17.1.0

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

.github/workflows/mirror-rolling-to-master.yaml

@@ -0,0 +1,13 @@
+name: Mirror rolling to master
+
+on:
+  push:
+    branches: [ rolling ]
+
+jobs:
+  mirror-to-master:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: zofrex/mirror-branch@v1
+      with:
+        target-branch: master

rclcpp/CHANGELOG.rst

@@ -2,6 +2,93 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+17.1.0 (2022-11-02)
+-------------------
+* MultiThreadExecutor number of threads is at least 2+ in default. (`#2032 <https://github.com/ros2/rclcpp/issues/2032>`_)
+* Fix bug that a callback not reached (`#1640 <https://github.com/ros2/rclcpp/issues/1640>`_)
+* Set the minimum number of threads of the Multithreaded executor to 2 (`#2030 <https://github.com/ros2/rclcpp/issues/2030>`_)
+* check thread whether joinable before join (`#2019 <https://github.com/ros2/rclcpp/issues/2019>`_)
+* Set cpplint test timeout to 3 minutes (`#2022 <https://github.com/ros2/rclcpp/issues/2022>`_)
+* Make sure to include-what-you-use in the node_interfaces. (`#2018 <https://github.com/ros2/rclcpp/issues/2018>`_)
+* Do not clear entities callbacks on destruction (`#2002 <https://github.com/ros2/rclcpp/issues/2002>`_)
+* fix mismatched issue if using zero_allocate (`#1995 <https://github.com/ros2/rclcpp/issues/1995>`_)
+* Contributors: Alexis Paques, Chen Lihui, Chris Lalancette, Cristóbal Arroyo, Tomoya Fujita, mauropasse, uupks
+
+17.0.0 (2022-09-13)
+-------------------
+* Make ParameterService and Sync/AsyncParameterClient accept rclcpp::QoS (`#1978 <https://github.com/ros2/rclcpp/issues/1978>`_)
+* support regex match for parameter client (`#1992 <https://github.com/ros2/rclcpp/issues/1992>`_)
+* operator+= and operator-= for Duration (`#1988 <https://github.com/ros2/rclcpp/issues/1988>`_)
+* Revert "Revert "Add a create_timer method to Node and `LifecycleNode` classes (`#1975 <https://github.com/ros2/rclcpp/issues/1975>`_)" (`#2009 <https://github.com/ros2/rclcpp/issues/2009>`_) (`#2010 <https://github.com/ros2/rclcpp/issues/2010>`_)
+* force compiler warning if callback handles not captured (`#2000 <https://github.com/ros2/rclcpp/issues/2000>`_)
+* Revert "Add a `create_timer` method to `Node` and `LifecycleNode` classes (`#1975 <https://github.com/ros2/rclcpp/issues/1975>`_)" (`#2009 <https://github.com/ros2/rclcpp/issues/2009>`_)
+* Add a `create_timer` method to `Node` and `LifecycleNode` classes (`#1975 <https://github.com/ros2/rclcpp/issues/1975>`_)
+* [docs] add note about callback lifetime for {on, post}_set_parameter_callback (`#1981 <https://github.com/ros2/rclcpp/issues/1981>`_)
+* fix memory leak (`#1994 <https://github.com/ros2/rclcpp/issues/1994>`_)
+* Support pre-set and post-set parameter callbacks in addition to on-set-parameter-callback. (`#1947 <https://github.com/ros2/rclcpp/issues/1947>`_)
+* Make create_service accept rclcpp::QoS (`#1969 <https://github.com/ros2/rclcpp/issues/1969>`_)
+* Make create_client accept rclcpp::QoS (`#1964 <https://github.com/ros2/rclcpp/issues/1964>`_)
+* Fix the documentation for rclcpp::ok to be accurate. (`#1965 <https://github.com/ros2/rclcpp/issues/1965>`_)
+* use regex for wildcard matching (`#1839 <https://github.com/ros2/rclcpp/issues/1839>`_)
+* Revert "Introduce executors new spin_for method, replace spin_until_future_complete with spin_until_complete. (`#1821 <https://github.com/ros2/rclcpp/issues/1821>`_) (`#1874 <https://github.com/ros2/rclcpp/issues/1874>`_)" (`#1956 <https://github.com/ros2/rclcpp/issues/1956>`_)
+* Introduce executors new spin_for method, replace spin_until_future_complete with spin_until_complete. (`#1821 <https://github.com/ros2/rclcpp/issues/1821>`_) (`#1874 <https://github.com/ros2/rclcpp/issues/1874>`_)
+* test adjustment for LoanedMessage. (`#1951 <https://github.com/ros2/rclcpp/issues/1951>`_)
+* fix virtual dispatch issues identified by clang-tidy (`#1816 <https://github.com/ros2/rclcpp/issues/1816>`_)
+* Remove unused on_parameters_set_callback\_ (`#1945 <https://github.com/ros2/rclcpp/issues/1945>`_)
+* Fix subscription.is_serialized() for callbacks with message info (`#1950 <https://github.com/ros2/rclcpp/issues/1950>`_)
+* wait for subscriptions on another thread. (`#1940 <https://github.com/ros2/rclcpp/issues/1940>`_)
+* Fix documentation of `RCLCPP\_[INFO,WARN,...]` (`#1943 <https://github.com/ros2/rclcpp/issues/1943>`_)
+* Always trigger guard condition waitset (`#1923 <https://github.com/ros2/rclcpp/issues/1923>`_)
+* Add statistics for handle_loaned_message (`#1927 <https://github.com/ros2/rclcpp/issues/1927>`_)
+* Drop wrong template specialization (`#1926 <https://github.com/ros2/rclcpp/issues/1926>`_)
+* Contributors: Alberto Soragna, Andrew Symington, Barry Xu, Brian, Chen Lihui, Chris Lalancette, Daniel Reuter, Deepanshu Bansal, Hubert Liberacki, Ivan Santiago Paunovic, Jochen Sprickerhof, Nikolai Morin, Shane Loretz, Tomoya Fujita, Tyler Weaver, William Woodall, schrodinbug
+
+16.2.0 (2022-05-03)
+-------------------
+* Update get_parameter_from_event to follow the function description (`#1922 <https://github.com/ros2/rclcpp/issues/1922>`_)
+* Add 'best available' QoS enum values and methods (`#1920 <https://github.com/ros2/rclcpp/issues/1920>`_)
+* Contributors: Barry Xu, Jacob Perron
+
+16.1.0 (2022-04-29)
+-------------------
+* use reinterpret_cast for function pointer conversion. (`#1919 <https://github.com/ros2/rclcpp/issues/1919>`_)
+* Contributors: Tomoya Fujita
+
+16.0.1 (2022-04-13)
+-------------------
+* remove DEFINE_CONTENT_FILTER cmake option (`#1914 <https://github.com/ros2/rclcpp/issues/1914>`_)
+* Contributors: Chen Lihui
+
+16.0.0 (2022-04-08)
+-------------------
+* remove things that were deprecated during galactic (`#1913 <https://github.com/ros2/rclcpp/issues/1913>`_)
+* Contributors: William Woodall
+
+15.4.0 (2022-04-05)
+-------------------
+* add take_data_by_entity_id API to waitable (`#1892 <https://github.com/ros2/rclcpp/issues/1892>`_)
+* add content-filtered-topic interfaces (`#1561 <https://github.com/ros2/rclcpp/issues/1561>`_)
+* Contributors: Alberto Soragna, Chen Lihui
+
+15.3.0 (2022-03-30)
+-------------------
+* [NodeParameters] Set name in param info pre-check (`#1908 <https://github.com/ros2/rclcpp/issues/1908>`_)
+* Add test-dep ament_cmake_google_benchmark (`#1904 <https://github.com/ros2/rclcpp/issues/1904>`_)
+* Add publish by loaned message in GenericPublisher (`#1856 <https://github.com/ros2/rclcpp/issues/1856>`_)
+* Contributors: Abrar Rahman Protyasha, Barry Xu, Gaël Écorchard
+
+15.2.0 (2022-03-24)
+-------------------
+* Add missing ament dependency on rcl_interfaces (`#1903 <https://github.com/ros2/rclcpp/issues/1903>`_)
+* Update data callback tests to account for all published samples (`#1900 <https://github.com/ros2/rclcpp/issues/1900>`_)
+* Increase timeout for acknowledgments to account for slower Connext settings (`#1901 <https://github.com/ros2/rclcpp/issues/1901>`_)
+* clang-tidy: explicit constructors (`#1782 <https://github.com/ros2/rclcpp/issues/1782>`_)
+* Add client/service QoS getters (`#1784 <https://github.com/ros2/rclcpp/issues/1784>`_)
+* Fix a bunch more rosdoc2 issues in rclcpp. (`#1897 <https://github.com/ros2/rclcpp/issues/1897>`_)
+* time_until_trigger returns max time if timer is cancelled (`#1893 <https://github.com/ros2/rclcpp/issues/1893>`_)
+* Micro-optimizations in rclcpp (`#1896 <https://github.com/ros2/rclcpp/issues/1896>`_)
+* Contributors: Andrea Sorbini, Chris Lalancette, Mauro Passerino, Scott K Logan, William Woodall
+
 15.1.0 (2022-03-01)
 -------------------
 * spin_all with a zero timeout. (`#1878 <https://github.com/ros2/rclcpp/issues/1878>`_)

rclcpp/CMakeLists.txt

@@ -194,6 +194,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "ament_index_cpp"
   "libstatistics_collector"
   "rcl"
+  "rcl_interfaces"
   "rcl_yaml_param_parser"
   "rcpputils"
   "rcutils"
@@ -258,4 +259,8 @@ if(TEST cppcheck)
   set_tests_properties(cppcheck PROPERTIES TIMEOUT 500)
 endif()
 
+if(TEST cpplint)
+  set_tests_properties(cpplint PROPERTIES TIMEOUT 180)
+endif()
+
 ament_generate_version_header(${PROJECT_NAME})

rclcpp/Doxyfile

@@ -33,10 +33,10 @@ PREDEFINED             += RCPPUTILS_TSA_REQUIRES(x)=
 DOT_GRAPH_MAX_NODES    = 101
 
 # Tag files that do not exist will produce a warning and cross-project linking will not work.
-TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
+#TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
 # Consider changing "latest" to the version you want to reference (e.g. beta1 or 1.0.0)
-TAGFILES += "../../../../doxygen_tag_files/rcl.tag=http://docs.ros2.org/latest/api/rcl/"
-TAGFILES += "../../../../doxygen_tag_files/rmw.tag=http://docs.ros2.org/latest/api/rmw/"
-TAGFILES += "../../../../doxygen_tag_files/rcutils.tag=http://docs.ros2.org/latest/api/rcutils/"
+#TAGFILES += "../../../../doxygen_tag_files/rcl.tag=http://docs.ros2.org/latest/api/rcl/"
+#TAGFILES += "../../../../doxygen_tag_files/rmw.tag=http://docs.ros2.org/latest/api/rmw/"
+#TAGFILES += "../../../../doxygen_tag_files/rcutils.tag=http://docs.ros2.org/latest/api/rcutils/"
 # Uncomment to generate tag files for cross-project linking.
 #GENERATE_TAGFILE = "../../../../doxygen_tag_files/rclcpp.tag"

rclcpp/doc/proposed_node_parameter_callbacks.md

@@ -0,0 +1,29 @@
+# Proposed node parameters callback Design
+
+## Introduction:
+
+The original requirement came in **gazebo_ros_pkgs** for setting individual wheel slip parameters based on global wheel slip value [link to original issue](https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1365). 
+
+The main requirement is to set one or more parameters after another parameter is set successfully. 
+
+Additionally, it would be nice if users could be notified locally (via a callback) when parameters have been set successfully (i.e. post validation).
+
+Related discussion can be found in [#609](https://github.com/ros2/rclcpp/issues/609) [#1789](https://github.com/ros2/rclcpp/pull/1789)
+
+With the current parameters API, the `add_on_set_parameters_callback` is intended for validation of parameter values before they are set, it should **not** cause any side-effects. 
+
+There is also the `ParameterEventHandler` that publishes changes to node parameters on `/parameter_events` topic for external nodes to see. Though the node could subscribe to the `/parameter_events` topic to be notified of changes to its own parameters, it is less than ideal since there is a delay caused by waiting for an executor to process the callback.
+
+We propose adding a `PostSetParametersCallbackHandle` for successful parameter set similar to `OnSetParametersCallbackHandle` for parameter validation. Also, we propose adding a `PreSetParametersCallbackHandle` useful for modifying list of parameters being set.
+
+The validation callback is often abused to trigger side effects in the code, for instance updating class attributes even before a parameter has been set successfully. Instead of relying on the `/parameter_events` topic to be notified of parameter changes, users can register a callback with a new API, `add_post_set_parameters_callback`.
+
+It is possible to use the proposed `add_post_set_parameters_callback` for setting additional parameters, but this might result in infinite recursion and does not allow those additional parameters to be set atomically with the original parameter(s) changed.
+To workaround these issues, we propose adding a "pre set" callback type that can be registered with `add_pre_set_parameters_callback`, which will be triggered before the validation callbacks and can be used to modify the parameter list. 
+
+![Desgin API](https://github.com/ros2/rclcpp/blob/deepanshu/local-param-changed-callback-support/rclcpp/doc/param_callback_design.png?raw=true)
+
+## Alternatives
+
+* Users could call `set_parameter` while processing a message from the `/parameter_events` topic, however, there is extra overhead in having to create subscription (as noted earlier).
+* Users could call `set_parameter` inside the "on set" parameters callback, however it is not well-defined how side-effects should handle cases where parameter validation fails.

