);
-  node_services_interface->add_client(get_parameter_types_base, group);
+  node_services_interface->add_client(get_parameter_types_base, nullptr);
 
   set_parameters_client_ = Client<rcl_interfaces::srv::SetParameters>::make_shared(
     node_base_interface.get(),
@@ -69,17 +68,16 @@ AsyncParametersClient::AsyncParametersClient(
     remote_node_name_ + "/" + parameter_service_names::set_parameters,
     options);
   auto set_parameters_base = std::dynamic_pointer_cast<ClientBase>(set_parameters_client_);
-  node_services_interface->add_client(set_parameters_base, group);
+  node_services_interface->add_client(set_parameters_base, nullptr);
 
   set_parameters_atomically_client_ =
-    Client<rcl_interfaces::srv::SetParametersAtomically>::make_shared(
-    node_base_interface.get(),
-    node_graph_interface,
-    remote_node_name_ + "/" + parameter_service_names::set_parameters_atomically,
-    options);
+    Client<rcl_interfaces::srv::SetParametersAtomically>::make_shared(node_base_interface.get(),
+      node_graph_interface,
+      remote_node_name_ + "/" + parameter_service_names::set_parameters_atomically,
+      options);
   auto set_parameters_atomically_base = std::dynamic_pointer_cast<ClientBase>(
     set_parameters_atomically_client_);
-  node_services_interface->add_client(set_parameters_atomically_base, group);
+  node_services_interface->add_client(set_parameters_atomically_base, nullptr);
 
   list_parameters_client_ = Client<rcl_interfaces::srv::ListParameters>::make_shared(
     node_base_interface.get(),
@@ -87,7 +85,7 @@ AsyncParametersClient::AsyncParametersClient(
     remote_node_name_ + "/" + parameter_service_names::list_parameters,
     options);
   auto list_parameters_base = std::dynamic_pointer_cast<ClientBase>(list_parameters_client_);
-  node_services_interface->add_client(list_parameters_base, group);
+  node_services_interface->add_client(list_parameters_base, nullptr);
 
   describe_parameters_client_ = Client<rcl_interfaces::srv::DescribeParameters>::make_shared(
     node_base_interface.get(),
@@ -96,37 +94,33 @@ AsyncParametersClient::AsyncParametersClient(
     options);
   auto describe_parameters_base =
     std::dynamic_pointer_cast<ClientBase>(describe_parameters_client_);
-  node_services_interface->add_client(describe_parameters_base, group);
+  node_services_interface->add_client(describe_parameters_base, nullptr);
 }
 
 AsyncParametersClient::AsyncParametersClient(
   const rclcpp::Node::SharedPtr node,
   const std::string & remote_node_name,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  const rmw_qos_profile_t & qos_profile)
 : AsyncParametersClient(
     node->get_node_base_interface(),
     node->get_node_topics_interface(),
     node->get_node_graph_interface(),
     node->get_node_services_interface(),
     remote_node_name,
-    qos_profile,
-    group)
+    qos_profile)
 {}
 
 AsyncParametersClient::AsyncParametersClient(
   rclcpp::Node * node,
   const std::string & remote_node_name,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  const rmw_qos_profile_t & qos_profile)
 : AsyncParametersClient(
     node->get_node_base_interface(),
     node->get_node_topics_interface(),
     node->get_node_graph_interface(),
     node->get_node_services_interface(),
     remote_node_name,
-    qos_profile,
-    group)
+    qos_profile)
 {}
 
 std::shared_future<std::vector<rclcpp::Parameter>>
@@ -152,11 +146,12 @@ 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;
-        parameters.push_back(rclcpp::Parameter::from_parameter_msg(parameter));
+        parameters.push_back(rclcpp::Parameter::from_parameter_msg(
+          parameter));
       }
 
       promise_result->set_value(parameters);
@@ -216,9 +211,10 @@ AsyncParametersClient::set_parameters(
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
 
-  std::transform(
-    parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
-    [](rclcpp::Parameter p) {return p.to_parameter_msg();}
+  std::transform(parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
+    [](rclcpp::Parameter p) {
+      return p.to_parameter_msg();
+    }
   );
 
   set_parameters_client_->async_send_request(
@@ -249,9 +245,10 @@ AsyncParametersClient::set_parameters_atomically(
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParametersAtomically::Request>();
 
-  std::transform(
-    parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
-    [](rclcpp::Parameter p) {return p.to_parameter_msg();}
+  std::transform(parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
+    [](rclcpp::Parameter p) {
+      return p.to_parameter_msg();
+    }
   );
 
   set_parameters_atomically_client_->async_send_request(
@@ -414,10 +411,8 @@ SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_
 {
   auto f = async_parameters_client_->get_parameters(parameter_names);
   using rclcpp::executors::spin_node_until_future_complete;
-  if (
-    spin_node_until_future_complete(
-      *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+  if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
+    rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -440,10 +435,8 @@ SyncParametersClient::get_parameter_types(const std::vector<std::string> & param
   auto f = async_parameters_client_->get_parameter_types(parameter_names);
 
   using rclcpp::executors::spin_node_until_future_complete;
-  if (
-    spin_node_until_future_complete(
-      *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+  if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
+    rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -457,10 +450,8 @@ SyncParametersClient::set_parameters(
   auto f = async_parameters_client_->set_parameters(parameters);
 
   using rclcpp::executors::spin_node_until_future_complete;
-  if (
-    spin_node_until_future_complete(
-      *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+  if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
+    rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -474,10 +465,8 @@ SyncParametersClient::set_parameters_atomically(
   auto f = async_parameters_client_->set_parameters_atomically(parameters);
 
   using rclcpp::executors::spin_node_until_future_complete;
-  if (
-    spin_node_until_future_complete(
-      *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+  if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
+    rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -493,10 +482,8 @@ SyncParametersClient::list_parameters(
   auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth);
 
   using rclcpp::executors::spin_node_until_future_complete;
-  if (
-    spin_node_until_future_complete(
-      *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+  if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
+    rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }

rclcpp/src/rclcpp/parameter_service.cpp

@@ -59,11 +59,10 @@ ParameterService::ParameterService(
     {
       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);
-          });
+        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());
       }
@@ -104,12 +103,11 @@ ParameterService::ParameterService(
       std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Response> response)
     {
       std::vector<rclcpp::Parameter> pvariants;
-      std::transform(
-        request->parameters.cbegin(), request->parameters.cend(),
-        std::back_inserter(pvariants),
-        [](const rcl_interfaces::msg::Parameter & p) {
-          return rclcpp::Parameter::from_parameter_msg(p);
-        });
+      std::transform(request->parameters.cbegin(), request->parameters.cend(),
+      std::back_inserter(pvariants),
+      [](const rcl_interfaces::msg::Parameter & p) {
+        return rclcpp::Parameter::from_parameter_msg(p);
+      });
       try {
         auto result = node_params->set_parameters_atomically(pvariants);
         response->result = result;

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;
 }
 

rclcpp/src/rclcpp/subscription_base.cpp

@@ -23,7 +23,6 @@
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
 
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -31,18 +30,18 @@
 using rclcpp::SubscriptionBase;
 
 SubscriptionBase::SubscriptionBase(
-  rclcpp::node_interfaces::NodeBaseInterface * node_base,
+  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)
-: node_handle_(node_base->get_shared_rcl_node_handle()),
+: node_handle_(node_handle),
   use_intra_process_(false),
   intra_process_subscription_id_(0),
   type_support_(type_support_handle),
   is_serialized_(is_serialized)
 {
-  auto custom_deletor = [node_handle = this->node_handle_](rcl_subscription_t * rcl_subs)
+  auto custom_deletor = [node_handle](rcl_subscription_t * rcl_subs)
     {
       if (rcl_subscription_fini(rcl_subs, node_handle.get()) != RCL_RET_OK) {
         RCLCPP_ERROR(
@@ -129,18 +128,6 @@ SubscriptionBase::get_event_handlers() const
   return event_handlers_;
 }
 
-rmw_qos_profile_t
-SubscriptionBase::get_actual_qos() const
-{
-  const rmw_qos_profile_t * qos = rcl_subscription_get_actual_qos(subscription_handle_.get());
-  if (!qos) {
-    auto msg = std::string("failed to get qos settings: ") + rcl_get_error_string().str;
-    rcl_reset_error();
-    throw std::runtime_error(msg);
-  }
-  return *qos;
-}
-
 const rosidl_message_type_support_t &
 SubscriptionBase::get_message_type_support_handle() const
 {
@@ -168,8 +155,7 @@ SubscriptionBase::get_publisher_count() const
   return inter_process_publisher_count;
 }
 
-void
-SubscriptionBase::setup_intra_process(
+void SubscriptionBase::setup_intra_process(
   uint64_t intra_process_subscription_id,
   IntraProcessManagerWeakPtr weak_ipm,
   const rcl_subscription_options_t & intra_process_options)

rclcpp/src/rclcpp/time.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <limits>
-#include <string>
 #include <utility>
 
 #include "rclcpp/clock.hpp"
@@ -63,17 +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");
   }
@@ -95,31 +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;
 }
 
@@ -195,10 +184,7 @@ Duration
 Time::operator-(const rclcpp::Time & rhs) const
 {
   if (rcl_time_.clock_type != rhs.rcl_time_.clock_type) {
-    throw std::runtime_error(
-            std::string("can't subtract times with different time sources [") +
-            std::to_string(rcl_time_.clock_type) + " != " +
-            std::to_string(rhs.rcl_time_.clock_type) + "]");
+    throw std::runtime_error("can't subtract times with different time sources");
   }
 
   if (rclcpp::sub_will_overflow(rcl_time_.nanoseconds, rhs.rcl_time_.nanoseconds)) {

rclcpp/src/rclcpp/time_source.cpp

@@ -100,8 +100,7 @@ void TimeSource::attachNode(
   } else {
     // 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_ERROR(logger_, "Invalid type '%s' for parameter 'use_sim_time', should be 'bool'",
       rclcpp::to_string(use_sim_time_param.get_type()).c_str());
   }
 
@@ -155,8 +154,7 @@ void TimeSource::detachClock(std::shared_ptr<rclcpp::Clock> clock)
 
 TimeSource::~TimeSource()
 {
-  if (
-    node_base_ || node_topics_ || node_graph_ || node_services_ ||
+  if (node_base_ || node_topics_ || node_graph_ || node_services_ ||
     node_logging_ || node_clock_ || node_parameters_)
   {
     this->detachNode();

rclcpp/src/rclcpp/timer.cpp

@@ -55,8 +55,7 @@ TimerBase::TimerBase(
   *timer_handle_.get() = rcl_get_zero_initialized_timer();
 
   rcl_clock_t * clock_handle = clock_->get_clock_handle();
-  if (
-    rcl_timer_init(
+  if (rcl_timer_init(
       timer_handle_.get(), clock_handle, rcl_context.get(), period.count(), nullptr,
       rcl_get_default_allocator()) != RCL_RET_OK)
   {
@@ -111,14 +110,12 @@ std::chrono::nanoseconds
 TimerBase::time_until_trigger()
 {
   int64_t time_until_next_call = 0;
-  if (
-    rcl_timer_get_time_until_next_call(
-      timer_handle_.get(),
-      &time_until_next_call) != RCL_RET_OK)
+  if (rcl_timer_get_time_until_next_call(timer_handle_.get(),
+    &time_until_next_call) != RCL_RET_OK)
   {
     throw std::runtime_error(
-            std::string(
-              "Timer could not get time until next call: ") + rcl_get_error_string().str);
+            std::string("Timer could not get time until next call: ") +
+            rcl_get_error_string().str);
   }
   return std::chrono::nanoseconds(time_until_next_call);
 }

rclcpp/src/rclcpp/utilities.cpp

@@ -103,9 +103,9 @@ remove_ros_arguments(int argc, char const * const argv[])
     throw exceptions::RCLError(base_exc, "");
   }
 
-  std::vector<std::string> return_arguments(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]);
   }
 

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/mock_msgs/srv/Mock.srv

@@ -0,0 +1,3 @@
+bool request
+---
+bool response

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/resources/test_node/test_parameters.yaml

@@ -1,4 +0,0 @@
-/**:
-  ros__parameters:
-    parameter_int: 21
-    parameter_string_array: [baz, baz, baz]

rclcpp/test/test_client.cpp

@@ -75,37 +75,12 @@ TEST_F(TestClient, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto client = node->create_client<ListParameters>("invalid_service?");
     }, rclcpp::exceptions::InvalidServiceNameError);
   }
 }
 
-TEST_F(TestClient, construction_with_free_function) {
-  {
-    auto client = rclcpp::create_client<rcl_interfaces::srv::ListParameters>(
-      node->get_node_base_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      "service",
-      rmw_qos_profile_services_default,
-      nullptr);
-  }
-  {
-    ASSERT_THROW(
-    {
-      auto client = rclcpp::create_client<rcl_interfaces::srv::ListParameters>(
-        node->get_node_base_interface(),
-        node->get_node_graph_interface(),
-        node->get_node_services_interface(),
-        "invalid_?service",
-        rmw_qos_profile_services_default,
-        nullptr);
-    }, rclcpp::exceptions::InvalidServiceNameError);
-  }
-}
-
 /*
    Testing client construction and destruction for subnodes.
  */
@@ -117,8 +92,7 @@ TEST_F(TestClientSub, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto client = node->create_client<ListParameters>("invalid_service?");
     }, rclcpp::exceptions::InvalidServiceNameError);
   }

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);
 
@@ -45,17 +41,18 @@ 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);
@@ -67,7 +64,7 @@ TEST(TestDuration, operators) {
   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);
@@ -86,7 +83,7 @@ TEST(TestDuration, chrono_overloads) {
   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());
 
@@ -107,7 +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);
 
   {
@@ -130,7 +127,7 @@ 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);
 
@@ -138,18 +135,98 @@ TEST(TestDuration, maximum_duration) {
 }
 
 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(TestDuration, from_seconds) {
-  EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration::from_seconds(0.0));
-  EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration::from_seconds(0));
-  EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(1.5));
-  EXPECT_EQ(rclcpp::Duration(-ONE_AND_HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(-1.5));
-}
-
-TEST(TestDuration, std_chrono_constructors) {
+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_expand_topic_or_service_name.cpp

@@ -33,45 +33,39 @@ TEST(TestExpandTopicOrServiceName, normal) {
 TEST(TestExpandTopicOrServiceName, exceptions) {
   using rclcpp::expand_topic_or_service_name;
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       expand_topic_or_service_name("chatter", "invalid_node?", "/ns");
     }, rclcpp::exceptions::InvalidNodeNameError);
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       expand_topic_or_service_name("chatter", "node", "/invalid_ns?");
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       expand_topic_or_service_name("chatter/42invalid", "node", "/ns");
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       // this one will only fail on the "full" topic name validation check
       expand_topic_or_service_name("chatter/{ns}/invalid", "node", "/ns");
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       // is_service = true
       expand_topic_or_service_name("chatter/42invalid", "node", "/ns", true);
     }, rclcpp::exceptions::InvalidServiceNameError);
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       // is_service = true
       // this one will only fail on the "full" topic name validation check
       expand_topic_or_service_name("chatter/{ns}/invalid", "node", "/ns", true);

rclcpp/test/test_externally_defined_services.cpp

@@ -24,8 +24,8 @@
 
 #include "rcl/service.h"
 
-#include "test_msgs/srv/empty.hpp"
-#include "test_msgs/srv/empty.h"
+#include "rclcpp/srv/mock.hpp"
+#include "rclcpp/srv/mock.h"
 
 class TestExternallyDefinedServices : public ::testing::Test
 {
@@ -38,15 +38,16 @@ protected:
 
 void
 callback(
-  const std::shared_ptr<test_msgs::srv::Empty::Request>/*req*/,
-  std::shared_ptr<test_msgs::srv::Empty::Response>/*resp*/)
+  const std::shared_ptr<rclcpp::srv::Mock::Request>/*req*/,
+  std::shared_ptr<rclcpp::srv::Mock::Response>/*resp*/)
 {}
 
 TEST_F(TestExternallyDefinedServices, default_behavior) {
   auto node_handle = rclcpp::Node::make_shared("base_node");
 
   try {
-    auto srv = node_handle->create_service<test_msgs::srv::Empty>("test", callback);
+    auto srv = node_handle->create_service<rclcpp::srv::Mock>("test",
+        callback);
   } catch (const std::exception &) {
     FAIL();
     return;
@@ -54,18 +55,19 @@ TEST_F(TestExternallyDefinedServices, default_behavior) {
   SUCCEED();
 }
 
+
 TEST_F(TestExternallyDefinedServices, extern_defined_uninitialized) {
   auto node_handle = rclcpp::Node::make_shared("base_node");
 
   // mock for externally defined service
   rcl_service_t service_handle = rcl_get_zero_initialized_service();
 
-  rclcpp::AnyServiceCallback<test_msgs::srv::Empty> cb;
+  rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
 
   // don't initialize the service
   // expect fail
   try {
-    rclcpp::Service<test_msgs::srv::Empty>(
+    rclcpp::Service<rclcpp::srv::Mock>(
       node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
       &service_handle, cb);
   } catch (const std::runtime_error &) {
@@ -83,7 +85,7 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
   rcl_service_t service_handle = rcl_get_zero_initialized_service();
   rcl_service_options_t service_options = rcl_service_get_default_options();
   const rosidl_service_type_support_t * ts =
-    rosidl_typesupport_cpp::get_service_type_support_handle<test_msgs::srv::Empty>();
+    rosidl_typesupport_cpp::get_service_type_support_handle<rclcpp::srv::Mock>();
   rcl_ret_t ret = rcl_service_init(
     &service_handle,
     node_handle->get_node_base_interface()->get_rcl_node_handle(),
@@ -93,10 +95,10 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
     return;
   }
 
-  rclcpp::AnyServiceCallback<test_msgs::srv::Empty> cb;
+  rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
 
   try {
-    rclcpp::Service<test_msgs::srv::Empty>(
+    rclcpp::Service<rclcpp::srv::Mock>(
       node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
       &service_handle, cb);
   } catch (const std::runtime_error &) {
@@ -123,7 +125,7 @@ TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
   rcl_service_t service_handle = rcl_get_zero_initialized_service();
   rcl_service_options_t service_options = rcl_service_get_default_options();
   const rosidl_service_type_support_t * ts =
-    rosidl_typesupport_cpp::get_service_type_support_handle<test_msgs::srv::Empty>();
+    rosidl_typesupport_cpp::get_service_type_support_handle<rclcpp::srv::Mock>();
   rcl_ret_t ret = rcl_service_init(
     &service_handle,
     node_handle->get_node_base_interface()->get_rcl_node_handle(),
@@ -132,11 +134,11 @@ TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
     FAIL();
     return;
   }
-  rclcpp::AnyServiceCallback<test_msgs::srv::Empty> cb;
+  rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
 
   {
     // Call constructor
-    rclcpp::Service<test_msgs::srv::Empty> srv_cpp(
+    rclcpp::Service<rclcpp::srv::Mock> srv_cpp(
       node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
       &service_handle, cb);
     // Call destructor

rclcpp/test/test_function_traits.cpp

@@ -742,9 +742,8 @@ public:
    TEST_F GTest macro.
 */
 TEST_F(TestMember, bind_member_functor) {
-  auto bind_member_functor = std::bind(
-    &TestMember::MemberFunctor, this, std::placeholders::_1,
-    std::placeholders::_2, std::placeholders::_3);
+  auto bind_member_functor = std::bind(&TestMember::MemberFunctor, this, std::placeholders::_1,
+      std::placeholders::_2, std::placeholders::_3);
 
   static_assert(
     rclcpp::function_traits::check_arguments<decltype(bind_member_functor), int, float,

rclcpp/test/test_local_parameters.cpp

@@ -0,0 +1,97 @@
+// Copyright 2018 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 <cstdio>
+#include <map>
+#include <string>
+
+#include "gtest/gtest.h"
+
+#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",
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+
+  {
+    // try to set a map of parameters
+    std::map<std::string, double> bar_map{
+      {"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);
+    double bar_y_value;
+    ASSERT_TRUE(node->get_parameter("bar.y", bar_y_value));
+    EXPECT_EQ(bar_y_value, 1.0);
+    std::map<std::string, double> new_map;
+    ASSERT_TRUE(node->get_parameters("bar", new_map));
+    ASSERT_EQ(new_map.size(), 2U);
+    EXPECT_EQ(new_map["x"], 0.5);
+    EXPECT_EQ(new_map["y"], 1.0);
+  }
+
+  {
+    // try to get a map of parameters that doesn't exist
+    std::map<std::string, double> no_exist_map;
+    ASSERT_FALSE(node->get_parameters("no_exist", no_exist_map));
+  }
+
+  {
+    // 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);
+  }
+}
+
+int main(int argc, char ** argv)
+{
+  ::setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+
+  // NOTE: use custom main to ensure that rclcpp::init is called only once
+  rclcpp::init(argc, argv);
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return ret;
+}

rclcpp/test/test_logging.cpp

@@ -162,28 +162,3 @@ TEST_F(TestLoggingMacros, test_logging_skipfirst) {
     EXPECT_EQ(i - 1, g_log_calls);
   }
 }
-
-bool log_function(rclcpp::Logger logger)
-{
-  RCLCPP_INFO(logger, "successful log");
-  return true;
-}
-
-bool log_function_const(const rclcpp::Logger logger)
-{
-  RCLCPP_INFO(logger, "successful log");
-  return true;
-}
-
-bool log_function_const_ref(const rclcpp::Logger & logger)
-{
-  RCLCPP_INFO(logger, "successful log");
-  return true;
-}
-
-TEST_F(TestLoggingMacros, test_log_from_node) {
-  auto logger = rclcpp::get_logger("test_logging_logger");
-  EXPECT_TRUE(log_function(logger));
-  EXPECT_TRUE(log_function_const(logger));
-  EXPECT_TRUE(log_function_const_ref(logger));
-}

rclcpp/test/test_node.cpp

@@ -25,8 +25,6 @@
 #include "rclcpp/scope_exit.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-#include "rcpputils/filesystem_helper.hpp"
-
 class TestNode : public ::testing::Test
 {
 protected:
@@ -34,13 +32,6 @@ protected:
   {
     rclcpp::init(0, nullptr);
   }
-
-  void SetUp() override
-  {
-    test_resources_path /= "test_node";
-  }
-
-  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
 };
 