rclcpp/include/rclcpp/allocator/allocator_common.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__ALLOCATOR__ALLOCATOR_COMMON_HPP_
 #define RCLCPP__ALLOCATOR__ALLOCATOR_COMMON_HPP_
 
+#include <cstring>
 #include <memory>
 
 #include "rcl/allocator.h"
@@ -39,6 +40,22 @@ void * retyped_allocate(size_t size, void * untyped_allocator)
   return std::allocator_traits<Alloc>::allocate(*typed_allocator, size);
 }
 
+template<typename Alloc>
+void * retyped_zero_allocate(size_t number_of_elem, size_t size_of_elem, void * untyped_allocator)
+{
+  auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
+  if (!typed_allocator) {
+    throw std::runtime_error("Received incorrect allocator type");
+  }
+  size_t size = number_of_elem * size_of_elem;
+  void * allocated_memory =
+    std::allocator_traits<Alloc>::allocate(*typed_allocator, size);
+  if (allocated_memory) {
+    std::memset(allocated_memory, 0, size);
+  }
+  return allocated_memory;
+}
+
 template<typename T, typename Alloc>
 void retyped_deallocate(void * untyped_pointer, void * untyped_allocator)
 {
@@ -73,6 +90,7 @@ rcl_allocator_t get_rcl_allocator(Alloc & allocator)
   rcl_allocator_t rcl_allocator = rcl_get_default_allocator();
 #ifndef _WIN32
   rcl_allocator.allocate = &retyped_allocate<Alloc>;
+  rcl_allocator.zero_allocate = &retyped_zero_allocate<Alloc>;
   rcl_allocator.deallocate = &retyped_deallocate<T, Alloc>;
   rcl_allocator.reallocate = &retyped_reallocate<T, Alloc>;
   rcl_allocator.state = &allocator;

rclcpp/include/rclcpp/allocator/allocator_deleter.hpp

@@ -41,7 +41,7 @@ public:
   }
 
   template<typename T>
-  AllocatorDeleter(const AllocatorDeleter<T> & a)
+  explicit AllocatorDeleter(const AllocatorDeleter<T> & a)
   {
     allocator_ = a.get_allocator();
   }

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -354,12 +354,6 @@ public:
     allocator::set_allocator_for_deleter(&ros_message_type_deleter_, &ros_message_type_allocator_);
   }
 
-  [[deprecated("use AnySubscriptionCallback(const AllocatorT & allocator) instead")]]
-  explicit
-  AnySubscriptionCallback(std::shared_ptr<AllocatorT> allocator)  // NOLINT[runtime/explicit]
-  : AnySubscriptionCallback(*NotNull<AllocatorT>(allocator.get(), "invalid allocator").pointer)
-  {}
-
   AnySubscriptionCallback(const AnySubscriptionCallback &) = default;
 
   /// Generic function for setting the callback.
@@ -956,7 +950,13 @@ public:
       std::holds_alternative<UniquePtrSerializedMessageCallback>(callback_variant_) ||
       std::holds_alternative<SharedConstPtrSerializedMessageCallback>(callback_variant_) ||
       std::holds_alternative<ConstRefSharedConstPtrSerializedMessageCallback>(callback_variant_) ||
-      std::holds_alternative<SharedPtrSerializedMessageCallback>(callback_variant_);
+      std::holds_alternative<SharedPtrSerializedMessageCallback>(callback_variant_) ||
+      std::holds_alternative<ConstRefSerializedMessageWithInfoCallback>(callback_variant_) ||
+      std::holds_alternative<UniquePtrSerializedMessageWithInfoCallback>(callback_variant_) ||
+      std::holds_alternative<SharedConstPtrSerializedMessageWithInfoCallback>(callback_variant_) ||
+      std::holds_alternative<ConstRefSharedConstPtrSerializedMessageWithInfoCallback>(
+      callback_variant_) ||
+      std::holds_alternative<SharedPtrSerializedMessageWithInfoCallback>(callback_variant_);
   }
 
   void

rclcpp/include/rclcpp/callback_group.hpp

@@ -16,11 +16,14 @@
 #define RCLCPP__CALLBACK_GROUP_HPP_
 
 #include <atomic>
+#include <functional>
+#include <memory>
 #include <mutex>
-#include <string>
 #include <vector>
 
 #include "rclcpp/client.hpp"
+#include "rclcpp/context.hpp"
+#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/publisher_base.hpp"
 #include "rclcpp/service.hpp"
 #include "rclcpp/subscription_base.hpp"
@@ -95,6 +98,10 @@ public:
     CallbackGroupType group_type,
     bool automatically_add_to_executor_with_node = true);
 
+  /// Default destructor.
+  RCLCPP_PUBLIC
+  ~CallbackGroup();
+
   template<typename Function>
   rclcpp::SubscriptionBase::SharedPtr
   find_subscription_ptrs_if(Function func) const
@@ -138,6 +145,14 @@ public:
   const CallbackGroupType &
   type() const;
 
+  RCLCPP_PUBLIC
+  void collect_all_ptrs(
+    std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> sub_func,
+    std::function<void(const rclcpp::ServiceBase::SharedPtr &)> service_func,
+    std::function<void(const rclcpp::ClientBase::SharedPtr &)> client_func,
+    std::function<void(const rclcpp::TimerBase::SharedPtr &)> timer_func,
+    std::function<void(const rclcpp::Waitable::SharedPtr &)> waitable_func) const;
+
   /// Return a reference to the 'associated with executor' atomic boolean.
   /**
    * When a callback group is added to an executor this boolean is checked
@@ -163,6 +178,16 @@ public:
   bool
   automatically_add_to_executor_with_node() const;
 
+  /// Defer creating the notify guard condition and return it.
+  RCLCPP_PUBLIC
+  rclcpp::GuardCondition::SharedPtr
+  get_notify_guard_condition(const rclcpp::Context::SharedPtr context_ptr);
+
+  /// Trigger the notify guard condition.
+  RCLCPP_PUBLIC
+  void
+  trigger_notify_guard_condition();
+
 protected:
   RCLCPP_DISABLE_COPY(CallbackGroup)
 
@@ -205,6 +230,9 @@ protected:
   std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
   std::atomic_bool can_be_taken_from_;
   const bool automatically_add_to_executor_with_node_;
+  // defer the creation of the guard condition
+  std::shared_ptr<rclcpp::GuardCondition> notify_guard_condition_ = nullptr;
+  std::recursive_mutex notify_guard_condition_mutex_;
 
 private:
   template<typename TypeT, typename Function>

rclcpp/include/rclcpp/client.hpp

@@ -40,6 +40,7 @@
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -129,7 +130,7 @@ public:
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
 
   RCLCPP_PUBLIC
-  virtual ~ClientBase();
+  virtual ~ClientBase() = default;
 
   /// Take the next response for this client as a type erased pointer.
   /**
@@ -218,6 +219,38 @@ public:
   bool
   exchange_in_use_by_wait_set_state(bool in_use_state);
 
+  /// Get the actual request publsher 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 client, 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 request publsher qos settings.
+   * \throws std::runtime_error if failed to get qos settings
+   */
+  RCLCPP_PUBLIC
+  rclcpp::QoS
+  get_request_publisher_actual_qos() const;
+
+  /// Get the actual response subscription 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 client, 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 response subscription qos settings.
+   * \throws std::runtime_error if failed to get qos settings
+   */
+  RCLCPP_PUBLIC
+  rclcpp::QoS
+  get_response_subscription_actual_qos() const;
+
   /// Set a callback to be called when each new response is received.
   /**
    * The callback receives a size_t which is the number of responses received

rclcpp/include/rclcpp/context.hpp

@@ -183,6 +183,11 @@ public:
    *
    * This function is thread-safe.
    *
+   * Note that if you override this method, but leave shutdown to be called in
+   * the destruction of this base class, it will not call the overridden
+   * version from your base class.
+   * So you need to ensure you call your class's shutdown() in its destructor.
+   *
    * \param[in] reason the description of why shutdown happened
    * \return true if shutdown was successful, false if context was already shutdown
    * \throw various exceptions derived from rclcpp::exceptions::RCLError, if rcl_shutdown fails
@@ -318,7 +323,6 @@ public:
 
   /// Interrupt any blocking sleep_for calls, causing them to return immediately and return true.
   RCLCPP_PUBLIC
-  virtual
   void
   interrupt_all_sleep_for();
 
@@ -351,7 +355,6 @@ protected:
   // Called by constructor and destructor to clean up by finalizing the
   // shutdown rcl context and preparing for a new init cycle.
   RCLCPP_PUBLIC
-  virtual
   void
   clean_up();
 

rclcpp/include/rclcpp/create_client.hpp

@@ -20,10 +20,40 @@
 
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/qos.hpp"
 #include "rmw/rmw.h"
 
 namespace rclcpp
 {
+/// Create a service client with a given type.
+/**
+ * \param[in] node_base NodeBaseInterface implementation of the node on which
+ *  to create the client.
+ * \param[in] node_graph NodeGraphInterface implementation of the node on which
+ *  to create the client.
+ * \param[in] node_services NodeServicesInterface implementation of the node on
+ *  which to create the client.
+ * \param[in] service_name The name on which the service is accessible.
+ * \param[in] qos Quality of service profile for client.
+ * \param[in] group Callback group to handle the reply to service calls.
+ * \return Shared pointer to the created client.
+ */
+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 rclcpp::QoS & qos = rclcpp::ServicesQoS(),
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+{
+  return create_client<ServiceT>(
+    node_base, node_graph, node_services,
+    service_name,
+    qos.get_rmw_qos_profile(),
+    group);
+}
 
 /// Create a service client with a given type.
 /// \internal

rclcpp/include/rclcpp/create_service.hpp

@@ -26,6 +26,32 @@
 
 namespace rclcpp
 {
+/// Create a service with a given type.
+/**
+ * \param[in] node_base NodeBaseInterface implementation of the node on which
+ *  to create the service.
+ * \param[in] node_services NodeServicesInterface implementation of the node on
+ *  which to create the service.
+ * \param[in] service_name The name on which the service is accessible.
+ * \param[in] callback The callback to call when the service gets a request.
+ * \param[in] qos Quality of service profile for the service.
+ * \param[in] group Callback group to handle the reply to service calls.
+ * \return Shared pointer to the created service.
+ */
+template<typename ServiceT, typename CallbackT>
+typename rclcpp::Service<ServiceT>::SharedPtr
+create_service(
+  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
+  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+  const std::string & service_name,
+  CallbackT && callback,
+  const rclcpp::QoS & qos,
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  return create_service<ServiceT, CallbackT>(
+    node_base, node_services, service_name,
+    std::forward<CallbackT>(callback), qos.get_rmw_qos_profile(), group);
+}
 
 /// Create a service with a given type.
 /// \internal

rclcpp/include/rclcpp/create_timer.hpp

@@ -23,85 +23,29 @@
 
 #include "rclcpp/duration.hpp"
 #include "rclcpp/node_interfaces/get_node_base_interface.hpp"
+#include "rclcpp/node_interfaces/get_node_clock_interface.hpp"
 #include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_clock_interface.hpp"
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 
 namespace rclcpp
 {
-/// Create a timer with a given clock
-/// \internal
-template<typename CallbackT>
-typename rclcpp::TimerBase::SharedPtr
-create_timer(
-  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-  std::shared_ptr<node_interfaces::NodeTimersInterface> node_timers,
-  rclcpp::Clock::SharedPtr clock,
-  rclcpp::Duration period,
-  CallbackT && callback,
-  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+namespace detail
 {
-  auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
-    clock,
-    period.to_chrono<std::chrono::nanoseconds>(),
-    std::forward<CallbackT>(callback),
-    node_base->get_context());
-
-  node_timers->add_timer(timer, group);
-  return timer;
-}
-
-/// Create a timer with a given clock
-template<typename NodeT, typename CallbackT>
-typename rclcpp::TimerBase::SharedPtr
-create_timer(
-  NodeT node,
-  rclcpp::Clock::SharedPtr clock,
-  rclcpp::Duration period,
-  CallbackT && callback,
-  rclcpp::CallbackGroup::SharedPtr group = nullptr)
-{
-  return create_timer(
-    rclcpp::node_interfaces::get_node_base_interface(node),
-    rclcpp::node_interfaces::get_node_timers_interface(node),
-    clock,
-    period,
-    std::forward<CallbackT>(callback),
-    group);
-}
-
-/// Convenience method to create a timer with node resources.
+/// Perform a safe cast to a timer period in nanoseconds
 /**
  *
  * \tparam DurationRepT
  * \tparam DurationT
- * \tparam CallbackT
  * \param period period to execute callback. This duration must be 0 <= period < nanoseconds::max()
- * \param callback callback to execute via the timer period
- * \param group
- * \param node_base
- * \param node_timers
- * \return
- * \throws std::invalid argument if either node_base or node_timers
- * are null, or period is negative or too large
+ * \return period, expressed as chrono::duration::nanoseconds
+ * \throws std::invalid_argument if period is negative or too large
  */
-template<typename DurationRepT, typename DurationT, typename CallbackT>
-typename rclcpp::WallTimer<CallbackT>::SharedPtr
-create_wall_timer(
-  std::chrono::duration<DurationRepT, DurationT> period,
-  CallbackT callback,
-  rclcpp::CallbackGroup::SharedPtr group,
-  node_interfaces::NodeBaseInterface * node_base,
-  node_interfaces::NodeTimersInterface * node_timers)
+template<typename DurationRepT, typename DurationT>
+std::chrono::nanoseconds
+safe_cast_to_period_in_ns(std::chrono::duration<DurationRepT, DurationT> period)
 {
-  if (node_base == nullptr) {
-    throw std::invalid_argument{"input node_base cannot be null"};
-  }
-
-  if (node_timers == nullptr) {
-    throw std::invalid_argument{"input node_timers cannot be null"};
-  }
-
   if (period < std::chrono::duration<DurationRepT, DurationT>::zero()) {
     throw std::invalid_argument{"timer period cannot be negative"};
   }
@@ -132,12 +76,135 @@ create_wall_timer(
             "Casting timer period to nanoseconds resulted in integer overflow."};
   }
 