 /*
@@ -52,15 +43,13 @@ TEST_F(TestNode, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       std::make_shared<rclcpp::Node>("invalid_node?", "/ns");
     }, rclcpp::exceptions::InvalidNodeNameError);
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       std::make_shared<rclcpp::Node>("my_node", "/invalid_ns?");
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
@@ -75,7 +64,7 @@ TEST_F(TestNode, get_name_and_namespace) {
   }
   {
     auto options = rclcpp::NodeOptions()
-      .arguments({"--ros-args", "-r", "__ns:=/another_ns"});
+      .arguments({"__ns:=/another_ns"});
     auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options);
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/another_ns", node->get_namespace());
@@ -117,9 +106,8 @@ TEST_F(TestNode, get_name_and_namespace) {
     auto node3 = std::make_shared<rclcpp::Node>("my_node3", "/ns2");
     auto node4 = std::make_shared<rclcpp::Node>("my_node4", "my/ns3");
     auto names_and_namespaces = node1->get_node_names();
-    auto name_namespace_set = std::unordered_set<std::string>(
-      names_and_namespaces.begin(),
-      names_and_namespaces.end());
+    auto name_namespace_set = std::unordered_set<std::string>(names_and_namespaces.begin(),
+        names_and_namespaces.end());
     std::function<bool(std::string)> Set_Contains = [&](std::string string_key)
       {
         return name_namespace_set.find(string_key) != name_namespace_set.end();
@@ -184,8 +172,7 @@ TEST_F(TestNode, subnode_get_name_and_namespace) {
   }
   {
     auto node = std::make_shared<rclcpp::Node>("my_node");
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto subnode = node->create_sub_node("/sub_ns");
     }, rclcpp::exceptions::NameValidationError);
   }
@@ -195,70 +182,60 @@ TEST_F(TestNode, subnode_get_name_and_namespace) {
  */
 TEST_F(TestNode, subnode_construction_and_destruction) {
   {
-    ASSERT_NO_THROW(
-    {
+    ASSERT_NO_THROW({
       auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
       auto subnode = node->create_sub_node("sub_ns");
     });
   }
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
       auto subnode = node->create_sub_node("invalid_ns?");
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto node = std::make_shared<rclcpp::Node>("my_node", "ns/");
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto node = std::make_shared<rclcpp::Node>("my_node", "ns/");
       auto subnode = node->create_sub_node("/sub_ns");
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
       auto subnode = node->create_sub_node("/sub_ns");
     }, rclcpp::exceptions::NameValidationError);
   }
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
       auto subnode = node->create_sub_node("~sub_ns");
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
       auto subnode = node->create_sub_node("invalid_ns?");
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
   {
-    ASSERT_NO_THROW(
-    {
+    ASSERT_NO_THROW({
       auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
       auto subnode = node->create_sub_node("sub_ns");
     });
   }
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
       auto subnode = node->create_sub_node("/sub_ns");
     }, rclcpp::exceptions::NameValidationError);
   }
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
       auto subnode = node->create_sub_node("~sub_ns");
     }, rclcpp::exceptions::InvalidNamespaceError);
@@ -385,109 +362,29 @@ TEST_F(TestNode, declare_parameter_with_no_initial_values) {
   }
 }
 
-auto get_fixed_on_parameter_set_callback(const std::string & name, bool successful)
-{
-  return
-    [name, successful](const std::vector<rclcpp::Parameter> & parameters) {
-      (void)parameters;
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = successful;
-      return result;
-    };
-}
-
-TEST_F(TestNode, test_registering_multiple_callbacks_api) {
-  auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node"_unq);
-  {
-    int64_t default_value{42};
-    auto name1 = "parameter"_unq;
-    auto scoped_callback1 = node->add_on_set_parameters_callback(
-      get_fixed_on_parameter_set_callback(name1, true));
-    EXPECT_NE(scoped_callback1, nullptr);
-    int64_t value{node->declare_parameter(name1, default_value)};
-    EXPECT_EQ(value, default_value);
-
-    auto name2 = "parameter"_unq;
-    auto scoped_callback2 = node->add_on_set_parameters_callback(
-      get_fixed_on_parameter_set_callback(name2, false));
-    EXPECT_NE(scoped_callback2, nullptr);
-    EXPECT_THROW(
-      {node->declare_parameter(name2, default_value);},
-      rclcpp::exceptions::InvalidParameterValueException);
-
-    auto name3 = "parameter"_unq;
-    scoped_callback2.reset();
-    value = node->declare_parameter(name3, default_value);
-    EXPECT_EQ(value, default_value);
-  }
-  {
-    int64_t default_value{42};
-    auto name1 = "parameter"_unq;
-    auto scoped_callback1 = node->add_on_set_parameters_callback(
-      get_fixed_on_parameter_set_callback(name1, true));
-    EXPECT_NE(scoped_callback1, nullptr);
-    int64_t value{node->declare_parameter(name1, default_value)};
-    EXPECT_EQ(value, default_value);
-
-    auto name2 = "parameter"_unq;
-    auto scoped_callback2 = node->add_on_set_parameters_callback(
-      get_fixed_on_parameter_set_callback(name2, false));
-    EXPECT_NE(scoped_callback2, nullptr);
-    EXPECT_THROW(
-      {node->declare_parameter(name2, default_value);},
-      rclcpp::exceptions::InvalidParameterValueException);
-
-    auto name3 = "parameter"_unq;
-    node->remove_on_set_parameters_callback(scoped_callback2.get());
-    value = node->declare_parameter(name3, default_value);
-    EXPECT_EQ(value, default_value);
-  }
-  {
-    int64_t default_value{42};
-    auto name1 = "parameter"_unq;
-    rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr scoped_callback(
-      node->add_on_set_parameters_callback(
-        get_fixed_on_parameter_set_callback(name1, false)));
-    rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr scoped_callback_copy(scoped_callback);
-    scoped_callback.reset();
-
-    EXPECT_THROW(
-      {node->declare_parameter("parameter"_unq, default_value);},
-      rclcpp::exceptions::InvalidParameterValueException);
-
-    scoped_callback_copy.reset();
-    // All the shared_ptr has been reset
-    int64_t value = node->declare_parameter("parameter"_unq, default_value);
-    EXPECT_EQ(value, default_value);
-  }
-}
-
-TEST_F(TestNode, declare_parameter_with_overrides) {
-  // test cases with overrides
+TEST_F(TestNode, declare_parameter_with_initial_values) {
+  // test cases with initial values
   rclcpp::NodeOptions no;
-  no.parameter_overrides(
-  {
+  no.parameter_overrides({
     {"parameter_no_default", 42},
     {"parameter_no_default_set", 42},
     {"parameter_no_default_set_cvref", 42},
     {"parameter_and_default", 42},
-    {"parameter_and_default_ignore_override", 42},
     {"parameter_custom", 42},
     {"parameter_template", 42},
     {"parameter_already_declared", 42},
     {"parameter_rejected", 42},
     {"parameter_type_mismatch", "not an int"},
   });
-
   auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node"_unq, no);
   {
-    // no default, with override
+    // no default, with initial
     rclcpp::ParameterValue value = node->declare_parameter("parameter_no_default");
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
     EXPECT_EQ(value.get<int>(), 42);
   }
   {
-    // no default, with override, and set after
+    // no default, with initial, and set after
     rclcpp::ParameterValue value = node->declare_parameter("parameter_no_default_set");
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
     EXPECT_EQ(value.get<int>(), 42);
@@ -496,7 +393,7 @@ TEST_F(TestNode, declare_parameter_with_overrides) {
     EXPECT_EQ(node->get_parameter("parameter_no_default_set").get_value<int>(), 44);
   }
   {
-    // no default, with override
+    // no default, with initial
     const rclcpp::ParameterValue & value =
       node->declare_parameter("parameter_no_default_set_cvref");
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
@@ -506,23 +403,12 @@ TEST_F(TestNode, declare_parameter_with_overrides) {
     EXPECT_EQ(value.get<int>(), 44);
   }
   {
-    // int default, with override
+    // int default, with initial
     rclcpp::ParameterValue default_value(43);
     rclcpp::ParameterValue value = node->declare_parameter("parameter_and_default", default_value);
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
     EXPECT_EQ(value.get<int>(), 42);  // and not 43 which is the default value
   }
-  {
-    // int default, with override and ignoring it
-    rclcpp::ParameterValue default_value(43);
-    rclcpp::ParameterValue value = node->declare_parameter(
-      "parameter_and_default_ignore_override",
-      default_value,
-      rcl_interfaces::msg::ParameterDescriptor(),
-      true);
-    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
-    EXPECT_EQ(value.get<int>(), 43);  // and not 42, the parameter override is ignored.
-  }
   {
     // int default, with initial, custom parameter descriptor
     rclcpp::ParameterValue default_value(43);
@@ -596,8 +482,7 @@ TEST_F(TestNode, declare_parameters_with_no_initial_values) {
   {
     // with namespace, defaults, no custom descriptors, no initial
     int64_t bigger_than_int = INT64_MAX - 42;
-    auto values = node->declare_parameters<int64_t>(
-      "namespace1", {
+    auto values = node->declare_parameters<int64_t>("namespace1", {
       {"parameter_a", 42},
       {"parameter_b", 256},
       {"parameter_c", bigger_than_int},
@@ -610,8 +495,7 @@ TEST_F(TestNode, declare_parameters_with_no_initial_values) {
   }
   {
     // without namespace, defaults, no custom descriptors, no initial
-    auto values = node->declare_parameters<int64_t>(
-      "", {
+    auto values = node->declare_parameters<int64_t>("", {
       {"parameter_without_ns_a", 42},
       {"parameter_without_ns_b", 256},
     });
@@ -624,8 +508,7 @@ TEST_F(TestNode, declare_parameters_with_no_initial_values) {
     // with namespace, defaults, custom descriptors, no initial
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.read_only = true;
-    auto values = node->declare_parameters<int64_t>(
-      "namespace2", {
+    auto values = node->declare_parameters<int64_t>("namespace2", {
       {"parameter_a", {42, descriptor}},
       {"parameter_b", {256, descriptor}},
     });
@@ -639,8 +522,7 @@ TEST_F(TestNode, declare_parameters_with_no_initial_values) {
     // without namespace, defaults, custom descriptors, no initial
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.read_only = true;
-    auto values = node->declare_parameters<int64_t>(
-      "", {
+    auto values = node->declare_parameters<int64_t>("", {
       {"parameter_without_ns_c", {42, descriptor}},
       {"parameter_without_ns_d", {256, descriptor}},
     });
@@ -695,72 +577,6 @@ TEST_F(TestNode, declare_parameters_with_no_initial_values) {
   }
 }
 
-TEST_F(TestNode, declare_parameter_with_cli_overrides) {
-  const std::string parameters_filepath = (
-    test_resources_path / "test_parameters.yaml").string();
-  // test cases with overrides
-  rclcpp::NodeOptions no;
-  no.arguments({
-    "--ros-args",
-    "-p", "parameter_bool:=true",
-    "-p", "parameter_int:=42",
-    "-p", "parameter_double:=0.42",
-    "-p", "parameter_string:=foo",
-    "--params-file", parameters_filepath.c_str(),
-    "-p", "parameter_bool_array:=[false, true]",
-    "-p", "parameter_int_array:=[-21, 42]",
-    "-p", "parameter_double_array:=[-1.0, .42]",
-    "-p", "parameter_string_array:=[foo, bar]"
-  });
-
-  auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node"_unq, no);
-  {
-    rclcpp::ParameterValue value = node->declare_parameter("parameter_bool");
-    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_BOOL);
-    EXPECT_EQ(value.get<bool>(), true);
-  }
-  {
-    rclcpp::ParameterValue value = node->declare_parameter("parameter_int");
-    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
-    EXPECT_EQ(value.get<int64_t>(), 21);  // set to 42 in CLI, overriden by file
-  }
-  {
-    rclcpp::ParameterValue value = node->declare_parameter("parameter_double");
-    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE);
-    EXPECT_EQ(value.get<double>(), 0.42);
-  }
-  {
-    rclcpp::ParameterValue value = node->declare_parameter("parameter_string");
-    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_STRING);
-    EXPECT_EQ(value.get<std::string>(), "foo");
-  }
-  {
-    rclcpp::ParameterValue value = node->declare_parameter("parameter_bool_array");
-    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_BOOL_ARRAY);
-    std::vector<bool> expected_value{false, true};
-    EXPECT_EQ(value.get<std::vector<bool>>(), expected_value);
-  }
-  {
-    rclcpp::ParameterValue value = node->declare_parameter("parameter_int_array");
-    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER_ARRAY);
-    std::vector<int64_t> expected_value{-21, 42};
-    EXPECT_EQ(value.get<std::vector<int64_t>>(), expected_value);
-  }
-  {
-    rclcpp::ParameterValue value = node->declare_parameter("parameter_double_array");
-    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE_ARRAY);
-    std::vector<double> expected_value{-1.0, 0.42};
-    EXPECT_EQ(value.get<std::vector<double>>(), expected_value);
-  }
-  {
-    rclcpp::ParameterValue value = node->declare_parameter("parameter_string_array");
-    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_STRING_ARRAY);
-    std::vector<std::string> expected_value{"foo", "bar"};
-    // set to [baz, baz, baz] in file, overriden by CLI
-    EXPECT_EQ(value.get<std::vector<std::string>>(), expected_value);
-  }
-}
-
 TEST_F(TestNode, undeclare_parameter) {
   auto node = std::make_shared<rclcpp::Node>("test_undeclare_parameter_node"_unq);
   {
@@ -1251,8 +1067,7 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
 
 TEST_F(TestNode, set_parameter_undeclared_parameters_allowed) {
   rclcpp::NodeOptions no;
-  no.parameter_overrides(
-  {
+  no.parameter_overrides({
     {"parameter_with_override", 30},
   });
   no.allow_undeclared_parameters(true);
@@ -1299,8 +1114,7 @@ TEST_F(TestNode, set_parameters_undeclared_parameters_not_allowed) {
     node->declare_parameter(name2, true);
     node->declare_parameter<std::string>(name3, "blue");
 
-    auto rets = node->set_parameters(
-    {
+    auto rets = node->set_parameters({
       {name1, 2},
       {name2, false},
       {name3, "red"},
@@ -1315,8 +1129,7 @@ TEST_F(TestNode, set_parameters_undeclared_parameters_not_allowed) {
     auto name = "parameter"_unq;
     node->declare_parameter(name, 1);
 
-    auto rets = node->set_parameters(
-    {
+    auto rets = node->set_parameters({
       {name, 42},
       {name, 2},
     });
@@ -1335,8 +1148,7 @@ TEST_F(TestNode, set_parameters_undeclared_parameters_not_allowed) {
 
     EXPECT_THROW(
     {
-      node->set_parameters(
-      {
+      node->set_parameters({
         {name1, 2},
         {name2, "not declared :("},
         {name3, 101},
@@ -1373,8 +1185,7 @@ TEST_F(TestNode, set_parameters_undeclared_parameters_not_allowed) {
       };
     node->set_on_parameters_set_callback(on_set_parameters);
 
-    auto rets = node->set_parameters(
-    {
+    auto rets = node->set_parameters({
       {name1, 2},
       {name2, false},
       {name3, "red"},
@@ -1434,8 +1245,7 @@ TEST_F(TestNode, set_parameters_undeclared_parameters_allowed) {
     EXPECT_TRUE(node->has_parameter(name2));
     EXPECT_EQ(node->get_parameter(name2).get_value<std::string>(), "test");
 
-    auto rets = node->set_parameters(
-    {
+    auto rets = node->set_parameters({
       rclcpp::Parameter(name1, 43),
       rclcpp::Parameter(name2, "other"),
     });
@@ -1451,8 +1261,7 @@ TEST_F(TestNode, set_parameters_undeclared_parameters_allowed) {
     EXPECT_FALSE(node->has_parameter(name1));
     EXPECT_FALSE(node->has_parameter(name2));
 
-    auto rets = node->set_parameters(
-    {
+    auto rets = node->set_parameters({
       rclcpp::Parameter(name1, 42),
       rclcpp::Parameter(name2, "test"),
     });
@@ -1475,8 +1284,7 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_not_allowed) {
     node->declare_parameter(name2, true);
     node->declare_parameter<std::string>(name3, "blue");
 
-    auto ret = node->set_parameters_atomically(
-    {
+    auto ret = node->set_parameters_atomically({
       {name1, 2},
       {name2, false},
       {name3, "red"},
@@ -1491,8 +1299,7 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_not_allowed) {
     auto name = "parameter"_unq;
     node->declare_parameter(name, 1);
 
-    auto ret = node->set_parameters_atomically(
-    {
+    auto ret = node->set_parameters_atomically({
       {name, 42},
       {name, 2},
     });
@@ -1511,8 +1318,7 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_not_allowed) {
 
     EXPECT_THROW(
     {
-      node->set_parameters_atomically(
-      {
+      node->set_parameters_atomically({
         {name1, 2},
         {name2, "not declared :("},
         {name3, 101},
@@ -1550,8 +1356,7 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_not_allowed) {
       };
     node->set_on_parameters_set_callback(on_set_parameters);
 
-    auto ret = node->set_parameters_atomically(
-    {
+    auto ret = node->set_parameters_atomically({
       {name1, 2},
       {name2, false},  // should fail to be set, failing the whole operation
       {name3, "red"},
@@ -1608,8 +1413,7 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_allowed) {
     EXPECT_TRUE(node->has_parameter(name2));
     EXPECT_EQ(node->get_parameter(name2).get_value<std::string>(), "test");
 
-    auto ret = node->set_parameters_atomically(
-    {
+    auto ret = node->set_parameters_atomically({
       rclcpp::Parameter(name1, 43),
       rclcpp::Parameter(name2, "other"),
     });
@@ -1625,8 +1429,7 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_allowed) {
     EXPECT_FALSE(node->has_parameter(name1));
     EXPECT_FALSE(node->has_parameter(name2));
 
-    auto ret = node->set_parameters_atomically(
-    {
+    auto ret = node->set_parameters_atomically({
       rclcpp::Parameter(name1, 42),
       rclcpp::Parameter(name2, "test"),
     });
@@ -1661,8 +1464,7 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_allowed) {
       };
     node->set_on_parameters_set_callback(on_set_parameters);
 
-    auto ret = node->set_parameters_atomically(
-    {
+    auto ret = node->set_parameters_atomically({
       rclcpp::Parameter(name1, 43),
       rclcpp::Parameter(name2, true),  // this would cause implicit declaration
       rclcpp::Parameter(name3, "other"),  // this set should fail, and fail the whole operation
@@ -2042,8 +1844,7 @@ TEST_F(TestNode, describe_parameter_undeclared_parameters_not_allowed) {
     auto name = "parameter"_unq;
 
     {
-      EXPECT_THROW(
-      {
+      EXPECT_THROW({
         node->describe_parameter(name);
       }, rclcpp::exceptions::ParameterNotDeclaredException);
     }
@@ -2123,8 +1924,7 @@ TEST_F(TestNode, describe_parameters_undeclared_parameters_not_allowed) {
     auto name = "parameter"_unq;
 
     {
-      EXPECT_THROW(
-      {
+      EXPECT_THROW({
         node->describe_parameters({name});
       }, rclcpp::exceptions::ParameterNotDeclaredException);
     }
@@ -2137,8 +1937,7 @@ TEST_F(TestNode, describe_parameters_undeclared_parameters_not_allowed) {
     node->declare_parameter(name1, 42);
 
     {
-      EXPECT_THROW(
-      {
+      EXPECT_THROW({
         node->describe_parameters({name1, name2});
       }, rclcpp::exceptions::ParameterNotDeclaredException);
     }
@@ -2261,8 +2060,7 @@ TEST_F(TestNode, get_parameter_types_undeclared_parameters_not_allowed) {
     auto name = "parameter"_unq;
 
     {
-      EXPECT_THROW(
-      {
+      EXPECT_THROW({
         node->get_parameter_types({name});
       }, rclcpp::exceptions::ParameterNotDeclaredException);
     }
@@ -2338,187 +2136,3 @@ TEST_F(TestNode, get_parameter_types_undeclared_parameters_allowed) {
     EXPECT_EQ(results[2], rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET);
   }
 }
-
-// test that it is possible to call get_parameter within the set_callback
-TEST_F(TestNode, set_on_parameters_set_callback_get_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_get_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  double floatout;
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node, &floatout](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      rclcpp::Parameter floatparam = node->get_parameter("floatparam");
-      if (floatparam.get_value<double>() != 5.4) {
-        result.successful = false;
-      }
-      floatout = floatparam.get_value<double>();
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  ASSERT_NO_THROW(node->set_parameter({"intparam", 40}));
-  ASSERT_EQ(floatout, 5.4);
-}
-
-// test that calling set_parameter inside of a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_set_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_set_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      // This should throw an exception
-      node->set_parameter({"floatparam", 5.6});
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// test that calling declare_parameter inside of a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_declare_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_declare_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      // This should throw an exception
-      node->declare_parameter("floatparam2", 5.6);
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// test that calling undeclare_parameter inside a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_undeclare_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_undeclare_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      // This should throw an exception
-      node->undeclare_parameter("floatparam");
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// test that calling set_on_parameters_set_callback from a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_set_on_parameters_set_callback) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_set_callback_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      auto bad_parameters =
-        [](const std::vector<rclcpp::Parameter> & parameters) {
-          (void)parameters;
-          rcl_interfaces::msg::SetParametersResult result;
-          return result;
-        };
-
-      // This should throw an exception
-      node->set_on_parameters_set_callback(bad_parameters);
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}

rclcpp/test/test_node_global_args.cpp

@@ -28,15 +28,14 @@ class TestNodeWithGlobalArgs : public ::testing::Test
 protected:
   static void SetUpTestCase()
   {
-    const char * const args[] = {"proc", "--ros-args", "-r", "__node:=global_node_name"};
-    const int argc = sizeof(args) / sizeof(const char *);
-    rclcpp::init(argc, args);
+    const char * const args[] = {"proc", "__node:=global_node_name"};
+    rclcpp::init(2, args);
   }
 };
 