+  return period_ns;
+}
+}  // namespace detail
+
+/// Create a timer with a given clock
+/// \internal
+template<typename CallbackT>
+typename rclcpp::TimerBase::SharedPtr
+create_timer(
+  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
+  std::shared_ptr<node_interfaces::NodeTimersInterface> node_timers,
+  rclcpp::Clock::SharedPtr clock,
+  rclcpp::Duration period,
+  CallbackT && callback,
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+{
+  return create_timer(
+    clock,
+    period.to_chrono<std::chrono::nanoseconds>(),
+    std::forward<CallbackT>(callback),
+    group,
+    node_base.get(),
+    node_timers.get());
+}
+
+/// Create a timer with a given clock
+template<typename NodeT, typename CallbackT>
+typename rclcpp::TimerBase::SharedPtr
+create_timer(
+  NodeT node,
+  rclcpp::Clock::SharedPtr clock,
+  rclcpp::Duration period,
+  CallbackT && callback,
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+{
+  return create_timer(
+    clock,
+    period.to_chrono<std::chrono::nanoseconds>(),
+    std::forward<CallbackT>(callback),
+    group,
+    rclcpp::node_interfaces::get_node_base_interface(node).get(),
+    rclcpp::node_interfaces::get_node_timers_interface(node).get());
+}
+
+/// Convenience method to create a general timer with node resources.
+/**
+ *
+ * \tparam DurationRepT
+ * \tparam DurationT
+ * \tparam CallbackT
+ * \param clock clock to be used
+ * \param period period to execute callback. This duration must be 0 <= period < nanoseconds::max()
+ * \param callback callback to execute via the timer period
+ * \param group callback group
+ * \param node_base node base interface
+ * \param node_timers node timer interface
+ * \return shared pointer to a generic timer
+ * \throws std::invalid_argument if either clock, node_base or node_timers
+ * are nullptr, or period is negative or too large
+ */
+template<typename DurationRepT, typename DurationT, typename CallbackT>
+typename rclcpp::GenericTimer<CallbackT>::SharedPtr
+create_timer(
+  rclcpp::Clock::SharedPtr clock,
+  std::chrono::duration<DurationRepT, DurationT> period,
+  CallbackT callback,
+  rclcpp::CallbackGroup::SharedPtr group,
+  node_interfaces::NodeBaseInterface * node_base,
+  node_interfaces::NodeTimersInterface * node_timers)
+{
+  if (clock == nullptr) {
+    throw std::invalid_argument{"clock cannot be null"};
+  }
+  if (node_base == nullptr) {
+    throw std::invalid_argument{"input node_base cannot be null"};
+  }
+  if (node_timers == nullptr) {
+    throw std::invalid_argument{"input node_timers cannot be null"};
+  }
+
+  const std::chrono::nanoseconds period_ns = detail::safe_cast_to_period_in_ns(period);
+
+  // Add a new generic timer.
+  auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
+    std::move(clock), period_ns, std::move(callback), node_base->get_context());
+  node_timers->add_timer(timer, group);
+  return timer;
+}
+
+/// Convenience method to create a wall timer with node resources.
+/**
+ *
+ * \tparam DurationRepT
+ * \tparam DurationT
+ * \tparam CallbackT
+ * \param period period to execute callback. This duration must be 0 <= period < nanoseconds::max()
+ * \param callback callback to execute via the timer period
+ * \param group callback group
+ * \param node_base node base interface
+ * \param node_timers node timer interface
+ * \return shared pointer to a wall timer
+ * \throws std::invalid_argument if either node_base or node_timers
+ * are null, or period is negative or too large
+ */
+template<typename DurationRepT, typename DurationT, typename CallbackT>
+typename rclcpp::WallTimer<CallbackT>::SharedPtr
+create_wall_timer(
+  std::chrono::duration<DurationRepT, DurationT> period,
+  CallbackT callback,
+  rclcpp::CallbackGroup::SharedPtr group,
+  node_interfaces::NodeBaseInterface * node_base,
+  node_interfaces::NodeTimersInterface * node_timers)
+{
+  if (node_base == nullptr) {
+    throw std::invalid_argument{"input node_base cannot be null"};
+  }
+
+  if (node_timers == nullptr) {
+    throw std::invalid_argument{"input node_timers cannot be null"};
+  }
+
+  const std::chrono::nanoseconds period_ns = detail::safe_cast_to_period_in_ns(period);
+
+  // Add a new wall timer.
   auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
     period_ns, std::move(callback), node_base->get_context());
   node_timers->add_timer(timer, group);
   return timer;
 }
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CREATE_TIMER_HPP_

rclcpp/include/rclcpp/detail/cpp_callback_trampoline.hpp

@@ -46,6 +46,7 @@ namespace detail
  * \tparam Args the arguments being passed to the callback
  * \tparam ReturnT the return type of this function and the callback, default void
  * \param user_data the function pointer, possibly type erased
+ * \param args the arguments to be forwarded to the callback
  * \returns whatever the callback returns, if anything
  */
 template<

rclcpp/include/rclcpp/duration.hpp

@@ -38,13 +38,6 @@ public:
    */
   Duration(int32_t seconds, uint32_t nanoseconds);
 
-  /// Construct duration from the specified nanoseconds.
-  [[deprecated(
-    "Use Duration::from_nanoseconds instead or std::chrono_literals. For example:"
-    "rclcpp::Duration::from_nanoseconds(int64_variable);"
-    "rclcpp::Duration(0ns);")]]
-  explicit Duration(rcl_duration_value_t nanoseconds);
-
   /// Construct duration from the specified std::chrono::nanoseconds.
   explicit Duration(std::chrono::nanoseconds nanoseconds);
 
@@ -99,9 +92,13 @@ public:
   Duration
   operator+(const rclcpp::Duration & rhs) const;
 
+  Duration & operator+=(const rclcpp::Duration & rhs);
+
   Duration
   operator-(const rclcpp::Duration & rhs) const;
 
+  Duration & operator-=(const rclcpp::Duration & rhs);
+
   /// Get the maximum representable value.
   /**
    * \return the maximum representable value
@@ -113,6 +110,9 @@ public:
   Duration
   operator*(double scale) const;
 
+  Duration &
+  operator*=(double scale);
+
   /// Get duration in nanosecods
   /**
    * \return the duration in nanoseconds as a rcl_duration_value_t.

rclcpp/include/rclcpp/executor.hpp

@@ -307,7 +307,7 @@ public:
    *
    * \param[in] max_duration The maximum amount of time to spend executing work, must be >= 0.
    *   `0` is potentially block forever until no more work is available.
-   * \throw throw std::invalid_argument if max_duration is less than 0.
+   * \throw std::invalid_argument if max_duration is less than 0.
    * Note that spin_all() may take longer than this time as it only returns once max_duration has
    * been exceeded.
    */
@@ -560,14 +560,14 @@ protected:
   virtual void
   spin_once_impl(std::chrono::nanoseconds timeout);
 
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
+  typedef std::map<rclcpp::CallbackGroup::WeakPtr,
       const rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
+      std::owner_less<rclcpp::CallbackGroup::WeakPtr>>
+    WeakCallbackGroupsToGuardConditionsMap;
 
-  /// maps nodes to guard conditions
-  WeakNodesToGuardConditionsMap
-  weak_nodes_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  /// maps callback groups to guard conditions
+  WeakCallbackGroupsToGuardConditionsMap
+  weak_groups_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
   /// maps callback groups associated to nodes
   WeakCallbackGroupsToNodesMap

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -47,12 +47,12 @@ public:
    *
    * \param options common options for all executors
    * \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
+   *   the default 0 will use the number of cpu cores found (minimum of 2)
    * \param yield_before_execute if true std::this_thread::yield() is called
    * \param timeout maximum time to wait
    */
   RCLCPP_PUBLIC
-  MultiThreadedExecutor(
+  explicit MultiThreadedExecutor(
     const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions(),
     size_t number_of_threads = 0,
     bool yield_before_execute = false,

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

@@ -38,7 +38,7 @@ class SubscriptionIntraProcessBase : public rclcpp::Waitable
 public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(SubscriptionIntraProcessBase)
 
-  enum class EntityType
+  enum class EntityType : std::size_t
   {
     Subscription,
   };
@@ -52,7 +52,7 @@ public:
   {}
 
   RCLCPP_PUBLIC
-  virtual ~SubscriptionIntraProcessBase();
+  virtual ~SubscriptionIntraProcessBase() = default;
 
   RCLCPP_PUBLIC
   size_t
@@ -68,6 +68,13 @@ public:
   std::shared_ptr<void>
   take_data() override = 0;
 
+  std::shared_ptr<void>
+  take_data_by_entity_id(size_t id) override
+  {
+    (void)id;
+    return take_data();
+  }
+
   void
   execute(std::shared_ptr<void> & data) override = 0;
 

rclcpp/include/rclcpp/generic_publisher.hpp

@@ -31,6 +31,8 @@
 #include "rclcpp/typesupport_helpers.hpp"
 #include "rclcpp/visibility_control.hpp"
 
+#include "rmw/rmw.h"
+
 namespace rclcpp
 {
 
@@ -116,9 +118,24 @@ public:
   RCLCPP_PUBLIC
   void publish(const rclcpp::SerializedMessage & message);
 
+  /**
+   * Publish a rclcpp::SerializedMessage via loaned message after de-serialization.
+   *
+   * \param message a serialized message
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can show
+   */
+  RCLCPP_PUBLIC
+  void publish_as_loaned_msg(const rclcpp::SerializedMessage & message);
+
 private:
   // The type support library should stay loaded, so it is stored in the GenericPublisher
   std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
+
+  void * borrow_loaned_message();
+  void deserialize_message(
+    const rmw_serialized_message_t & serialized_message,
+    void * deserialized_msg);
+  void publish_loaned_message(void * loaned_message);
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/graph_listener.hpp

@@ -128,6 +128,11 @@ public:
    * If start_if_not_started() was never called, this function still succeeds,
    * but start_if_not_started() still cannot be called after this function.
    *
+   * Note that if you override this method, but leave shutdown to be called in
+   * the destruction of this base class, it will not call the overridden
+   * version from your base class.
+   * So you need to ensure you call your class's shutdown() in its destructor.
+   *
    * \throws rclcpp::execptions::RCLError from rcl_guard_condition_fini()
    * \throws rclcpp::execptions::RCLError from rcl_wait_set_fini()
    * \throws std::system_error anything std::mutex::lock() throws

rclcpp/include/rclcpp/guard_condition.hpp

@@ -72,7 +72,7 @@ public:
   const rcl_guard_condition_t &
   get_rcl_guard_condition() const;
 
-  /// Notify the wait set waiting on this condition, if any, that the condition had been met.
+  /// Signal that the condition has been met, notifying both the wait set and listeners, if any.
   /**
    * This function is thread-safe, and may be called concurrently with waiting
    * on this guard condition in a wait set.
@@ -107,6 +107,22 @@ public:
   void
   add_to_wait_set(rcl_wait_set_t * wait_set);
 
+  /// Set a callback to be called whenever the guard condition is triggered.
+  /**
+   * The callback receives a size_t which is the number of times the guard condition was triggered
+   * since the last time this callback was called.
+   * Normally this is 1, but can be > 1 if the guard condition was triggered before any
+   * callback was set.
+   *
+   * Calling it again will clear any previously set callback.
+   *
+   * This function is thread-safe.
+   *
+   * If you want more information available in the callback, like the guard condition
+   * or other information, you may use a lambda with captures or std::bind.
+   *
+   * \param[in] callback functor to be called when the guard condition is triggered
+   */
   RCLCPP_PUBLIC
   void
   set_on_trigger_callback(std::function<void(size_t)> callback);

rclcpp/include/rclcpp/logger.hpp

@@ -79,7 +79,7 @@ get_node_logger(const rcl_node_t * node);
 /// Get the current logging directory.
 /**
  * For more details of how the logging directory is determined,
- * see \ref rcl_logging_get_logging_directory.
+ * see rcl_logging_get_logging_directory().
  *
  * \returns the logging directory being used.
  * \throws rclcpp::exceptions::RCLError if an unexpected error occurs.

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -100,52 +100,52 @@ public:
 
   static rclcpp::SubscriptionBase::SharedPtr
   get_subscription_by_handle(
-    std::shared_ptr<const rcl_subscription_t> subscriber_handle,
+    const std::shared_ptr<const rcl_subscription_t> & subscriber_handle,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
   static rclcpp::ServiceBase::SharedPtr
   get_service_by_handle(
-    std::shared_ptr<const rcl_service_t> service_handle,
+    const std::shared_ptr<const rcl_service_t> & service_handle,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
   static rclcpp::ClientBase::SharedPtr
   get_client_by_handle(
-    std::shared_ptr<const rcl_client_t> client_handle,
+    const std::shared_ptr<const rcl_client_t> & client_handle,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
   static rclcpp::TimerBase::SharedPtr
   get_timer_by_handle(
-    std::shared_ptr<const rcl_timer_t> timer_handle,
+    const std::shared_ptr<const rcl_timer_t> & timer_handle,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
-    rclcpp::CallbackGroup::SharedPtr group,
+    const rclcpp::CallbackGroup::SharedPtr & group,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_subscription(
-    rclcpp::SubscriptionBase::SharedPtr subscription,
+    const rclcpp::SubscriptionBase::SharedPtr & subscription,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_service(
-    rclcpp::ServiceBase::SharedPtr service,
+    const rclcpp::ServiceBase::SharedPtr & service,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_client(
-    rclcpp::ClientBase::SharedPtr client,
+    const rclcpp::ClientBase::SharedPtr & client,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(
-    rclcpp::TimerBase::SharedPtr timer,
+    const rclcpp::TimerBase::SharedPtr & timer,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_waitable(
-    rclcpp::Waitable::SharedPtr waitable,
+    const rclcpp::Waitable::SharedPtr & waitable,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 };
 

rclcpp/include/rclcpp/node.hpp

@@ -227,7 +227,7 @@ public:
     )
   );
 
-  /// Create a timer.
+  /// Create a wall timer that uses the wall clock to drive the callback.
   /**
    * \param[in] period Time interval between triggers of the callback.
    * \param[in] callback User-defined callback function.
@@ -240,18 +240,47 @@ public:
     CallbackT callback,
     rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
+  /// Create a timer that uses the node clock to drive the callback.
+  /**
+   * \param[in] period Time interval between triggers of the callback.
+   * \param[in] callback User-defined callback function.
+   * \param[in] group Callback group to execute this timer's callback in.
+   */
+  template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
+  typename rclcpp::GenericTimer<CallbackT>::SharedPtr
+  create_timer(
+    std::chrono::duration<DurationRepT, DurationT> period,
+    CallbackT callback,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+
   /// 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.
+   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
+   */
+  template<typename ServiceT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  typename rclcpp::Client<ServiceT>::SharedPtr
+  create_client(
+    const std::string & service_name,
+    const rmw_qos_profile_t & qos_profile,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+
+  /// Create and return a Client.
+  /**
+   * \param[in] service_name The name on which the service is accessible.
+   * \param[in] qos Quality of service profile for client.
+   * \param[in] group Callback group to handle the reply to service calls.
+   * \return Shared pointer to the created client.
    */
   template<typename ServiceT>
   typename rclcpp::Client<ServiceT>::SharedPtr
   create_client(
     const std::string & service_name,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
+    const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Create and return a Service.
@@ -261,13 +290,31 @@ public:
    * \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.
+   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
+   */
+  template<typename ServiceT, typename CallbackT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  typename rclcpp::Service<ServiceT>::SharedPtr
+  create_service(
+    const std::string & service_name,
+    CallbackT && callback,
+    const rmw_qos_profile_t & qos_profile,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+
+  /// Create and return a Service.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] callback User-defined callback function.
+   * \param[in] qos Quality of service profile for the service.
+   * \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(
     const std::string & service_name,
     CallbackT && callback,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
+    const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Create and return a GenericPublisher.
@@ -336,11 +383,21 @@ public:
    *
    * If `ignore_override` is `true`, the parameter override will be ignored.
    *
-   * This method, if successful, will result in any callback registered with
-   * add_on_set_parameters_callback to be called.
+   * This method will result in any callback registered with
+   * `add_on_set_parameters_callback` and `add_post_set_parameters_callback`
+   * to be called for the parameter being set.
+   *
+   * If a callback was registered previously with `add_on_set_parameters_callback`,
+   * it will be called prior to setting the parameter for the node.
    * If that callback prevents the initial value for the parameter from being
    * set then rclcpp::exceptions::InvalidParameterValueException is thrown.
    *
+   * If a callback was registered previously with `add_post_set_parameters_callback`,
+   * it will be called after setting the parameter successfully for the node.
+   *
+   * This method will _not_ result in any callbacks registered with
+   * `add_pre_set_parameters_callback` to be called.
+   *
    * The returned reference will remain valid until the parameter is
    * undeclared.
    *
@@ -395,22 +452,6 @@ public:
     rcl_interfaces::msg::ParameterDescriptor{},
     bool ignore_override = false);
 
-  /// Declare a parameter
-  [[deprecated(
-    "declare_parameter() with only a name is deprecated and will be deleted in the future.\n" \
-    "If you want to declare a parameter that won't change type without a default value use:\n" \
-    "`node->declare_parameter<ParameterT>(name)`, where e.g. ParameterT=int64_t.\n\n" \
-    "If you want to declare a parameter that can dynamically change type use:\n" \
-    "```\n" \
-    "rcl_interfaces::msg::ParameterDescriptor descriptor;\n" \
-    "descriptor.dynamic_typing = true;\n" \
-    "node->declare_parameter(name, rclcpp::ParameterValue{}, descriptor);\n" \
-    "```"
-  )]]
-  RCLCPP_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(const std::string & name);
-
   /// Declare and initialize a parameter with a type.
   /**
    * See the non-templated declare_parameter() on this class for details.
@@ -473,11 +514,22 @@ public:
    * If `ignore_overrides` is `true`, all the overrides of the parameters declared
    * by the function call will be ignored.
    *
+   * This method will result in any callback registered with
+   * `add_on_set_parameters_callback` and `add_post_set_parameters_callback`
+   * to be called once for each parameter.
+   *
    * This method, if successful, will result in any callback registered with
-   * add_on_set_parameters_callback to be called, once for each parameter.
+   * `add_on_set_parameters_callback` to be called, once for each parameter.
    * If that callback prevents the initial value for any parameter from being
    * set then rclcpp::exceptions::InvalidParameterValueException is thrown.
    *
+   * If a callback was registered previously with `add_post_set_parameters_callback`,
+   * it will be called after setting the parameters successfully for the node,
+   * once for each parameter.
+   *
+   * This method will _not_ result in any callbacks registered with
+   * `add_pre_set_parameters_callback` to be called.
+   *
    * \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.
@@ -515,8 +567,9 @@ public:
 
   /// Undeclare a previously declared parameter.
   /**
-   * This method will not cause a callback registered with
-   * add_on_set_parameters_callback to be called.
+   * This method will _not_ cause a callback registered with any of the
+   * `add_pre_set_parameters_callback`, `add_on_set_parameters_callback` and
+   * `add_post_set_parameters_callback` to be called.
    *
    * \param[in] name The name of the parameter to be undeclared.
    * \throws rclcpp::exceptions::ParameterNotDeclaredException if the parameter
@@ -550,11 +603,24 @@ public:
    * Parameter overrides are ignored by set_parameter.
    *
    * This method will result in any callback registered with
-   * add_on_set_parameters_callback to be called.
+   * `add_pre_set_parameters_callback`, add_on_set_parameters_callback` and
+   * `add_post_set_parameters_callback` to be called once for the parameter
+   * being set.
+   *
+   * This method will result in any callback registered with
+   * `add_on_set_parameters_callback` to be called.
    * If the callback prevents the parameter from being set, then it will be
    * reflected in the SetParametersResult that is returned, but no exception
    * will be thrown.
    *
+   * If a callback was registered previously with `add_pre_set_parameters_callback`,
+   * it will be called once prior to the validation of the parameter for the node.
+   * If this callback makes modified parameter list empty, then it will be reflected
+   * in the returned result; no exceptions will be raised in this case.
+   *
+   * If a callback was registered previously with `add_post_set_parameters_callback`,
+   * it will be called once after setting the parameter successfully for the node.
+   *
    * If the value type of the parameter is rclcpp::PARAMETER_NOT_SET, and the
    * existing parameter type is something else, then the parameter will be
    * implicitly undeclared.
@@ -591,11 +657,25 @@ public:
    * corresponding SetParametersResult in the vector returned by this function.
    *
    * This method will result in any callback registered with
-   * add_on_set_parameters_callback to be called, once for each parameter.
+   * `add_pre_set_parameters_callback`, `add_on_set_parameters_callback` and
+   * `add_post_set_parameters_callback` to be called once for each parameter.
+
+   * If a callback was registered previously with `add_pre_set_parameters_callback`,
+   * it will be called prior to the validation of parameters for the node,
+   * once for each parameter.
+   * If this callback makes modified parameter list empty, then it will be reflected
+   * in the returned result; no exceptions will be raised in this case.
+   *
+   * This method will result in any callback registered with
+   * `add_on_set_parameters_callback` to be called, once for each parameter.
    * If the callback prevents the parameter from being set, then, as mentioned
    * before, it will be reflected in the corresponding SetParametersResult
    * that is returned, but no exception will be thrown.
    *
+   * If a callback was registered previously with `add_post_set_parameters_callback`,
+   * it will be called after setting the parameters successfully for the node,
+   * once for each parameter.
+   *
    * Like set_parameter() this method will implicitly undeclare parameters
    * with the type rclcpp::PARAMETER_NOT_SET.
    *
@@ -622,11 +702,25 @@ public:
    * If the exception is thrown then none of the parameters will have been set.
    *
    * This method will result in any callback registered with
-   * add_on_set_parameters_callback to be called, just one time.
+   * `add_pre_set_parameters_callback`, `add_on_set_parameters_callback` and
+   * `add_post_set_parameters_callback` to be called only 'once' for all parameters.
+   *
+   * If a callback was registered previously with `add_pre_set_parameters_callback`,
+   * it will be called prior to the validation of node parameters, just one time
+   * for all parameters.
+   * If this callback makes modified parameter list empty, then it will be reflected
+   * in the returned result; no exceptions will be raised in this case.
+   *
+   * This method will result in any callback registered with
+   * 'add_on_set_parameters_callback' to be called, just one time.
    * If the callback prevents the parameters from being set, then it will be
    * reflected in the SetParametersResult which is returned, but no exception
    * will be thrown.
    *
+   * If a callback was registered previously with `add_post_set_parameters_callback`,
+   * it will be called after setting the node parameters successfully, just one time
+   * for all parameters.
+   *
    * If you pass multiple rclcpp::Parameter instances with the same name, then
    * only the last one in the vector (forward iteration) will be set.
    *
@@ -875,12 +969,85 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
+  using PreSetParametersCallbackHandle =
+    rclcpp::node_interfaces::PreSetParametersCallbackHandle;
+  using PreSetParametersCallbackType =
+    rclcpp::node_interfaces::NodeParametersInterface::PreSetParametersCallbackType;
+
   using OnSetParametersCallbackHandle =
     rclcpp::node_interfaces::OnSetParametersCallbackHandle;
-  using OnParametersSetCallbackType =
-    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
+  using OnSetParametersCallbackType =
+    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType;
+  using OnParametersSetCallbackType [[deprecated("use OnSetParametersCallbackType instead")]] =
+    OnSetParametersCallbackType;
 
-  /// Add a callback for when parameters are being set.
+  using PostSetParametersCallbackHandle =
+    rclcpp::node_interfaces::PostSetParametersCallbackHandle;
+  using PostSetParametersCallbackType =
+    rclcpp::node_interfaces::NodeParametersInterface::PostSetParametersCallbackType;
+
+  /// Add a callback that gets triggered before parameters are validated.
+  /**
+   * This callback can be used to modify the original list of parameters being
+   * set by the user.
+   *
+   * The modified list of parameters is then forwarded to the "on set parameter"
+   * callback for validation.
+   *
+   * The callback is called whenever any of the `set_parameter*` methods are called
+   * or when a set parameter service request is received.
+   *
+   * The callback takes a reference to the vector of parameters to be set.
+   *
+   * The vector of parameters may be modified by the callback.
+   *
+   * One of the use case of "pre set callback" can be updating additional parameters
+   * conditioned on changes to a parameter.
+   *
+   * Users should retain a copy of the returned shared pointer, as the callback
+   * is valid only as long as the smart pointer is alive.
+   *
+   * For an example callback:
+   *
+   *```cpp
+   * void
+   * preSetParameterCallback(std::vector<rclcpp::Parameter> & parameters)
+   * {
+   *  for (auto & param : parameters) {
+   *    if (param.get_name() == "param1") {
+   *      parameters.push_back(rclcpp::Parameter("param2", 4.0));
+   *    }
+   *  }
+   * }
+   * ```
+   * The above callback appends 'param2' to the list of parameters to be set if
+   * 'param1' is being set by the user.
+   *
+   * All parameters in the vector will be set atomically.
+   *
+   * Note that the callback is only called while setting parameters with `set_parameter`,
+   * `set_parameters`, `set_parameters_atomically`, or externally with a parameters service.
+   *
+   * The callback is not called when parameters are declared with `declare_parameter`
+   * or `declare_parameters`.
+   *
+   * The callback is not called when parameters are undeclared with `undeclare_parameter`.
+   *
+   * An empty modified parameter list from the callback will result in "set_parameter*"
+   * returning an unsuccessful result.
+   *
+   * The `remove_pre_set_parameters_callback` can be used to deregister the callback.
+   *
+   * \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 PreSetParametersCallbackHandle fails.
+   */
+  RCLCPP_PUBLIC
+  RCUTILS_WARN_UNUSED
+  PreSetParametersCallbackHandle::SharedPtr
+  add_pre_set_parameters_callback(PreSetParametersCallbackType callback);
+
+  /// Add a callback to validate parameters before they are set.
   /**
    * 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
@@ -888,6 +1055,9 @@ public:
    * rcl_interfaces::msg::SetParametersResult to indicate whether or not the
    * parameter should be set or not, and if not why.
    *
+   * Users should retain a copy of the returned shared pointer, as the callback
+   * is valid only as long as the smart pointer is alive.
+   *
    * For an example callback:
    *
    * ```cpp
@@ -919,6 +1089,8 @@ public:
    * this callback, so when checking a new value against the existing one, you
    * must account for the case where the parameter is not yet set.
    *
+   * The callback is not called when parameters are undeclared with `undeclare_parameter`.
+   *
    * Some constraints like read_only are enforced before the callback is called.
    *
    * The callback may introspect other already set parameters (by calling any
@@ -947,7 +1119,80 @@ public:
   RCLCPP_PUBLIC
   RCUTILS_WARN_UNUSED
   OnSetParametersCallbackHandle::SharedPtr
-  add_on_set_parameters_callback(OnParametersSetCallbackType callback);
+  add_on_set_parameters_callback(OnSetParametersCallbackType callback);
+
+  /// Add a callback that gets triggered after parameters are set successfully.
+  /**
+   * The callback is called when any of the `set_parameter*` or `declare_parameter*`
+   * methods are successful.
+   *
+   * Users should retain a copy of the returned shared pointer, as the callback
+   * is valid only as long as the smart pointer is alive.
+   *
+   * The callback takes a reference to a const vector of parameters that have been
+   * set successfully.
+   *
+   * The post callback can be valuable as a place to cause side-effects based on
+   * parameter changes.
+   * For instance updating internally tracked class attributes once parameters
+   * have been changed successfully.
+   *
+   * For an example callback:
+   *
+   * ```cpp
+   * void
+   * postSetParameterCallback(const std::vector<rclcpp::Parameter> & parameters)
+   * {
+   *  for(const auto & param:parameters) {
+   *   // the internal class member can be changed after
+   *   // successful change to param1 or param2
+   *    if(param.get_name() == "param1") {
+   *      internal_tracked_class_parameter_1_ = param.get_value<double>();
+   *    }
+   *    else if(param.get_name() == "param2") {
+   *      internal_tracked_class_parameter_2_ = param.get_value<double>();
+   *    }
+   *  }
+   * }
+   * ```
+   *
+   * The above callback takes a const reference to list of parameters that have been
+   * set successfully and as a result of this updates the internally tracked class attributes
+   * `internal_tracked_class_parameter_1_` and `internal_tracked_class_parameter_2_`
+   * respectively.
+   *
+   * This callback should not modify parameters.
+   *
+   * The callback is called when parameters are declared with `declare_parameter`
+   * or `declare_parameters`. See `declare_parameter` or `declare_parameters` above.
+   *
+   * The callback is not called when parameters are undeclared with `undeclare_parameter`.
+   *
+   * If you want to make changes to parameters based on changes to another, use
+   * `add_pre_set_parameters_callback`.
+   *
+   * The `remove_post_set_parameters_callback` can be used to deregister the callback.
+   *
+   * \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
+  RCUTILS_WARN_UNUSED
+  PostSetParametersCallbackHandle::SharedPtr
+  add_post_set_parameters_callback(PostSetParametersCallbackType callback);
+
+  /// Remove a callback registered with `add_pre_set_parameters_callback`.
+  /**
+   * Delete a handler returned by `add_pre_set_parameters_callback`.
+   *
+   * \param handler The callback handler to remove.
+   * \throws std::runtime_error if the handler was not created with `add_pre_set_parameters_callback`,
+   *   or if it has been removed before.
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_pre_set_parameters_callback(const PreSetParametersCallbackHandle * const handler);
 