 TEST_F(TestNodeWithGlobalArgs, local_arguments_before_global) {
   auto options = rclcpp::NodeOptions()
-    .arguments({"--ros-args", "-r", "__node:=local_arguments_test"});
+    .arguments({"__node:=local_arguments_test"});
 
   auto node = rclcpp::Node::make_shared("orig_name", options);
   EXPECT_STREQ("local_arguments_test", node->get_name());

rclcpp/test/test_node_options.cpp

@@ -1,100 +0,0 @@
-// 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, ros_args_only) {
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto options = rclcpp::NodeOptions(allocator)
-    .arguments({"--ros-args", "-r", "__node:=some_node", "-r", "__ns:=/some_ns"});
-
-  const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
-  ASSERT_TRUE(rcl_options != nullptr);
-  ASSERT_EQ(0, rcl_arguments_get_count_unparsed(&rcl_options->arguments));
-  ASSERT_EQ(0, rcl_arguments_get_count_unparsed_ros(&rcl_options->arguments));
-
-  char * node_name = nullptr;
-  EXPECT_EQ(RCL_RET_OK, rcl_remap_node_name(
-      &rcl_options->arguments, nullptr, "my_node", allocator, &node_name));
-  ASSERT_TRUE(node_name != nullptr);
-  EXPECT_STREQ("some_node", node_name);
-  allocator.deallocate(node_name, allocator.state);
-
-  char * namespace_name = nullptr;
-  EXPECT_EQ(RCL_RET_OK, rcl_remap_node_namespace(
-      &rcl_options->arguments, nullptr, "my_ns", allocator, &namespace_name));
-  ASSERT_TRUE(namespace_name != nullptr);
-  EXPECT_STREQ("/some_ns", namespace_name);
-  allocator.deallocate(namespace_name, allocator.state);
-}
-
-TEST(TestNodeOptions, ros_args_and_non_ros_args) {
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto options = rclcpp::NodeOptions(allocator).arguments({
-    "--non-ros-flag", "--ros-args", "-r", "__node:=some_node",
-    "-r", "__ns:=/some_ns", "--", "non-ros-arg"});
-
-  const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
-  ASSERT_TRUE(rcl_options != nullptr);
-  ASSERT_EQ(0, rcl_arguments_get_count_unparsed_ros(&rcl_options->arguments));
-  ASSERT_EQ(2, rcl_arguments_get_count_unparsed(&rcl_options->arguments));
-
-  char * node_name = nullptr;
-  EXPECT_EQ(RCL_RET_OK, rcl_remap_node_name(
-      &rcl_options->arguments, nullptr, "my_node", allocator, &node_name));
-  ASSERT_TRUE(node_name != nullptr);
-  EXPECT_STREQ("some_node", node_name);
-  allocator.deallocate(node_name, allocator.state);
-
-  char * namespace_name = nullptr;
-  EXPECT_EQ(RCL_RET_OK, rcl_remap_node_namespace(
-      &rcl_options->arguments, nullptr, "my_ns", allocator, &namespace_name));
-  ASSERT_TRUE(namespace_name != nullptr);
-  EXPECT_STREQ("/some_ns", namespace_name);
-  allocator.deallocate(namespace_name, allocator.state);
-
-  int * output_indices = nullptr;
-  EXPECT_EQ(RCL_RET_OK, rcl_arguments_get_unparsed(
-      &rcl_options->arguments, allocator, &output_indices));
-  ASSERT_TRUE(output_indices != nullptr);
-  const std::vector<std::string> & args = options.arguments();
-  EXPECT_EQ("--non-ros-flag", args[output_indices[0]]);
-  EXPECT_EQ("non-ros-arg", args[output_indices[1]]);
-  allocator.deallocate(output_indices, allocator.state);
-}
-
-TEST(TestNodeOptions, bad_ros_args) {
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto options = rclcpp::NodeOptions(allocator)
-    .arguments({"--ros-args", "-r", "foo:="});
-
-  EXPECT_THROW(
-    options.get_rcl_node_options(),
-    rclcpp::exceptions::RCLInvalidROSArgsError);
-
-  options.arguments({"--ros-args", "-r", "foo:=bar", "not-a-ros-arg"});
-  EXPECT_THROW(
-    options.get_rcl_node_options(),
-    rclcpp::exceptions::UnknownROSArgsError);
-}

rclcpp/test/test_parameter.cpp

@@ -32,7 +32,7 @@ protected:
   }
 };
 
-TEST(TestParameter, not_set_variant) {
+TEST_F(TestParameter, not_set_variant) {
   // Direct instantiation
   rclcpp::Parameter not_set_variant;
   EXPECT_EQ(rclcpp::PARAMETER_NOT_SET, not_set_variant.get_type());
@@ -53,12 +53,11 @@ TEST(TestParameter, not_set_variant) {
   EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET, not_set_param.value.type);
 
   // From parameter message
-  EXPECT_EQ(
-    rclcpp::ParameterType::PARAMETER_NOT_SET,
+  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_NOT_SET,
     rclcpp::Parameter::from_parameter_msg(not_set_param).get_type());
 }
 
-TEST(TestParameter, bool_variant) {
+TEST_F(TestParameter, bool_variant) {
   // Direct instantiation
   rclcpp::Parameter bool_variant_true("bool_param", true);
   EXPECT_EQ("bool_param", bool_variant_true.get_name());
@@ -66,8 +65,7 @@ TEST(TestParameter, bool_variant) {
   EXPECT_EQ("bool", bool_variant_true.get_type_name());
   EXPECT_TRUE(bool_variant_true.get_value<rclcpp::ParameterType::PARAMETER_BOOL>());
   EXPECT_TRUE(bool_variant_true.get_value_message().bool_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
     bool_variant_true.get_value_message().type);
   EXPECT_TRUE(bool_variant_true.as_bool());
 
@@ -85,8 +83,7 @@ TEST(TestParameter, bool_variant) {
   rclcpp::Parameter bool_variant_false("bool_param", false);
   EXPECT_FALSE(bool_variant_false.get_value<rclcpp::ParameterType::PARAMETER_BOOL>());
   EXPECT_FALSE(bool_variant_false.get_value_message().bool_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
     bool_variant_false.get_value_message().type);
 
   rcl_interfaces::msg::Parameter bool_param = bool_variant_true.to_parameter_msg();
@@ -102,8 +99,7 @@ TEST(TestParameter, bool_variant) {
   EXPECT_EQ("bool", from_msg_true.get_type_name());
   EXPECT_TRUE(from_msg_true.get_value<rclcpp::ParameterType::PARAMETER_BOOL>());
   EXPECT_TRUE(from_msg_true.get_value_message().bool_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
     bool_variant_false.get_value_message().type);
 
   bool_param.value.bool_value = false;
@@ -111,12 +107,11 @@ TEST(TestParameter, bool_variant) {
     rclcpp::Parameter::from_parameter_msg(bool_param);
   EXPECT_FALSE(from_msg_false.get_value<rclcpp::ParameterType::PARAMETER_BOOL>());
   EXPECT_FALSE(from_msg_false.get_value_message().bool_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
     bool_variant_false.get_value_message().type);
 }
 
-TEST(TestParameter, integer_variant) {
+TEST_F(TestParameter, integer_variant) {
   const int TEST_VALUE {42};
 
   // Direct instantiation
@@ -124,12 +119,10 @@ TEST(TestParameter, integer_variant) {
   EXPECT_EQ("integer_param", integer_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, integer_variant.get_type());
   EXPECT_EQ("integer", integer_variant.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     integer_variant.get_value<rclcpp::ParameterType::PARAMETER_INTEGER>());
   EXPECT_EQ(TEST_VALUE, integer_variant.get_value_message().integer_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
     integer_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, integer_variant.as_int());
 
@@ -155,16 +148,14 @@ TEST(TestParameter, integer_variant) {
   EXPECT_EQ("integer_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, from_msg.get_type());
   EXPECT_EQ("integer", from_msg.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_INTEGER>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().integer_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, long_integer_variant) {
+TEST_F(TestParameter, long_integer_variant) {
   const int64_t TEST_VALUE {std::numeric_limits<int64_t>::max()};
 
   // Direct instantiation
@@ -172,12 +163,10 @@ TEST(TestParameter, long_integer_variant) {
   EXPECT_EQ("long_integer_param", long_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, long_variant.get_type());
   EXPECT_EQ("integer", long_variant.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     long_variant.get_value<rclcpp::ParameterType::PARAMETER_INTEGER>());
   EXPECT_EQ(TEST_VALUE, long_variant.get_value_message().integer_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
     long_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, long_variant.as_int());
 
@@ -203,16 +192,14 @@ TEST(TestParameter, long_integer_variant) {
   EXPECT_EQ("long_integer_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, from_msg.get_type());
   EXPECT_EQ("integer", from_msg.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_INTEGER>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().integer_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, float_variant) {
+TEST_F(TestParameter, float_variant) {
   const float TEST_VALUE {42.0f};
 
   // Direct instantiation
@@ -220,12 +207,10 @@ TEST(TestParameter, float_variant) {
   EXPECT_EQ("float_param", float_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE, float_variant.get_type());
   EXPECT_EQ("double", float_variant.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     float_variant.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE>());
   EXPECT_EQ(TEST_VALUE, float_variant.get_value_message().double_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
     float_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, float_variant.as_double());
 
@@ -251,16 +236,14 @@ TEST(TestParameter, float_variant) {
   EXPECT_EQ("float_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE, from_msg.get_type());
   EXPECT_EQ("double", from_msg.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().double_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, double_variant) {
+TEST_F(TestParameter, double_variant) {
   const double TEST_VALUE {-42.1};
 
   // Direct instantiation
@@ -268,12 +251,10 @@ TEST(TestParameter, double_variant) {
   EXPECT_EQ("double_param", double_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE, double_variant.get_type());
   EXPECT_EQ("double", double_variant.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     double_variant.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE>());
   EXPECT_EQ(TEST_VALUE, double_variant.get_value_message().double_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
     double_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, double_variant.as_double());
 
@@ -299,16 +280,14 @@ TEST(TestParameter, double_variant) {
   EXPECT_EQ("double_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE, from_msg.get_type());
   EXPECT_EQ("double", from_msg.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().double_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, string_variant) {
+TEST_F(TestParameter, string_variant) {
   const std::string TEST_VALUE {"ROS2"};
 
   // Direct instantiation
@@ -316,12 +295,10 @@ TEST(TestParameter, string_variant) {
   EXPECT_EQ("string_param", string_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_STRING, string_variant.get_type());
   EXPECT_EQ("string", string_variant.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     string_variant.get_value<rclcpp::ParameterType::PARAMETER_STRING>());
   EXPECT_EQ(TEST_VALUE, string_variant.get_value_message().string_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
     string_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, string_variant.as_string());
 
@@ -349,12 +326,11 @@ TEST(TestParameter, string_variant) {
   EXPECT_EQ("string", from_msg.get_type_name());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value<rclcpp::ParameterType::PARAMETER_STRING>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().string_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, byte_array_variant) {
+TEST_F(TestParameter, byte_array_variant) {
   const std::vector<uint8_t> TEST_VALUE {0x52, 0x4f, 0x53, 0x32};
 
   // Direct instantiation
@@ -362,12 +338,10 @@ TEST(TestParameter, byte_array_variant) {
   EXPECT_EQ("byte_array_param", byte_array_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_BYTE_ARRAY, byte_array_variant.get_type());
   EXPECT_EQ("byte_array", byte_array_variant.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     byte_array_variant.get_value<rclcpp::ParameterType::PARAMETER_BYTE_ARRAY>());
   EXPECT_EQ(TEST_VALUE, byte_array_variant.get_value_message().byte_array_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY,
     byte_array_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, byte_array_variant.as_byte_array());
 
@@ -393,16 +367,14 @@ TEST(TestParameter, byte_array_variant) {
   EXPECT_EQ("byte_array_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_BYTE_ARRAY, from_msg.get_type());
   EXPECT_EQ("byte_array", from_msg.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_BYTE_ARRAY>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().byte_array_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY,
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, bool_array_variant) {
+TEST_F(TestParameter, bool_array_variant) {
   const std::vector<bool> TEST_VALUE {false, true, true, false, false, true};
 
   // Direct instantiation
@@ -410,12 +382,10 @@ TEST(TestParameter, bool_array_variant) {
   EXPECT_EQ("bool_array_param", bool_array_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_BOOL_ARRAY, bool_array_variant.get_type());
   EXPECT_EQ("bool_array", bool_array_variant.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     bool_array_variant.get_value<rclcpp::ParameterType::PARAMETER_BOOL_ARRAY>());
   EXPECT_EQ(TEST_VALUE, bool_array_variant.get_value_message().bool_array_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY,
     bool_array_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, bool_array_variant.as_bool_array());
 