   /// Remove a callback registered with `add_on_set_parameters_callback`.
   /**
@@ -976,6 +1221,18 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
 
+  /// Remove a callback registered with `add_post_set_parameters_callback`.
+  /**
+   * Delete a handler returned by `add_post_set_parameters_callback`.
+   *
+   * \param handler The callback handler to remove.
+   * \throws std::runtime_error if the handler was not created with `add_post_set_parameters_callback`,
+   *   or if it has been removed before.
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_post_set_parameters_callback(const PostSetParametersCallbackHandle * const handler);
+
   /// Get the fully-qualified names of all available nodes.
   /**
    * The fully-qualified name includes the local namespace and name of the node.

rclcpp/include/rclcpp/node_impl.hpp

@@ -120,6 +120,38 @@ Node::create_wall_timer(
     this->node_timers_.get());
 }
 
+template<typename DurationRepT, typename DurationT, typename CallbackT>
+typename rclcpp::GenericTimer<CallbackT>::SharedPtr
+Node::create_timer(
+  std::chrono::duration<DurationRepT, DurationT> period,
+  CallbackT callback,
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  return rclcpp::create_timer(
+    this->get_clock(),
+    period,
+    std::move(callback),
+    group,
+    this->node_base_.get(),
+    this->node_timers_.get());
+}
+
+template<typename ServiceT>
+typename Client<ServiceT>::SharedPtr
+Node::create_client(
+  const std::string & service_name,
+  const rclcpp::QoS & qos,
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  return rclcpp::create_client<ServiceT>(
+    node_base_,
+    node_graph_,
+    node_services_,
+    extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
+    qos,
+    group);
+}
+
 template<typename ServiceT>
 typename Client<ServiceT>::SharedPtr
 Node::create_client(
@@ -136,6 +168,23 @@ Node::create_client(
     group);
 }
 
+template<typename ServiceT, typename CallbackT>
+typename rclcpp::Service<ServiceT>::SharedPtr
+Node::create_service(
+  const std::string & service_name,
+  CallbackT && callback,
+  const rclcpp::QoS & qos,
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  return rclcpp::create_service<ServiceT, CallbackT>(
+    node_base_,
+    node_services_,
+    extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
+    std::forward<CallbackT>(callback),
+    qos,
+    group);
+}
+
 template<typename ServiceT, typename CallbackT>
 typename rclcpp::Service<ServiceT>::SharedPtr
 Node::create_service(

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -15,7 +15,7 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 
-#include <functional>
+#include <atomic>
 #include <memory>
 #include <mutex>
 #include <string>
@@ -39,6 +39,13 @@ class NodeBase : public NodeBaseInterface, public std::enable_shared_from_this<N
 public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBase)
 
+  /// Constructor.
+  /**
+   * If nullptr (default) is given for the default_callback_group, one will
+   * be created by the constructor using the create_callback_group() method,
+   * but virtual dispatch will not occur so overrides of that method will not
+   * be used.
+   */
   RCLCPP_PUBLIC
   NodeBase(
     const std::string & node_name,
@@ -46,7 +53,8 @@ public:
     rclcpp::Context::SharedPtr context,
     const rcl_node_options_t & rcl_node_options,
     bool use_intra_process_default,
-    bool enable_topic_statistics_default);
+    bool enable_topic_statistics_default,
+    rclcpp::CallbackGroup::SharedPtr default_callback_group = nullptr);
 
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -15,10 +15,10 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_
 
+#include <atomic>
+#include <functional>
 #include <memory>
-#include <mutex>
 #include <string>
-#include <vector>
 
 #include "rcl/node.h"
 

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -15,7 +15,9 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_GRAPH_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_GRAPH_HPP_
 
+#include <atomic>
 #include <chrono>
+#include <condition_variable>
 #include <map>
 #include <memory>
 #include <mutex>

rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp

@@ -37,14 +37,18 @@ public:
   ~NodeLoggingInterface() = default;
 
   /// Return the logger of the node.
-  /** \return The logger of the node. */
+  /**
+   * \return The logger of the node.
+   */
   RCLCPP_PUBLIC
   virtual
   rclcpp::Logger
   get_logger() const = 0;
 
   /// Return the logger name associated with the node.
-  /** \return The logger name associated with the node. */
+  /**
+   * \return The logger name associated with the node.
+   */
   RCLCPP_PUBLIC
   virtual
   const char *

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -15,9 +15,10 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_HPP_
 
+#include <list>
 #include <map>
 #include <memory>
-#include <list>
+#include <mutex>
 #include <string>
 #include <vector>
 
@@ -84,6 +85,16 @@ class NodeParameters : public NodeParametersInterface
 public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeParameters)
 
+  /// Constructor.
+  /**
+   * If using automatically_declare_parameters_from_overrides, overrides of
+   * get_parameter_overrides(), has_parameter(), declare_parameter() will not
+   * be respected.
+   * If this is an issue, pass false for
+   * automatically_declare_parameters_from_overrides and invoke
+   * perform_automatically_declare_parameters_from_overrides() manually after
+   * construction.
+   */
   RCLCPP_PUBLIC
   NodeParameters(
     const node_interfaces::NodeBaseInterface::SharedPtr node_base,
@@ -103,25 +114,6 @@ public:
   virtual
   ~NodeParameters();
 
-// This is overriding a deprecated method, so we need to ignore the deprecation warning here.
-// Users of the method will still get a warning!
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  [[deprecated(RCLCPP_INTERNAL_NODE_PARAMETERS_INTERFACE_DEPRECATE_DECLARE)]]
-  RCLCPP_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(const std::string & name) override;
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#else
-# pragma warning(pop)
-#endif
-
   RCLCPP_PUBLIC
   const rclcpp::ParameterValue &
   declare_parameter(
@@ -190,20 +182,48 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const override;
 
+  RCLCPP_PUBLIC
+  RCUTILS_WARN_UNUSED
+  PreSetParametersCallbackHandle::SharedPtr
+  add_pre_set_parameters_callback(PreSetParametersCallbackType callback) override;
+
   RCLCPP_PUBLIC
   RCUTILS_WARN_UNUSED
   OnSetParametersCallbackHandle::SharedPtr
-  add_on_set_parameters_callback(OnParametersSetCallbackType callback) override;
+  add_on_set_parameters_callback(OnSetParametersCallbackType callback) override;
+
+  RCLCPP_PUBLIC
+  RCUTILS_WARN_UNUSED
+  PostSetParametersCallbackHandle::SharedPtr
+  add_post_set_parameters_callback(PostSetParametersCallbackType callback) override;
 
   RCLCPP_PUBLIC
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
 
+  RCLCPP_PUBLIC
+  void
+  remove_post_set_parameters_callback(const PostSetParametersCallbackHandle * const handler)
+  override;
+
+  RCLCPP_PUBLIC
+  void
+  remove_pre_set_parameters_callback(const PreSetParametersCallbackHandle * const handler) override;
+
   RCLCPP_PUBLIC
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;
 
-  using CallbacksContainerType = std::list<OnSetParametersCallbackHandle::WeakPtr>;
+  using PreSetCallbacksHandleContainer = std::list<PreSetParametersCallbackHandle::WeakPtr>;
+  using OnSetCallbacksHandleContainer = std::list<OnSetParametersCallbackHandle::WeakPtr>;
+  using PostSetCallbacksHandleContainer = std::list<PostSetParametersCallbackHandle::WeakPtr>;
+  using CallbacksContainerType [[deprecated("use OnSetCallbacksHandleContainer instead")]] =
+    OnSetCallbacksHandleContainer;
+
+protected:
+  RCLCPP_PUBLIC
+  void
+  perform_automatically_declare_parameters_from_overrides();
 
 private:
   RCLCPP_DISABLE_COPY(NodeParameters)
@@ -215,9 +235,11 @@ private:
   // declare_parameter, etc).  In those cases, this will be set to false.
   bool parameter_modification_enabled_{true};
 
-  OnParametersSetCallbackType on_parameters_set_callback_ = nullptr;
+  PreSetCallbacksHandleContainer pre_set_parameters_callback_container_;
 
-  CallbacksContainerType on_parameters_set_callback_container_;
+  OnSetCallbacksHandleContainer on_set_parameters_callback_container_;
+
+  PostSetCallbacksHandleContainer post_set_parameters_callback_container_;
 
   std::map<std::string, ParameterInfo> parameters_;
 

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -15,8 +15,8 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
 
+#include <functional>
 #include <map>
-#include <memory>
 #include <string>
 #include <vector>
 
@@ -33,28 +33,39 @@ namespace rclcpp
 namespace node_interfaces
 {
 
+struct PreSetParametersCallbackHandle
+{
+  RCLCPP_SMART_PTR_DEFINITIONS(PreSetParametersCallbackHandle)
+
+  using PreSetParametersCallbackType =
+    std::function<void (std::vector<rclcpp::Parameter> &)>;
+
+  PreSetParametersCallbackType callback;
+};
+
 struct OnSetParametersCallbackHandle
 {
   RCLCPP_SMART_PTR_DEFINITIONS(OnSetParametersCallbackHandle)
 
-  using OnParametersSetCallbackType =
+  using OnSetParametersCallbackType =
     std::function<
     rcl_interfaces::msg::SetParametersResult(
       const std::vector<rclcpp::Parameter> &)>;
+  using OnParametersSetCallbackType [[deprecated("use OnSetParametersCallbackType instead")]] =
+    OnSetParametersCallbackType;
 
-  OnParametersSetCallbackType callback;
+  OnSetParametersCallbackType callback;
 };
 
-#define RCLCPP_INTERNAL_NODE_PARAMETERS_INTERFACE_DEPRECATE_DECLARE \
-  "declare_parameter() with only a name is deprecated and will be deleted in the future.\n" \
-  "If you want to declare a parameter that won't change type without a default value use:\n" \
-  "`node_params->declare_parameter(name, type)`, with e.g. type=rclcpp::PARAMETER_INTEGER.\n\n" \
-  "If you want to declare a parameter that can dynamically change type use:\n" \
-  "```\n" \
-  "rcl_interfaces::msg::ParameterDescriptor descriptor;\n" \
-  "descriptor.dynamic_typing = true;\n" \
-  "node_params->declare_parameter(name, rclcpp::ParameterValue{}, descriptor);\n" \
-  "```"
+struct PostSetParametersCallbackHandle
+{
+  RCLCPP_SMART_PTR_DEFINITIONS(PostSetParametersCallbackHandle)
+
+  using PostSetParametersCallbackType =
+    std::function<void (const std::vector<rclcpp::Parameter> &)>;
+
+  PostSetParametersCallbackType callback;
+};
 
 /// Pure virtual interface class for the NodeParameters part of the Node API.
 class NodeParametersInterface
@@ -66,15 +77,6 @@ public:
   virtual
   ~NodeParametersInterface() = default;
 
-  /// Declare a parameter.
-  /**
-   * \sa rclcpp::Node::declare_parameter
-   */
-  [[deprecated(RCLCPP_INTERNAL_NODE_PARAMETERS_INTERFACE_DEPRECATE_DECLARE)]]
-  virtual
-  const rclcpp::ParameterValue &
-  declare_parameter(const std::string & name) = 0;
-
   /// Declare and initialize a parameter.
   /**
    * \sa rclcpp::Node::declare_parameter
@@ -205,16 +207,46 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const = 0;
 
-  using OnParametersSetCallbackType = OnSetParametersCallbackHandle::OnParametersSetCallbackType;
+  using OnSetParametersCallbackType = OnSetParametersCallbackHandle::OnSetParametersCallbackType;
+  using PostSetParametersCallbackType =
+    PostSetParametersCallbackHandle::PostSetParametersCallbackType;
+  using PreSetParametersCallbackType = PreSetParametersCallbackHandle::PreSetParametersCallbackType;
 
-  /// Add a callback for when parameters are being set.
+  /// Add a callback that gets triggered before parameters are validated.
+  /**
+   * \sa rclcpp::Node::add_pre_set_parameters_callback
+   */
+  RCLCPP_PUBLIC
+  virtual
+  PreSetParametersCallbackHandle::SharedPtr
+  add_pre_set_parameters_callback(PreSetParametersCallbackType callback) = 0;
+
+  /// Add a callback to validate parameters before they are set.
   /**
    * \sa rclcpp::Node::add_on_set_parameters_callback
    */
   RCLCPP_PUBLIC
   virtual
   OnSetParametersCallbackHandle::SharedPtr
-  add_on_set_parameters_callback(OnParametersSetCallbackType callback) = 0;
+  add_on_set_parameters_callback(OnSetParametersCallbackType callback) = 0;
+
+  /// Add a callback that gets triggered after parameters are set successfully.
+  /**
+   * \sa rclcpp::Node::add_post_set_parameters_callback
+   */
+  RCLCPP_PUBLIC
+  virtual
+  PostSetParametersCallbackHandle::SharedPtr
+  add_post_set_parameters_callback(PostSetParametersCallbackType callback) = 0;
+
+  /// Remove a callback registered with `add_pre_set_parameters_callback`.
+  /**
+   * \sa rclcpp::Node::remove_pre_set_parameters_callback
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  remove_pre_set_parameters_callback(const PreSetParametersCallbackHandle * const handler) = 0;
 
   /// Remove a callback registered with `add_on_set_parameters_callback`.
   /**
@@ -225,6 +257,15 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) = 0;
 
+  /// Remove a callback registered with `add_post_set_parameters_callback`.
+  /**
+   * \sa rclcpp::Node::remove_post_set_parameters_callback
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  remove_post_set_parameters_callback(const PostSetParametersCallbackHandle * const handler) = 0;
+
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
 
-#include <functional>
-#include <memory>
 #include <string>
 
 #include "rcl/publisher.h"

rclcpp/include/rclcpp/parameter.hpp

@@ -264,6 +264,7 @@ get_value_helper<rclcpp::Parameter>(const rclcpp::Parameter * parameter)
 
 }  // namespace detail
 
+/// \cond
 template<typename T>
 decltype(auto)
 Parameter::get_value() const
@@ -275,6 +276,7 @@ Parameter::get_value() const
     throw exceptions::InvalidParameterTypeException(this->name_, ex.what());
   }
 }
+/// \endcond
 
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/parameter_client.hpp

@@ -39,6 +39,7 @@
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/parameter_map.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/rmw.h"
@@ -51,6 +52,37 @@ 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 Name of the remote node
+   * \param[in] qos_profile The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
+   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
+   */
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  RCLCPP_PUBLIC
+  AsyncParametersClient(
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+    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::CallbackGroup::SharedPtr group = nullptr)
+  : AsyncParametersClient(
+      node_base_interface,
+      node_topics_interface,
+      node_graph_interface,
+      node_services_interface,
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
+      group)
+  {}
+
   /// Create an async parameters client.
   /**
    * \param[in] node_base_interface The node base interface of the corresponding node.
@@ -58,7 +90,7 @@ public:
    * \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
+   * \param[in] qos_profile (optional) The qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
@@ -68,21 +100,45 @@ 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,
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Constructor
   /**
-   * \param[in] node The async paramters client will be added to this node.
+   * \param[in] node The async parameters client will be added to this node.
+   * \param[in] remote_node_name name of the remote node
+   * \param[in] qos_profile The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
+   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
+   */
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  AsyncParametersClient(
+    const std::shared_ptr<NodeT> node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  : AsyncParametersClient(
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface(),
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
+      group)
+  {}
+
+  /**
+   * \param[in] node The async parameters 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
+   * \param[in] qos_profile (optional) The qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   template<typename NodeT>
-  AsyncParametersClient(
+  explicit AsyncParametersClient(
     const std::shared_ptr<NodeT> node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr)
   : AsyncParametersClient(
       node->get_node_base_interface(),
@@ -96,16 +152,40 @@ public:
 
   /// Constructor
   /**
-   * \param[in] node The  async paramters client will be added to this node.
+   * \param[in] node The async parameters client will be added to this node.
+   * \param[in] remote_node_name Name of the remote node
+   * \param[in] qos_profile The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
+   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
+   */
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  AsyncParametersClient(
+    NodeT * node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  : AsyncParametersClient(
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface(),
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
+      group)
+  {}
+
+  /**
+   * \param[in] node The async parameters 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
+   * \param[in] qos_profile (optional) The qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   template<typename NodeT>
-  AsyncParametersClient(
+  explicit AsyncParametersClient(
     NodeT * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr)
   : AsyncParametersClient(
       node->get_node_base_interface(),
@@ -185,6 +265,9 @@ public:
   /**
    * This function filters the parameters to be set based on the node name.
    *
+   * If two duplicate keys exist in node names belongs to one FQN, there is no guarantee
+   * which one could be set.
+   *
    * \param parameter_map named parameters to be loaded
    * \return the future of the set_parameter service used to load the parameters
    * \throw InvalidParametersException if there is no parameter to set
@@ -208,9 +291,7 @@ public:
   typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
   on_parameter_event(
     CallbackT && callback,
-    const rclcpp::QoS & qos = (
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events))
-    ),
+    const rclcpp::QoS & qos = rclcpp::ParameterEventsQoS(),
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   ))
@@ -235,9 +316,7 @@ public:
   on_parameter_event(
     NodeT && node,
     CallbackT && callback,
-    const rclcpp::QoS & qos = (
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events))
-    ),
+    const rclcpp::QoS & qos = rclcpp::ParameterEventsQoS(),
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   ))
@@ -304,11 +383,24 @@ class SyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient)
 
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  SyncParametersClient(
+    std::shared_ptr<NodeT> node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile)
+  : SyncParametersClient(
+      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
+      node,
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
+  {}
+
   template<typename NodeT>
   explicit SyncParametersClient(
     std::shared_ptr<NodeT> node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
       std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
       node,
@@ -316,12 +408,29 @@ public:
       qos_profile)
   {}
 
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  SyncParametersClient(
+    rclcpp::Executor::SharedPtr executor,
+    std::shared_ptr<NodeT> node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile)
+  : SyncParametersClient(
+      executor,
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface(),
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
+  {}
+
   template<typename NodeT>
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
     std::shared_ptr<NodeT> node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
       executor,
       node->get_node_base_interface(),
@@ -333,10 +442,23 @@ public:
   {}
 
   template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   SyncParametersClient(
+    NodeT * node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile)
+  : SyncParametersClient(
+      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
+      node,
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
+  {}
+
+  template<typename NodeT>
+  explicit SyncParametersClient(
     NodeT * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
       std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
       node,
@@ -344,12 +466,29 @@ public:
       qos_profile)
   {}
 
+  template<typename NodeT>
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  SyncParametersClient(
+    rclcpp::Executor::SharedPtr executor,
+    NodeT * node,
+    const std::string & remote_node_name,
+    const rmw_qos_profile_t & qos_profile)
+  : SyncParametersClient(
+      executor,
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface(),
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
+  {}
+
   template<typename NodeT>
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
     NodeT * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
       executor,
       node->get_node_base_interface(),
@@ -360,6 +499,28 @@ public:
       qos_profile)
   {}
 
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
+  RCLCPP_PUBLIC
+  SyncParametersClient(
+    rclcpp::Executor::SharedPtr executor,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+    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)
+  : executor_(executor), node_base_interface_(node_base_interface)
+  {
+    async_parameters_client_ =
+      std::make_shared<AsyncParametersClient>(
+      node_base_interface,
+      node_topics_interface,
+      node_graph_interface,
+      node_services_interface,
+      remote_node_name,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)));
+  }
+
   RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
@@ -368,7 +529,7 @@ 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)
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : executor_(executor), node_base_interface_(node_base_interface)
   {
     async_parameters_client_ =

rclcpp/include/rclcpp/parameter_event_handler.hpp

@@ -86,6 +86,9 @@ struct ParameterEventCallbackHandle
  * the ROS node supplied in the ParameterEventHandler constructor.
  * The callback, a lambda function in this case, simply prints out the value of the parameter.
  *
+ * Note: the object returned from add_parameter_callback must be captured or the callback will
+ * be immediately unregistered.
+ *
  * You may also monitor for changes to parameters in other nodes by supplying the node
  * name to add_parameter_callback:
  *
@@ -103,8 +106,8 @@ struct ParameterEventCallbackHandle
  * In this case, the callback will be invoked whenever "some_remote_param_name" changes
  * on remote node "some_remote_node_name".
  *
- * To remove a parameter callback, call remove_parameter_callback, passing the handle returned
- * from add_parameter_callback:
+ * To remove a parameter callback, reset the callback handle smart pointer or call
+ * remove_parameter_callback, passing the handle returned from add_parameter_callback:
  *
  *   param_handler->remove_parameter_callback(handle2);
  *
@@ -152,9 +155,12 @@ struct ParameterEventCallbackHandle
  * For both parameter callbacks and parameter event callbacks, when multiple callbacks are added,
  * the callbacks are invoked last-in, first-called order (LIFO).
  *
- * To remove a parameter event callback, use:
+ * Note: the callback handle returned from add_parameter_event_callback must be captured or
+ * the callback will immediately be unregistered.
  *
- *   param_handler->remove_event_parameter_callback(handle);
+ * To remove a parameter event callback, reset the callback smart pointer or use:
+ *
+ *   param_handler->remove_event_parameter_callback(handle3);
  */
 class ParameterEventHandler
 {
@@ -165,7 +171,7 @@ public:
    * \param[in] qos The QoS settings to use for any subscriptions.
    */
   template<typename NodeT>
-  ParameterEventHandler(
+  explicit ParameterEventHandler(
     NodeT node,
     const rclcpp::QoS & qos =
     rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)))
@@ -189,10 +195,14 @@ public:
   /**
    * This function may be called multiple times to set multiple parameter event callbacks.
    *
+   * Note: if the returned callback handle smart pointer is not captured, the callback is
+   * immediatedly unregistered. A compiler warning should be generated to warn of this.
+   *
    * \param[in] callback Function callback to be invoked on parameter updates.
    * \returns A handle used to refer to the callback.
    */
   RCLCPP_PUBLIC
+  RCUTILS_WARN_UNUSED
   ParameterEventCallbackHandle::SharedPtr
   add_parameter_event_callback(
     ParameterEventCallbackType callback);
@@ -212,12 +222,17 @@ public:
   /**
    * If a node_name is not provided, defaults to the current node.
    *
+   * Note: if the returned callback handle smart pointer is not captured, the callback
+   * is immediately unregistered. A compiler warning should be generated to warn
+   * of this.
+   *
    * \param[in] parameter_name Name of parameter to monitor.
    * \param[in] callback Function callback to be invoked upon parameter update.
    * \param[in] node_name Name of node which hosts the parameter.
    * \returns A handle used to refer to the callback.
    */
   RCLCPP_PUBLIC
+  RCUTILS_WARN_UNUSED
   ParameterCallbackHandle::SharedPtr
   add_parameter_callback(
     const std::string & parameter_name,
@@ -268,6 +283,7 @@ public:
    * \param[in] parameter_name Name of parameter.
    * \param[in] node_name Name of node which hosts the parameter.
    * \returns The resultant rclcpp::Parameter from the event.
+   * \throws std::runtime_error if input node name doesn't match the node name in parameter event.
    */
   RCLCPP_PUBLIC
   static rclcpp::Parameter

rclcpp/include/rclcpp/parameter_map.hpp

@@ -35,11 +35,13 @@ using ParameterMap = std::unordered_map<std::string, std::vector<Parameter>>;
 
 /// Convert parameters from rcl_yaml_param_parser into C++ class instances.
 /// \param[in] c_params C structures containing parameters for multiple nodes.
+/// \param[in] node_fqn a Fully Qualified Name of node, default value is nullptr.
+///   If it's not nullptr, return the relative node parameters belonging to this node_fqn.
 /// \returns a map where the keys are fully qualified node names and values a list of parameters.
 /// \throws InvalidParametersException if the `rcl_params_t` is inconsistent or invalid.
 RCLCPP_PUBLIC
 ParameterMap
-parameter_map_from(const rcl_params_t * const c_params);
+parameter_map_from(const rcl_params_t * const c_params, const char * node_fqn = nullptr);
 
 /// Convert parameter value from rcl_yaml_param_parser into a C++ class instance.
 /// \param[in] c_value C structure containing a value of a parameter.
@@ -51,11 +53,20 @@ parameter_value_from(const rcl_variant_t * const c_value);
 