@@ -441,16 +411,14 @@ TEST(TestParameter, bool_array_variant) {
   EXPECT_EQ("bool_array_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_BOOL_ARRAY, from_msg.get_type());
   EXPECT_EQ("bool_array", from_msg.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_BOOL_ARRAY>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().bool_array_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY,
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, integer_array_variant) {
+TEST_F(TestParameter, integer_array_variant) {
   const std::vector<int> TEST_VALUE
   {42, -99, std::numeric_limits<int>::max(), std::numeric_limits<int>::lowest(), 0};
 
@@ -458,12 +426,10 @@ TEST(TestParameter, integer_array_variant) {
   rclcpp::Parameter integer_array_variant("integer_array_param", TEST_VALUE);
 
   EXPECT_EQ("integer_array_param", integer_array_variant.get_name());
-  EXPECT_EQ(
-    rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY,
     integer_array_variant.get_type());
   EXPECT_EQ("integer_array", integer_array_variant.get_type_name());
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
     integer_array_variant.get_value_message().type);
 
   // No direct comparison of vectors of ints and long ints
@@ -498,8 +464,7 @@ TEST(TestParameter, integer_array_variant) {
 
   rcl_interfaces::msg::Parameter integer_array_param = integer_array_variant.to_parameter_msg();
   EXPECT_EQ("integer_array_param", integer_array_param.name);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
     integer_array_param.value.type);
 
   param_value = integer_array_param.value.integer_array_value;
@@ -524,26 +489,22 @@ TEST(TestParameter, integer_array_variant) {
   EXPECT_EQ(TEST_VALUE.end(), mismatches.first);
   EXPECT_EQ(param_value.end(), mismatches.second);
 
-  EXPECT_EQ(
-    from_msg.get_value_message().type,
+  EXPECT_EQ(from_msg.get_value_message().type,
     rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);
 }
 
-TEST(TestParameter, long_integer_array_variant) {
+TEST_F(TestParameter, long_integer_array_variant) {
   const std::vector<int64_t> TEST_VALUE
   {42, -99, std::numeric_limits<int64_t>::max(), std::numeric_limits<int64_t>::lowest(), 0};
 
   rclcpp::Parameter long_array_variant("long_integer_array_param", TEST_VALUE);
   EXPECT_EQ("long_integer_array_param", long_array_variant.get_name());
-  EXPECT_EQ(
-    rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY,
     long_array_variant.get_type());
   EXPECT_EQ("integer_array", long_array_variant.get_type_name());
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
     long_array_variant.get_value_message().type);
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     long_array_variant.get_value<rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY>());
   EXPECT_EQ(TEST_VALUE, long_array_variant.get_value_message().integer_array_value);
   EXPECT_EQ(TEST_VALUE, long_array_variant.as_integer_array());
@@ -563,8 +524,7 @@ TEST(TestParameter, long_integer_array_variant) {
 
   rcl_interfaces::msg::Parameter integer_array_param = long_array_variant.to_parameter_msg();
   EXPECT_EQ("long_integer_array_param", integer_array_param.name);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
     integer_array_param.value.type);
   EXPECT_EQ(TEST_VALUE, integer_array_param.value.integer_array_value);
 
@@ -574,16 +534,14 @@ TEST(TestParameter, long_integer_array_variant) {
   EXPECT_EQ("long_integer_array_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY, from_msg.get_type());
   EXPECT_EQ("integer_array", from_msg.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().integer_array_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, float_array_variant) {
+TEST_F(TestParameter, float_array_variant) {
   const std::vector<float> TEST_VALUE
   {42.1f, -99.1f, std::numeric_limits<float>::max(), std::numeric_limits<float>::lowest(), 0.1f};
 
@@ -591,12 +549,10 @@ TEST(TestParameter, float_array_variant) {
   rclcpp::Parameter float_array_variant("float_array_param", TEST_VALUE);
 
   EXPECT_EQ("float_array_param", float_array_variant.get_name());
-  EXPECT_EQ(
-    rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY,
     float_array_variant.get_type());
   EXPECT_EQ("double_array", float_array_variant.get_type_name());
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     float_array_variant.get_value_message().type);
 
   // No direct comparison of vectors of floats and doubles
@@ -631,8 +587,7 @@ TEST(TestParameter, float_array_variant) {
 
   rcl_interfaces::msg::Parameter float_array_param = float_array_variant.to_parameter_msg();
   EXPECT_EQ("float_array_param", float_array_param.name);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     float_array_param.value.type);
 
   param_value = float_array_param.value.double_array_value;
@@ -657,26 +612,22 @@ TEST(TestParameter, float_array_variant) {
   EXPECT_EQ(TEST_VALUE.end(), mismatches.first);
   EXPECT_EQ(param_value.end(), mismatches.second);
 
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, double_array_variant) {
+TEST_F(TestParameter, double_array_variant) {
   const std::vector<double> TEST_VALUE
   {42.1, -99.1, std::numeric_limits<double>::max(), std::numeric_limits<double>::lowest(), 0.1};
 
   rclcpp::Parameter double_array_variant("double_array_param", TEST_VALUE);
   EXPECT_EQ("double_array_param", double_array_variant.get_name());
-  EXPECT_EQ(
-    rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY,
     double_array_variant.get_type());
   EXPECT_EQ("double_array", double_array_variant.get_type_name());
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     double_array_variant.get_value_message().type);
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     double_array_variant.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY>());
   EXPECT_EQ(TEST_VALUE, double_array_variant.get_value_message().double_array_value);
   EXPECT_EQ(TEST_VALUE, double_array_variant.as_double_array());
@@ -696,8 +647,7 @@ TEST(TestParameter, double_array_variant) {
 
   rcl_interfaces::msg::Parameter double_array_param = double_array_variant.to_parameter_msg();
   EXPECT_EQ("double_array_param", double_array_param.name);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     double_array_param.value.type);
   EXPECT_EQ(TEST_VALUE, double_array_param.value.double_array_value);
 
@@ -707,31 +657,26 @@ TEST(TestParameter, double_array_variant) {
   EXPECT_EQ("double_array_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY, from_msg.get_type());
   EXPECT_EQ("double_array", from_msg.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().double_array_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, string_array_variant) {
+TEST_F(TestParameter, string_array_variant) {
   const std::vector<std::string> TEST_VALUE {"R", "O", "S2"};
 
   // Direct instantiation
   rclcpp::Parameter string_array_variant("string_array_param", TEST_VALUE);
   EXPECT_EQ("string_array_param", string_array_variant.get_name());
-  EXPECT_EQ(
-    rclcpp::ParameterType::PARAMETER_STRING_ARRAY,
+  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_STRING_ARRAY,
     string_array_variant.get_type());
   EXPECT_EQ("string_array", string_array_variant.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     string_array_variant.get_value<rclcpp::ParameterType::PARAMETER_STRING_ARRAY>());
   EXPECT_EQ(TEST_VALUE, string_array_variant.get_value_message().string_array_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
     string_array_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, string_array_variant.as_string_array());
 
@@ -748,8 +693,7 @@ TEST(TestParameter, string_array_variant) {
 
   rcl_interfaces::msg::Parameter string_array_param = string_array_variant.to_parameter_msg();
   EXPECT_EQ("string_array_param", string_array_param.name);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
     string_array_param.value.type);
   EXPECT_EQ(TEST_VALUE, string_array_param.value.string_array_value);
 
@@ -759,11 +703,9 @@ TEST(TestParameter, string_array_variant) {
   EXPECT_EQ("string_array_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_STRING_ARRAY, from_msg.get_type());
   EXPECT_EQ("string_array", from_msg.get_type_name());
-  EXPECT_EQ(
-    TEST_VALUE,
+  EXPECT_EQ(TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_STRING_ARRAY>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().string_array_value);
-  EXPECT_EQ(
-    rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
+  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
     from_msg.get_value_message().type);
 }

rclcpp/test/test_parameter_client.cpp

@@ -67,8 +67,7 @@ TEST_F(TestParameterClient, async_construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       std::make_shared<rclcpp::AsyncParametersClient>(node, "invalid_remote_node?");
     }, rclcpp::exceptions::InvalidServiceNameError);
   }
@@ -101,8 +100,7 @@ TEST_F(TestParameterClient, sync_construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       std::make_shared<rclcpp::SyncParametersClient>(node, "invalid_remote_node?");
     }, rclcpp::exceptions::InvalidServiceNameError);
   }

rclcpp/test/test_parameter_map.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
-#include <rcl/allocator.h>
 #include <rcl_yaml_param_parser/parser.h>
 #include <rcutils/strdup.h>
 

rclcpp/test/test_publisher.cpp

@@ -98,8 +98,7 @@ TEST_F(TestPublisher, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto publisher = node->create_publisher<IntraProcessMessage>("invalid_topic?", 42);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
@@ -139,6 +138,41 @@ TEST_F(TestPublisher, various_creation_signatures) {
       rclcpp::create_publisher<IntraProcessMessage>(node, "topic", 42, rclcpp::PublisherOptions());
     (void)publisher;
   }
+  // Now deprecated functions.
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+  {
+    auto publisher = node->create_publisher<IntraProcessMessage>("topic");
+    (void)publisher;
+  }
+  {
+    auto publisher = node->create_publisher<IntraProcessMessage>(
+      "topic",
+      42,
+      std::make_shared<std::allocator<IntraProcessMessage>>());
+    (void)publisher;
+  }
+  {
+    auto publisher = node->create_publisher<IntraProcessMessage>("topic", rmw_qos_profile_default);
+    (void)publisher;
+  }
+  {
+    auto publisher = node->create_publisher<IntraProcessMessage>(
+      "topic",
+      rmw_qos_profile_default,
+      std::make_shared<std::allocator<IntraProcessMessage>>());
+    (void)publisher;
+  }
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
 }
 
 /*
@@ -199,8 +233,7 @@ TEST_F(TestPublisherSub, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto publisher = subnode->create_publisher<IntraProcessMessage>("invalid_topic?", 42);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }

rclcpp/test/test_serialized_message_allocator.cpp

@@ -56,9 +56,8 @@ TEST(TestSerializedMessageAllocator, borrow_from_subscription) {
 
   auto node = std::make_shared<rclcpp::Node>("test_serialized_message_allocator_node");
   std::shared_ptr<rclcpp::SubscriptionBase> sub =
-    node->create_subscription<test_msgs::msg::Empty>(
-    "~/dummy_topic", 10,
-    [](std::shared_ptr<test_msgs::msg::Empty> test_msg) {(void) test_msg;});
+    node->create_subscription<test_msgs::msg::Empty>("~/dummy_topic", 10,
+      [](std::shared_ptr<test_msgs::msg::Empty> test_msg) {(void) test_msg;});
 
   auto msg0 = sub->create_serialized_message();
   EXPECT_EQ(0u, msg0->buffer_capacity);

rclcpp/test/test_service.cpp

@@ -78,8 +78,7 @@ TEST_F(TestService, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto service = node->create_service<ListParameters>("invalid_service?", callback);
     }, rclcpp::exceptions::InvalidServiceNameError);
   }
@@ -99,8 +98,7 @@ TEST_F(TestServiceSub, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto service = node->create_service<ListParameters>("invalid_service?", callback);
     }, rclcpp::exceptions::InvalidServiceNameError);
   }

rclcpp/test/test_subscription.cpp

@@ -129,8 +129,7 @@ TEST_F(TestSubscription, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto sub = node->create_subscription<IntraProcessMessage>("invalid_topic?", 10, callback);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
@@ -162,8 +161,7 @@ TEST_F(TestSubscriptionSub, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW(
-    {
+    ASSERT_THROW({
       auto sub = node->create_subscription<IntraProcessMessage>("invalid_topic?", 1, callback);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
@@ -203,6 +201,40 @@ TEST_F(TestSubscription, various_creation_signatures) {
       node, "topic", 42, cb, rclcpp::SubscriptionOptions());
     (void)sub;
   }
+  // Now deprecated functions.
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+  {
+    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, 42);
+    (void)sub;
+  }
+  {
+    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb);
+    (void)sub;
+  }
+  {
+    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, rmw_qos_profile_default);
+    (void)sub;
+  }
+  {
+    auto sub =
+      node->create_subscription<IntraProcessMessage>("topic", cb, rmw_qos_profile_default, nullptr);
+    (void)sub;
+  }
+  {
+    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, 42, nullptr);
+    (void)sub;
+  }
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
 }
 