 /// Get the ParameterMap from a yaml file.
 /// \param[in] yaml_filename full name of the yaml file.
+/// \param[in] node_fqn a Fully Qualified Name of node, default value is nullptr.
 /// \returns an instance of a parameter map
 /// \throws from rcl error of rcl_parse_yaml_file()
 RCLCPP_PUBLIC
 ParameterMap
-parameter_map_from_yaml_file(const std::string & yaml_filename);
+parameter_map_from_yaml_file(const std::string & yaml_filename, const char * node_fqn = nullptr);
+
+/// Get the Parameters from ParameterMap.
+/// \param[in] parameter_map a parameter map.
+/// \param[in] node_fqn a Fully Qualified Name of node, default value is nullptr.
+/// \returns a list of a parameter
+RCLCPP_PUBLIC
+std::vector<Parameter>
+parameters_from_map(const ParameterMap & parameter_map, const char * node_fqn = nullptr);
 
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/parameter_service.hpp

@@ -28,6 +28,7 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/rmw.h"
 
@@ -39,12 +40,26 @@ class ParameterService
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(ParameterService)
 
+  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   RCLCPP_PUBLIC
-  explicit ParameterService(
+  ParameterService(
     const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
     const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
     rclcpp::node_interfaces::NodeParametersInterface * node_params,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
+    const rmw_qos_profile_t & qos_profile)
+  : ParameterService(
+      node_base,
+      node_services,
+      node_params,
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
+  {}
+
+  RCLCPP_PUBLIC
+  ParameterService(
+    const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
+    const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+    rclcpp::node_interfaces::NodeParametersInterface * node_params,
+    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS());
 
 private:
   rclcpp::Service<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_service_;

rclcpp/include/rclcpp/publisher_base.hpp

@@ -346,6 +346,8 @@ protected:
   uint64_t intra_process_publisher_id_;
 
   rmw_gid_t rmw_gid_;
+
+  const rosidl_message_type_support_t type_support_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/publisher_options.hpp

@@ -72,7 +72,7 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
   /// Optional custom allocator.
   std::shared_ptr<Allocator> allocator = nullptr;
 
-  PublisherOptionsWithAllocator<Allocator>() {}
+  PublisherOptionsWithAllocator() {}
 
   /// Constructor using base class as input.
   explicit PublisherOptionsWithAllocator(const PublisherOptionsBase & publisher_options_base)

rclcpp/include/rclcpp/qos.hpp

@@ -44,6 +44,7 @@ enum class ReliabilityPolicy
   BestEffort = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
   Reliable = RMW_QOS_POLICY_RELIABILITY_RELIABLE,
   SystemDefault = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
+  BestAvailable = RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE,
   Unknown = RMW_QOS_POLICY_RELIABILITY_UNKNOWN,
 };
 
@@ -52,6 +53,7 @@ enum class DurabilityPolicy
   Volatile = RMW_QOS_POLICY_DURABILITY_VOLATILE,
   TransientLocal = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
   SystemDefault = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
+  BestAvailable = RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE,
   Unknown = RMW_QOS_POLICY_DURABILITY_UNKNOWN,
 };
 
@@ -60,6 +62,7 @@ enum class LivelinessPolicy
   Automatic = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
   ManualByTopic = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC,
   SystemDefault = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  BestAvailable = RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE,
   Unknown = RMW_QOS_POLICY_LIVELINESS_UNKNOWN,
 };
 
@@ -180,6 +183,10 @@ public:
   QoS &
   best_effort();
 
+  /// Set the reliability setting to best available.
+  QoS &
+  reliability_best_available();
+
   /// Set the durability setting.
   QoS &
   durability(rmw_qos_durability_policy_t durability);
@@ -199,6 +206,10 @@ public:
   QoS &
   transient_local();
 
+  /// Set the durability setting to best available.
+  QoS &
+  durability_best_available();
+
   /// Set the deadline setting.
   QoS &
   deadline(rmw_time_t deadline);
@@ -488,6 +499,36 @@ public:
   ));
 };
 
+/**
+ * Best available QoS class
+ *
+ * Match majority of endpoints currently available while maintaining the highest level of service.
+ * Policies are chosen at the time of creating a subscription or publisher.
+ * The middleware is not expected to update policies after creating a subscription or publisher,
+ * even if one or more policies are incompatible with newly discovered endpoints.
+ * Therefore, this profile should be used with care since non-deterministic behavior can occur due
+ * to races with discovery.
+ *
+ *    - History: Keep last,
+ *    - Depth: 10,
+ *    - Reliability: Best available,
+ *    - Durability: Best available,
+ *    - Deadline: Best available,
+ *    - Lifespan: Default,
+ *    - Liveliness: Best available,
+ *    - Liveliness lease duration: Best available,
+ *    - avoid ros namespace conventions: false
+ */
+class RCLCPP_PUBLIC BestAvailableQoS : public QoS
+{
+public:
+  explicit
+  BestAvailableQoS(
+    const QoSInitialization & qos_initialization = (
+      QoSInitialization::from_rmw(rmw_qos_profile_best_available)
+  ));
+};
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__QOS_HPP_

rclcpp/include/rclcpp/qos_event.hpp

@@ -89,7 +89,7 @@ public:
 class QOSEventHandlerBase : public Waitable
 {
 public:
-  enum class EntityType
+  enum class EntityType : std::size_t
   {
     Event,
   };
@@ -259,6 +259,13 @@ public:
     return std::static_pointer_cast<void>(std::make_shared<EventCallbackInfoT>(callback_info));
   }
 
+  std::shared_ptr<void>
+  take_data_by_entity_id(size_t id) override
+  {
+    (void)id;
+    return take_data();
+  }
+
   /// Execute any entities of the Waitable that are ready.
   void
   execute(std::shared_ptr<void> & data) override

rclcpp/include/rclcpp/service.hpp

@@ -39,6 +39,7 @@
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -54,7 +55,7 @@ public:
   explicit ServiceBase(std::shared_ptr<rcl_node_t> node_handle);
 
   RCLCPP_PUBLIC
-  virtual ~ServiceBase();
+  virtual ~ServiceBase() = default;
 
   /// Return the name of the service.
   /** \return The name of the service. */
@@ -127,6 +128,38 @@ public:
   bool
   exchange_in_use_by_wait_set_state(bool in_use_state);
 
+  /// Get the actual response publisher 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 service, 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 response publisher qos settings.
+   * \throws std::runtime_error if failed to get qos settings
+   */
+  RCLCPP_PUBLIC
+  rclcpp::QoS
+  get_response_publisher_actual_qos() const;
+
+  /// Get the actual request subscription 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 service, 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 request subscription qos settings.
+   * \throws std::runtime_error if failed to get qos settings
+   */
+  RCLCPP_PUBLIC
+  rclcpp::QoS
+  get_request_subscription_actual_qos() const;
+
   /// Set a callback to be called when each new request is received.
   /**
    * The callback receives a size_t which is the number of requests received

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -164,30 +164,22 @@ public:
       if (!group || !group->can_be_taken_from().load()) {
         continue;
       }
-      group->find_subscription_ptrs_if(
+
+      group->collect_all_ptrs(
         [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
           subscription_handles_.push_back(subscription->get_subscription_handle());
-          return false;
-        });
-      group->find_service_ptrs_if(
+        },
         [this](const rclcpp::ServiceBase::SharedPtr & service) {
           service_handles_.push_back(service->get_service_handle());
-          return false;
-        });
-      group->find_client_ptrs_if(
+        },
         [this](const rclcpp::ClientBase::SharedPtr & client) {
           client_handles_.push_back(client->get_client_handle());
-          return false;
-        });
-      group->find_timer_ptrs_if(
+        },
         [this](const rclcpp::TimerBase::SharedPtr & timer) {
           timer_handles_.push_back(timer->get_timer_handle());
-          return false;
-        });
-      group->find_waitable_ptrs_if(
+        },
         [this](const rclcpp::Waitable::SharedPtr & waitable) {
           waitable_handles_.push_back(waitable);
-          return false;
         });
     }
 
@@ -204,7 +196,7 @@ public:
 
   bool add_handles_to_wait_set(rcl_wait_set_t * wait_set) override
   {
-    for (auto subscription : subscription_handles_) {
+    for (const std::shared_ptr<const rcl_subscription_t> & subscription : subscription_handles_) {
       if (rcl_wait_set_add_subscription(wait_set, subscription.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
@@ -213,7 +205,7 @@ public:
       }
     }
 
-    for (auto client : client_handles_) {
+    for (const std::shared_ptr<const rcl_client_t> & client : client_handles_) {
       if (rcl_wait_set_add_client(wait_set, client.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
@@ -222,7 +214,7 @@ public:
       }
     }
 
-    for (auto service : service_handles_) {
+    for (const std::shared_ptr<const rcl_service_t> & service : service_handles_) {
       if (rcl_wait_set_add_service(wait_set, service.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
@@ -231,7 +223,7 @@ public:
       }
     }
 
-    for (auto timer : timer_handles_) {
+    for (const std::shared_ptr<const rcl_timer_t> & timer : timer_handles_) {
       if (rcl_wait_set_add_timer(wait_set, timer.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
@@ -244,7 +236,7 @@ public:
       detail::add_guard_condition_to_rcl_wait_set(*wait_set, *guard_condition);
     }
 
-    for (auto waitable : waitable_handles_) {
+    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       waitable->add_to_wait_set(wait_set);
     }
     return true;
@@ -402,7 +394,7 @@ public:
   {
     auto it = waitable_handles_.begin();
     while (it != waitable_handles_.end()) {
-      auto waitable = *it;
+      std::shared_ptr<Waitable> & waitable = *it;
       if (waitable) {
         // Find the group for this handle and see if it can be serviced
         auto group = get_group_by_waitable(waitable, weak_groups_to_nodes);
@@ -438,7 +430,7 @@ public:
   size_t number_of_ready_subscriptions() const override
   {
     size_t number_of_subscriptions = subscription_handles_.size();
-    for (auto waitable : waitable_handles_) {
+    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       number_of_subscriptions += waitable->get_number_of_ready_subscriptions();
     }
     return number_of_subscriptions;
@@ -447,7 +439,7 @@ public:
   size_t number_of_ready_services() const override
   {
     size_t number_of_services = service_handles_.size();
-    for (auto waitable : waitable_handles_) {
+    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       number_of_services += waitable->get_number_of_ready_services();
     }
     return number_of_services;
@@ -456,7 +448,7 @@ public:
   size_t number_of_ready_events() const override
   {
     size_t number_of_events = 0;
-    for (auto waitable : waitable_handles_) {
+    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       number_of_events += waitable->get_number_of_ready_events();
     }
     return number_of_events;
@@ -465,7 +457,7 @@ public:
   size_t number_of_ready_clients() const override
   {
     size_t number_of_clients = client_handles_.size();
-    for (auto waitable : waitable_handles_) {
+    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       number_of_clients += waitable->get_number_of_ready_clients();
     }
     return number_of_clients;
@@ -474,7 +466,7 @@ public:
   size_t number_of_guard_conditions() const override
   {
     size_t number_of_guard_conditions = guard_conditions_.size();
-    for (auto waitable : waitable_handles_) {
+    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       number_of_guard_conditions += waitable->get_number_of_ready_guard_conditions();
     }
     return number_of_guard_conditions;
@@ -483,7 +475,7 @@ public:
   size_t number_of_ready_timers() const override
   {
     size_t number_of_timers = timer_handles_.size();
-    for (auto waitable : waitable_handles_) {
+    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       number_of_timers += waitable->get_number_of_ready_timers();
     }
     return number_of_timers;

rclcpp/include/rclcpp/subscription.hpp

@@ -363,11 +363,31 @@ public:
     void * loaned_message,
     const rclcpp::MessageInfo & message_info) override
   {
+    if (matches_any_intra_process_publishers(&message_info.get_rmw_message_info().publisher_gid)) {
+      // In this case, the message will be delivered via intra process and
+      // we should ignore this copy of the message.
+      return;
+    }
+
     auto typed_message = static_cast<ROSMessageType *>(loaned_message);
     // message is loaned, so we have to make sure that the deleter does not deallocate the message
     auto sptr = std::shared_ptr<ROSMessageType>(
       typed_message, [](ROSMessageType * msg) {(void) msg;});
+
+    std::chrono::time_point<std::chrono::system_clock> now;
+    if (subscription_topic_statistics_) {
+      // get current time before executing callback to
+      // exclude callback duration from topic statistics result.
+      now = std::chrono::system_clock::now();
+    }
+
     any_callback_.dispatch(sptr, message_info);
+
+    if (subscription_topic_statistics_) {
+      const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now);
+      const auto time = rclcpp::Time(nanos.time_since_epoch().count());
+      subscription_topic_statistics_->handle_message(*typed_message, time);
+    }
   }
 
   /// Return the borrowed message.

rclcpp/include/rclcpp/subscription_base.hpp

@@ -39,6 +39,7 @@
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
 #include "rclcpp/serialized_message.hpp"
+#include "rclcpp/subscription_content_filter_options.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -491,6 +492,40 @@ public:
     event_handlers_[event_type]->clear_on_ready_callback();
   }
 