 /*

rclcpp/test/test_time.cpp

@@ -45,7 +45,7 @@ protected:
   }
 };
 
-TEST(TestTime, clock_type_access) {
+TEST_F(TestTime, clock_type_access) {
   rclcpp::Clock ros_clock(RCL_ROS_TIME);
   EXPECT_EQ(RCL_ROS_TIME, ros_clock.get_clock_type());
 
@@ -56,7 +56,7 @@ TEST(TestTime, clock_type_access) {
   EXPECT_EQ(RCL_STEADY_TIME, steady_clock.get_clock_type());
 }
 
-TEST(TestTime, time_sources) {
+TEST_F(TestTime, time_sources) {
   using builtin_interfaces::msg::Time;
   rclcpp::Clock ros_clock(RCL_ROS_TIME);
   Time ros_now = ros_clock.now();
@@ -74,44 +74,124 @@ TEST(TestTime, time_sources) {
   EXPECT_NE(0u, steady_now.nanosec);
 }
 
-TEST(TestTime, conversions) {
+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(TestTime, conversions) {
   rclcpp::Clock system_clock(RCL_SYSTEM_TIME);
 
-  rclcpp::Time now = system_clock.now();
-  builtin_interfaces::msg::Time now_msg = now;
-
-  rclcpp::Time now_again = now_msg;
-  EXPECT_EQ(now.nanoseconds(), now_again.nanoseconds());
-
-  builtin_interfaces::msg::Time msg;
-  msg.sec = 12345;
-  msg.nanosec = 67890;
-
-  rclcpp::Time time = msg;
-  EXPECT_EQ(
-    RCL_S_TO_NS(static_cast<int64_t>(msg.sec)) + static_cast<int64_t>(msg.nanosec),
-    time.nanoseconds());
-  EXPECT_EQ(static_cast<int64_t>(msg.sec), RCL_NS_TO_S(time.nanoseconds()));
-
-  builtin_interfaces::msg::Time negative_time_msg;
-  negative_time_msg.sec = -1;
-  negative_time_msg.nanosec = 1;
-
-  EXPECT_ANY_THROW(
   {
-    rclcpp::Time negative_time = negative_time_msg;
-  });
+    rclcpp::Time now = system_clock.now();
+    builtin_interfaces::msg::Time now_msg = now;
 
-  EXPECT_ANY_THROW(rclcpp::Time(-1, 1));
+    rclcpp::Time now_again = now_msg;
+    EXPECT_EQ(now.nanoseconds(), now_again.nanoseconds());
+  }
 
-  EXPECT_ANY_THROW(
   {
-    rclcpp::Time assignment(1, 2);
-    assignment = negative_time_msg;
-  });
+    rclcpp::Time positive_time = rclcpp::Time(12345, 67890u);
+
+    builtin_interfaces::msg::Time msg = positive_time;
+    EXPECT_EQ(msg.sec, 12345);
+    EXPECT_EQ(msg.nanosec, 67890u);
+
+    rclcpp::Time time = msg;
+    EXPECT_EQ(time.nanoseconds(), positive_time.nanoseconds());
+    EXPECT_EQ(
+      RCL_S_TO_NS(static_cast<int64_t>(msg.sec)) + static_cast<int64_t>(msg.nanosec),
+      time.nanoseconds());
+    EXPECT_EQ(static_cast<int64_t>(msg.sec), RCL_NS_TO_S(time.nanoseconds()));
+  }
+
+  // throw on construction/assignment of negative times
+  {
+    builtin_interfaces::msg::Time negative_time_msg;
+    negative_time_msg.sec = -1;
+    negative_time_msg.nanosec = 1;
+
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time = negative_time_msg;
+    });
+
+    EXPECT_ANY_THROW(rclcpp::Time(-1, 1));
+
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time assignment(1, 2);
+      assignment = negative_time_msg;
+    });
+  }
+
+  {
+    const rclcpp::Time time(HALF_SEC_IN_NS);
+    const auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, 0);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), HALF_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Time time(ONE_SEC_IN_NS);
+    const auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, 1);
+    EXPECT_EQ(time_msg.nanosec, 0u);
+    EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), ONE_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Time time(ONE_AND_HALF_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, 1);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), ONE_AND_HALF_SEC_IN_NS);
+  }
+
+  {
+    // Can rclcpp::Time be negative or not? The following constructor works:
+    rclcpp::Time time(-HALF_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, -1);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+
+    // The opposite conversion throws...
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time(time_msg);
+    });
+  }
+
+  {
+    // Can rclcpp::Time be negative or not? The following constructor works:
+    rclcpp::Time time(-ONE_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, -1);
+    EXPECT_EQ(time_msg.nanosec, 0u);
+
+    // The opposite conversion throws...
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time(time_msg);
+    });
+  }
+
+  {
+    // Can rclcpp::Time be negative or not? The following constructor works:
+    rclcpp::Time time(-ONE_AND_HALF_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, -2);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+
+    // The opposite conversion throws...
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time(time_msg);
+    });
+  }
 }
 
-TEST(TestTime, operators) {
+TEST_F(TestTime, operators) {
   rclcpp::Time old(1, 0);
   rclcpp::Time young(2, 0);
 
@@ -123,7 +203,7 @@ TEST(TestTime, operators) {
   EXPECT_TRUE(young != old);
 
   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::Time system_time(0, 0, RCL_SYSTEM_TIME);
@@ -162,7 +242,7 @@ TEST(TestTime, operators) {
   }
 }
 
-TEST(TestTime, overflow_detectors) {
+TEST_F(TestTime, overflow_detectors) {
   /////////////////////////////////////////////////////////////////////////////
   // Test logical_eq call first:
   EXPECT_TRUE(logical_eq(false, false));
@@ -182,8 +262,8 @@ TEST(TestTime, overflow_detectors) {
   // 256 * 256 = 64K total loops, should be pretty fast on everything
   for (big_type_t y = min_val; y <= max_val; ++y) {
     for (big_type_t x = min_val; x <= max_val; ++x) {
-      const big_type_t sum = x + y;
-      const big_type_t diff = x - y;
+      const big_type_t sum = static_cast<big_type_t>(x + y);
+      const big_type_t diff = static_cast<big_type_t>(x - y);
 
       const bool add_will_overflow =
         rclcpp::add_will_overflow(test_type_t(x), test_type_t(y));
@@ -219,7 +299,7 @@ TEST(TestTime, overflow_detectors) {
   EXPECT_TRUE(rclcpp::sub_will_underflow<int64_t>(INT64_MIN, 1));
 }
 
-TEST(TestTime, overflows) {
+TEST_F(TestTime, overflows) {
   rclcpp::Time max_time(std::numeric_limits<rcl_time_point_value_t>::max());
   rclcpp::Time min_time(std::numeric_limits<rcl_time_point_value_t>::min());
   rclcpp::Duration one(1);
@@ -247,7 +327,7 @@ TEST(TestTime, overflows) {
   EXPECT_NO_THROW(one_time - two_time);
 }
 
-TEST(TestTime, seconds) {
+TEST_F(TestTime, seconds) {
   EXPECT_DOUBLE_EQ(0.0, rclcpp::Time(0, 0).seconds());
   EXPECT_DOUBLE_EQ(4.5, rclcpp::Time(4, 500000000).seconds());
   EXPECT_DOUBLE_EQ(2.5, rclcpp::Time(0, 2500000000).seconds());

rclcpp/test/test_time_source.cpp

@@ -161,8 +161,7 @@ void set_use_sim_time_parameter(
 
   using namespace std::chrono_literals;
   EXPECT_TRUE(parameters_client->wait_for_service(2s));
-  auto set_parameters_results = parameters_client->set_parameters(
-  {
+  auto set_parameters_results = parameters_client->set_parameters({
     rclcpp::Parameter("use_sim_time", value)
   });
   for (auto & result : set_parameters_results) {

rclcpp/test/test_timer.cpp

@@ -40,18 +40,17 @@ protected:
 
     test_node = std::make_shared<rclcpp::Node>("test_timer_node");
 
-    timer = test_node->create_wall_timer(
-      100ms,
-      [this]() -> void
-      {
-        this->has_timer_run.store(true);
+    timer = test_node->create_wall_timer(100ms,
+        [this]() -> void
+        {
+          this->has_timer_run.store(true);
 
-        if (this->cancel_timer.load()) {
-          this->timer->cancel();
+          if (this->cancel_timer.load()) {
+            this->timer->cancel();
+          }
+          // prevent any tests running timer from blocking
+          this->executor->cancel();
         }
-        // prevent any tests running timer from blocking
-        this->executor->cancel();
-      }
     );
 
     executor->add_node(test_node);

rclcpp/test/test_utilities.cpp

@@ -22,13 +22,8 @@
 #include "rclcpp/utilities.hpp"
 
 TEST(TestUtilities, remove_ros_arguments) {
-  const char * const argv[] = {
-    "process_name",
-    "-d", "--ros-args",
-    "-r", "__ns:=/foo/bar",
-    "-r", "__ns:=/fiz/buz",
-    "--", "--foo=bar", "--baz"
-  };
+  const char * const argv[] = {"process_name", "-d", "__ns:=/foo/bar",
+    "__ns:=/fiz/buz", "--foo=bar", "--baz"};
   int argc = sizeof(argv) / sizeof(const char *);
   auto args = rclcpp::remove_ros_arguments(argc, argv);
 
@@ -42,8 +37,7 @@ TEST(TestUtilities, remove_ros_arguments) {
 TEST(TestUtilities, remove_ros_arguments_null) {
   // In the case of a C executable, we would expect to get
   // argc=1 and argv = ["process_name"], so this is an invalid input.
-  ASSERT_THROW(
-  {
+  ASSERT_THROW({
     rclcpp::remove_ros_arguments(0, nullptr);
   }, rclcpp::exceptions::RCLErrorBase);
 }

rclcpp_action/CHANGELOG.rst

@@ -2,14 +2,45 @@
 Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.16 (2021-05-21)
+-------------------
 
-0.8.0 (2019-09-26)
+0.7.15 (2020-11-24)
+-------------------
+* Fix typo in action client logger name. (`#1414 <https://github.com/ros2/rclcpp/issues/1414>`_)
+* Contributors: Seulbae Kim
+
+0.7.14 (2020-07-10)
+-------------------
+* Fixed doxygen warnings. (`#1208 <https://github.com/ros2/rclcpp/issues/1208>`_)
+* Contributors: Alejandro Hernández Cordero
+
+0.7.13 (2020-03-12)
+-------------------
+
+0.7.12 (2019-12-05)
+-------------------
+* Fixed memory leak in action clients (`#934 <https://github.com/ros2/rclcpp/issues/934>`_)
+* Do not throw exception in action client if take fails (`#891 <https://github.com/ros2/rclcpp/issues/891>`_)
+* Contributors: Ivan Santiago Paunovic, Jacob Perron
+
+0.7.11 (2019-10-11)
+-------------------
+
+0.7.10 (2019-09-23)
+-------------------
+
+0.7.9 (2019-09-20)
+------------------
+
+0.7.8 (2019-09-06)
+------------------
+
+0.7.7 (2019-07-31)
+------------------
+
+0.7.6 (2019-06-12)
 ------------------
-* Fix UnknownGoalHandle error string. (`#856 <https://github.com/ros2/rclcpp/issues/856>`_)
-* Guard against making multiple result requests for a goal handle (`#808 <https://github.com/ros2/rclcpp/issues/808>`_)
-* Add line break after first open paren in multiline function call (`#785 <https://github.com/ros2/rclcpp/issues/785>`_)
-* Fix typo in test fixture tear down method name (`#787 <https://github.com/ros2/rclcpp/issues/787>`_)
-* Contributors: Chris Lalancette, Dan Rose, Jacob Perron
 
 0.7.5 (2019-05-30)
 ------------------

rclcpp_action/include/rclcpp_action/client.hpp

@@ -410,7 +410,10 @@ public:
       // This will override any previously registered callback
       goal_handle->set_result_callback(result_callback);
     }
-    this->make_result_aware(goal_handle);
+    // If the user chose to ignore the result before, then ask the server for the result now.
+    if (!goal_handle->is_result_aware()) {
+      this->make_result_aware(goal_handle);
+    }
     return goal_handle->async_result();
   }
 
@@ -592,10 +595,6 @@ private:
   void
   make_result_aware(typename GoalHandle::SharedPtr goal_handle)
   {
-    // Avoid making more than one request
-    if (goal_handle->set_result_awareness(true)) {
-      return;
-    }
     using GoalResultRequest = typename ActionT::Impl::GetResultService::Request;
     auto goal_result_request = std::make_shared<GoalResultRequest>();
     goal_result_request->goal_id.uuid = goal_handle->get_goal_id();
@@ -615,6 +614,7 @@ private:
         std::lock_guard<std::mutex> lock(goal_handles_mutex_);
         goal_handles_.erase(goal_handle->get_goal_id());
       });
+    goal_handle->set_result_awareness(true);
   }
 
   /// \internal

rclcpp_action/include/rclcpp_action/client_goal_handle.hpp

@@ -134,8 +134,7 @@ private:
     typename ClientGoalHandle<ActionT>::SharedPtr shared_this,
     typename std::shared_ptr<const Feedback> feedback_message);
 
-  /// Returns the previous value of awareness
-  bool
+  void
   set_result_awareness(bool awareness);
 
   void

rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp

@@ -127,13 +127,11 @@ ClientGoalHandle<ActionT>::is_result_aware()
 }
 
 template<typename ActionT>
-bool
+void
 ClientGoalHandle<ActionT>::set_result_awareness(bool awareness)
 {
   std::lock_guard<std::mutex> guard(handle_mutex_);
-  bool previous = is_result_aware_;
   is_result_aware_ = awareness;
-  return previous;
 }
 
 template<typename ActionT>
@@ -142,7 +140,8 @@ ClientGoalHandle<ActionT>::invalidate()
 {
   std::lock_guard<std::mutex> guard(handle_mutex_);
   status_ = GoalStatus::STATUS_UNKNOWN;
-  result_promise_.set_exception(std::make_exception_ptr(exceptions::UnawareGoalHandleError()));
+  result_promise_.set_exception(std::make_exception_ptr(
+      exceptions::UnawareGoalHandleError()));
 }
 
 template<typename ActionT>

rclcpp_action/include/rclcpp_action/create_client.hpp

@@ -30,10 +30,10 @@ namespace rclcpp_action
  * This function is equivalent to \sa create_client()` however is using the individual
  * node interfaces to create the client.
  *
- * \param node_base_interface[in] The node base interface of the corresponding node.
- * \param node_graph_interface[in] The node graph interface of the corresponding node.
- * \param node_logging_interface[in] The node logging interface of the corresponding node.
- * \param node_waitables_interface[in] The node waitables interface of the corresponding node.
+ * \param[in] node_base_interface The node base interface of the corresponding node.
+ * \param[in] node_graph_interface The node graph interface of the corresponding node.
+ * \param[in] node_logging_interface The node logging interface of the corresponding node.
+ * \param[in] node_waitables_interface The node waitables interface of the corresponding node.
  * \param[in] name The action name.
  * \param[in] group The action client will be added to this callback group.
  *   If `nullptr`, then the action client is added to the default callback group.

rclcpp_action/include/rclcpp_action/create_server.hpp

@@ -39,18 +39,18 @@ namespace rclcpp_action
  *
  * \sa Server::Server() for more information.
  *
- * \param node_base_interface[in] The node base interface of the corresponding node.
- * \param node_clock_interface[in] The node clock interface of the corresponding node.
- * \param node_logging_interface[in] The node logging interface of the corresponding node.
- * \param node_waitables_interface[in] The node waitables interface of the corresponding node.
- * \param name[in] The action name.
+ * \param[in] node_base_interface The node base interface of the corresponding node.
+ * \param[in] node_clock_interface The node clock interface of the corresponding node.
+ * \param[in] node_logging_interface The node logging interface of the corresponding node.
+ * \param[in] node_waitables_interface The node waitables interface of the corresponding node.
+ * \param[in] name The action name.
  * \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
  * \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
  *  The return from this callback only indicates if the server will try to cancel a goal.
  *  It does not indicate if the goal was actually canceled.
  * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
  * \param[in] options options to pass to the underlying `rcl_action_server_t`.
- * \param group[in] The action server will be added to this callback group.
+ * \param[in] group The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */
 template<typename ActionT>
@@ -117,15 +117,15 @@ create_server(
  *
  * \sa Server::Server() for more information.
  *
- * \param node[in] The action server will be added to this node.
- * \param name[in] The action name.
+ * \param[in] node] The action server will be added to this node.
+ * \param[in] name The action name.
  * \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
  * \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
  *  The return from this callback only indicates if the server will try to cancel a goal.
  *  It does not indicate if the goal was actually canceled.
  * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
  * \param[in] options options to pass to the underlying `rcl_action_server_t`.
- * \param group[in] The action server will be added to this callback group.
+ * \param[in] group The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */
 template<typename ActionT>

rclcpp_action/include/rclcpp_action/exceptions.hpp

@@ -25,7 +25,7 @@ class UnknownGoalHandleError : public std::invalid_argument
 {
 public:
   UnknownGoalHandleError()
-  : std::invalid_argument("Goal handle is not known to this client.")
+  : std::invalid_argument("Goal handle is not know to this client.")
   {
   }
 };

rclcpp_action/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_action</name>
-  <version>0.8.0</version>
+  <version>0.7.16</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp_action/src/client.cpp

@@ -41,7 +41,7 @@ public:
     const rcl_action_client_options_t & client_options)
   : node_graph_(node_graph),
     node_handle(node_base->get_shared_rcl_node_handle()),
-    logger(node_logging->get_logger().get_child("rclcpp_acton")),
+    logger(node_logging->get_logger().get_child("rclcpp_action")),
     random_bytes_generator(std::random_device{} ())
   {
     std::weak_ptr<rcl_node_t> weak_node_handle(node_handle);
@@ -165,11 +165,11 @@ ClientBase::wait_for_action_server_nanoseconds(std::chrono::nanoseconds timeout)
   if (!node_ptr) {
     throw rclcpp::exceptions::InvalidNodeError();
   }
-  auto event = node_ptr->get_graph_event();
   // check to see if the server is ready immediately
   if (this->action_server_is_ready()) {
     return true;
   }
+  auto event = node_ptr->get_graph_event();
   if (timeout == std::chrono::nanoseconds(0)) {
     // check was non-blocking, return immediately
     return false;
@@ -388,20 +388,20 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_feedback(
       pimpl_->client_handle.get(), feedback_message.get());
     pimpl_->is_feedback_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_feedback_message(feedback_message);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
     }
   } else if (pimpl_->is_status_ready) {
     std::shared_ptr<void> status_message = this->create_status_message();
     rcl_ret_t ret = rcl_action_take_status(
       pimpl_->client_handle.get(), status_message.get());
     pimpl_->is_status_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_status_message(status_message);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
     }
   } else if (pimpl_->is_goal_response_ready) {
     rmw_request_id_t response_header;
@@ -409,10 +409,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_goal_response(
       pimpl_->client_handle.get(), &response_header, goal_response.get());
     pimpl_->is_goal_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_goal_response(response_header, goal_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
     }
   } else if (pimpl_->is_result_response_ready) {
     rmw_request_id_t response_header;
@@ -420,10 +420,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_result_response(
       pimpl_->client_handle.get(), &response_header, result_response.get());
     pimpl_->is_result_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_result_response(response_header, result_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
     }
   } else if (pimpl_->is_cancel_response_ready) {
     rmw_request_id_t response_header;
@@ -431,10 +431,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_cancel_response(
       pimpl_->client_handle.get(), &response_header, cancel_response.get());
     pimpl_->is_cancel_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_cancel_response(response_header, cancel_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
     }
   } else {
     throw std::runtime_error("Executing action client but nothing is ready");

rclcpp_action/src/server.cpp

@@ -89,8 +89,7 @@ ServerBase::ServerBase(
         rcl_node_t * rcl_node = node_base->get_rcl_node_handle();
         rcl_ret_t ret = rcl_action_server_fini(ptr, rcl_node);
         (void)ret;
-        RCLCPP_DEBUG(
-          rclcpp::get_logger("rclcpp_action"),
+        RCLCPP_DEBUG(rclcpp::get_logger("rclcpp_action"),
           "failed to fini rcl_action_server_t in deleter");
       }
       delete ptr;
@@ -255,8 +254,7 @@ ServerBase::execute_goal_request_received()
         if (nullptr != ptr) {
           rcl_ret_t fail_ret = rcl_action_goal_handle_fini(ptr);
           (void)fail_ret;
-          RCLCPP_DEBUG(
-            rclcpp::get_logger("rclcpp_action"),
+          RCLCPP_DEBUG(rclcpp::get_logger("rclcpp_action"),
             "failed to fini rcl_action_goal_handle_t in deleter");
           delete ptr;
         }
@@ -331,8 +329,7 @@ ServerBase::execute_cancel_request_received()
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
 
-  RCLCPP_SCOPE_EXIT(
-  {
+  RCLCPP_SCOPE_EXIT({
     ret = rcl_action_cancel_response_fini(&cancel_response);
     if (RCL_RET_OK != ret) {
       RCLCPP_ERROR(pimpl_->logger_, "Failed to fini cancel response");
@@ -481,8 +478,7 @@ ServerBase::publish_status()
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
 
-  RCLCPP_SCOPE_EXIT(
-  {
+  RCLCPP_SCOPE_EXIT({
     ret = rcl_action_goal_status_array_fini(&c_status_array);
     if (RCL_RET_OK != ret) {
       RCLCPP_ERROR(pimpl_->logger_, "Failed to fini status array message");

rclcpp_action/test/test_client.cpp

@@ -219,7 +219,7 @@ protected:
     ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(clock.get_clock_handle(), RCL_S_TO_NS(1)));
   }
 
-  void TearDown()
+  void Teardown()
   {
     status_publisher.reset();
     feedback_publisher.reset();
@@ -396,8 +396,7 @@ TEST_F(TestClient, async_send_goal_with_result_callback_wait_for_result)
     [&result_callback_received](
     const typename ActionGoalHandle::WrappedResult & result) mutable
     {
-      if (
-        rclcpp_action::ResultCode::SUCCEEDED == result.code &&
+      if (rclcpp_action::ResultCode::SUCCEEDED == result.code &&
         result.result->sequence.size() == 5u)
       {
         result_callback_received = true;