+  /// Check if content filtered topic feature of the subscription instance is enabled.
+  /**
+   * \return boolean flag indicating if the content filtered topic of this subscription is enabled.
+   */
+  RCLCPP_PUBLIC
+  bool
+  is_cft_enabled() const;
+
+  /// Set the filter expression and expression parameters for the subscription.
+  /**
+   * \param[in] filter_expression A filter expression to set.
+   *   \sa ContentFilterOptions::filter_expression
+   *   An empty string ("") will clear the content filter setting of the subscription.
+   * \param[in] expression_parameters Array of expression parameters to set.
+   *   \sa ContentFilterOptions::expression_parameters
+   * \throws RCLBadAlloc if memory cannot be allocated
+   * \throws RCLError if an unexpect error occurs
+   */
+  RCLCPP_PUBLIC
+  void
+  set_content_filter(
+    const std::string & filter_expression,
+    const std::vector<std::string> & expression_parameters = {});
+
+  /// Get the filter expression and expression parameters for the subscription.
+  /**
+   * \return rclcpp::ContentFilterOptions The content filter options to get.
+   * \throws RCLBadAlloc if memory cannot be allocated
+   * \throws RCLError if an unexpect error occurs
+   */
+  RCLCPP_PUBLIC
+  rclcpp::ContentFilterOptions
+  get_content_filter() const;
+
 protected:
   template<typename EventCallbackT>
   void

rclcpp/include/rclcpp/subscription_content_filter_options.hpp

@@ -0,0 +1,38 @@
+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__SUBSCRIPTION_CONTENT_FILTER_OPTIONS_HPP_
+#define RCLCPP__SUBSCRIPTION_CONTENT_FILTER_OPTIONS_HPP_
+
+#include <string>
+#include <vector>
+
+namespace rclcpp
+{
+
+/// Options to configure content filtered topic in the subscription.
+struct ContentFilterOptions
+{
+  /// Filter expression is similar to the WHERE part of an SQL clause.
+  std::string filter_expression;
+  /**
+   * Expression parameters is the tokens placeholder ‘parameters’ (i.e., "%n" tokens begin from 0)
+   * in the filter_expression. The maximum expression_parameters size is 100.
+   */
+  std::vector<std::string> expression_parameters;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__SUBSCRIPTION_CONTENT_FILTER_OPTIONS_HPP_

rclcpp/include/rclcpp/subscription_options.hpp

@@ -28,6 +28,7 @@
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
 #include "rclcpp/qos_overriding_options.hpp"
+#include "rclcpp/subscription_content_filter_options.hpp"
 #include "rclcpp/topic_statistics_state.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -81,6 +82,8 @@ struct SubscriptionOptionsBase
   TopicStatisticsOptions topic_stats_options;
 
   QosOverridingOptions qos_overriding_options;
+
+  ContentFilterOptions content_filter_options;
 };
 
 /// Structure containing optional configuration for Subscriptions.
@@ -94,7 +97,7 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
   /// Optional custom allocator.
   std::shared_ptr<Allocator> allocator = nullptr;
 
-  SubscriptionOptionsWithAllocator<Allocator>() {}
+  SubscriptionOptionsWithAllocator() {}
 
   /// Constructor using base class as input.
   explicit SubscriptionOptionsWithAllocator(
@@ -123,6 +126,21 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
       rmw_implementation_payload->modify_rmw_subscription_options(result.rmw_subscription_options);
     }
 
+    // Copy content_filter_options into rcl_subscription_options.
+    if (!content_filter_options.filter_expression.empty()) {
+      std::vector<const char *> cstrings =
+        get_c_vector_string(content_filter_options.expression_parameters);
+      rcl_ret_t ret = rcl_subscription_options_set_content_filter_options(
+        get_c_string(content_filter_options.filter_expression),
+        cstrings.size(),
+        cstrings.data(),
+        &result);
+      if (RCL_RET_OK != ret) {
+        rclcpp::exceptions::throw_from_rcl_error(
+          ret, "failed to set content_filter_options");
+      }
+    }
+
     return result;
   }
 

rclcpp/include/rclcpp/timer.hpp

@@ -113,7 +113,8 @@ public:
 
   /// Check how long the timer has until its next scheduled callback.
   /**
-   * \return A std::chrono::duration representing the relative time until the next callback.
+   * \return A std::chrono::duration representing the relative time until the next callback
+   * or std::chrono::nanoseconds::max() if the timer is canceled.
    * \throws std::runtime_error if the rcl_timer_get_time_until_next_call returns a failure
    */
   RCLCPP_PUBLIC
@@ -188,10 +189,10 @@ public:
     TRACEPOINT(
       rclcpp_timer_callback_added,
       static_cast<const void *>(get_timer_handle().get()),
-      static_cast<const void *>(&callback_));
+      reinterpret_cast<const void *>(&callback_));
     TRACEPOINT(
       rclcpp_callback_register,
-      static_cast<const void *>(&callback_),
+      reinterpret_cast<const void *>(&callback_),
       tracetools::get_symbol(callback_));
   }
 
@@ -225,9 +226,9 @@ public:
   void
   execute_callback() override
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(&callback_), false);
+    TRACEPOINT(callback_start, reinterpret_cast<const void *>(&callback_), false);
     execute_callback_delegate<>();
-    TRACEPOINT(callback_end, static_cast<const void *>(&callback_));
+    TRACEPOINT(callback_end, reinterpret_cast<const void *>(&callback_));
   }
 
   // void specialization

rclcpp/include/rclcpp/utilities.hpp

@@ -169,7 +169,7 @@ remove_ros_arguments(int argc, char const * const * argv);
  * the context initialized by rclcpp::init().
  *
  * \param[in] context Optional check for shutdown of this Context.
- * \return true if shutdown has been called, false otherwise
+ * \return false if shutdown has been called, true otherwise
  */
 RCLCPP_PUBLIC
 bool
@@ -321,6 +321,15 @@ RCLCPP_PUBLIC
 const char *
 get_c_string(const std::string & string_in);
 
+/// Return the std::vector of C string from the given std::vector<std::string>.
+/**
+ * \param[in] strings_in is a std::vector of std::string
+ * \return the std::vector of C string from the std::vector<std::string>
+ */
+RCLCPP_PUBLIC
+std::vector<const char *>
+get_c_vector_string(const std::vector<std::string> & strings_in);
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__UTILITIES_HPP_

rclcpp/include/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.hpp

@@ -191,7 +191,7 @@ protected:
 
     WritePreferringReadWriteLock & parent_lock_;
 
-    friend WritePreferringReadWriteLock;
+    friend class WritePreferringReadWriteLock;
   };
 
   /// Write mutex for the WritePreferringReadWriteLock.
@@ -212,7 +212,7 @@ protected:
 
     WritePreferringReadWriteLock & parent_lock_;
 
-    friend WritePreferringReadWriteLock;
+    friend class WritePreferringReadWriteLock;
   };
 
   /// Return read mutex which can be used with standard constructs like std::lock_guard.

rclcpp/include/rclcpp/waitable.hpp

@@ -160,6 +160,24 @@ public:
   std::shared_ptr<void>
   take_data() = 0;
 
+  /// Take the data so that it can be consumed with `execute`.
+  /**
+   * This function allows to specify an entity ID to take the data from.
+   * Entity IDs are identifiers that can be defined by waitable-derived
+   * classes that are composed of several distinct entities.
+   * The main use-case is in conjunction with the listener APIs.
+   *
+   * \param[in] id the id of the entity from which to take
+   * \returns the type-erased data taken from entity specified
+   *
+   * \sa rclcpp::Waitable::take_data
+   * \sa rclcpp::Waitable::set_on_ready_callback
+   */
+  RCLCPP_PUBLIC
+  virtual
+  std::shared_ptr<void>
+  take_data_by_entity_id(size_t id);
+
   /// Execute data that is passed in.
   /**
    * Before calling this method, the Waitable should be added to a 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>15.1.0</version>
+  <version>17.1.0</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
@@ -39,6 +39,7 @@
   <depend>tracetools</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_cmake_google_benchmark</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

rclcpp/resource/logging.hpp.em

@@ -114,7 +114,6 @@ def get_rclcpp_suffix_from_features(features):
 @[ end for]@
 @[ if 'stream' not in feature_combination]@
  * \param ... The format string, followed by the variable arguments for the format string.
- * It also accepts a single argument of type std::string.
 @[ end if]@
  */
 @{params = rclcpp_feature_combinations[feature_combination].params.keys()}@

rclcpp/src/rclcpp/callback_group.cpp

@@ -12,9 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp/callback_group.hpp"
+#include <algorithm>
+#include <atomic>
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <stdexcept>
 
-#include <vector>
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/waitable.hpp"
 
 using rclcpp::CallbackGroup;
 using rclcpp::CallbackGroupType;
@@ -27,6 +37,10 @@ CallbackGroup::CallbackGroup(
   automatically_add_to_executor_with_node_(automatically_add_to_executor_with_node)
 {}
 
+CallbackGroup::~CallbackGroup()
+{
+  trigger_notify_guard_condition();
+}
 
 std::atomic_bool &
 CallbackGroup::can_be_taken_from()
@@ -40,6 +54,51 @@ CallbackGroup::type() const
   return type_;
 }
 
+void CallbackGroup::collect_all_ptrs(
+  std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> sub_func,
+  std::function<void(const rclcpp::ServiceBase::SharedPtr &)> service_func,
+  std::function<void(const rclcpp::ClientBase::SharedPtr &)> client_func,
+  std::function<void(const rclcpp::TimerBase::SharedPtr &)> timer_func,
+  std::function<void(const rclcpp::Waitable::SharedPtr &)> waitable_func) const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+
+  for (const rclcpp::SubscriptionBase::WeakPtr & weak_ptr : subscription_ptrs_) {
+    rclcpp::SubscriptionBase::SharedPtr ref_ptr = weak_ptr.lock();
+    if (ref_ptr) {
+      sub_func(ref_ptr);
+    }
+  }
+
+  for (const rclcpp::ServiceBase::WeakPtr & weak_ptr : service_ptrs_) {
+    rclcpp::ServiceBase::SharedPtr ref_ptr = weak_ptr.lock();
+    if (ref_ptr) {
+      service_func(ref_ptr);
+    }
+  }
+
+  for (const rclcpp::ClientBase::WeakPtr & weak_ptr : client_ptrs_) {
+    rclcpp::ClientBase::SharedPtr ref_ptr = weak_ptr.lock();
+    if (ref_ptr) {
+      client_func(ref_ptr);
+    }
+  }
+
+  for (const rclcpp::TimerBase::WeakPtr & weak_ptr : timer_ptrs_) {
+    rclcpp::TimerBase::SharedPtr ref_ptr = weak_ptr.lock();
+    if (ref_ptr) {
+      timer_func(ref_ptr);
+    }
+  }
+
+  for (const rclcpp::Waitable::WeakPtr & weak_ptr : waitable_ptrs_) {
+    rclcpp::Waitable::SharedPtr ref_ptr = weak_ptr.lock();
+    if (ref_ptr) {
+      waitable_func(ref_ptr);
+    }
+  }
+}
+
 std::atomic_bool &
 CallbackGroup::get_associated_with_executor_atomic()
 {
@@ -52,6 +111,33 @@ CallbackGroup::automatically_add_to_executor_with_node() const
   return automatically_add_to_executor_with_node_;
 }
 
+rclcpp::GuardCondition::SharedPtr
+CallbackGroup::get_notify_guard_condition(const rclcpp::Context::SharedPtr context_ptr)
+{
+  std::lock_guard<std::recursive_mutex> lock(notify_guard_condition_mutex_);
+  if (notify_guard_condition_ && context_ptr != notify_guard_condition_->get_context()) {
+    if (associated_with_executor_) {
+      trigger_notify_guard_condition();
+    }
+    notify_guard_condition_ = nullptr;
+  }
+
+  if (!notify_guard_condition_) {
+    notify_guard_condition_ = std::make_shared<rclcpp::GuardCondition>(context_ptr);
+  }
+
+  return notify_guard_condition_;
+}
+
+void
+CallbackGroup::trigger_notify_guard_condition()
+{
+  std::lock_guard<std::recursive_mutex> lock(notify_guard_condition_mutex_);
+  if (notify_guard_condition_) {
+    notify_guard_condition_->trigger();
+  }
+}
+
 void
 CallbackGroup::add_subscription(
   const rclcpp::SubscriptionBase::SharedPtr subscription_ptr)

rclcpp/src/rclcpp/client.cpp

@@ -65,13 +65,6 @@ ClientBase::ClientBase(
     });
 }
 
-ClientBase::~ClientBase()
-{
-  clear_on_new_response_callback();
-  // Make sure the client handle is destructed as early as possible and before the node handle
-  client_handle_.reset();
-}
-
 bool
 ClientBase::take_type_erased_response(void * response_out, rmw_request_id_t & request_header_out)
 {
@@ -201,6 +194,44 @@ ClientBase::exchange_in_use_by_wait_set_state(bool in_use_state)
   return in_use_by_wait_set_.exchange(in_use_state);
 }
 
+rclcpp::QoS
+ClientBase::get_request_publisher_actual_qos() const
+{
+  const rmw_qos_profile_t * qos =
+    rcl_client_request_publisher_get_actual_qos(client_handle_.get());
+  if (!qos) {
+    auto msg =
+      std::string("failed to get client's request publisher qos settings: ") +
+      rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(msg);
+  }
+
+  rclcpp::QoS request_publisher_qos =
+    rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
+
+  return request_publisher_qos;
+}
+
+rclcpp::QoS
+ClientBase::get_response_subscription_actual_qos() const
+{
+  const rmw_qos_profile_t * qos =
+    rcl_client_response_subscription_get_actual_qos(client_handle_.get());
+  if (!qos) {
+    auto msg =
+      std::string("failed to get client's response subscription qos settings: ") +
+      rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(msg);
+  }
+
+  rclcpp::QoS response_subscription_qos =
+    rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
+
+  return response_subscription_qos;
+}
+
 void
 ClientBase::set_on_new_response_callback(rcl_event_callback_t callback, const void * user_data)
 {

rclcpp/src/rclcpp/context.cpp

@@ -154,7 +154,9 @@ Context::~Context()
   // this will not prevent errors, but will maybe make them easier to reproduce
   std::lock_guard<std::recursive_mutex> lock(init_mutex_);
   try {
-    this->shutdown("context destructor was called while still not shutdown");
+    // Cannot rely on virtual dispatch in a destructor, so explicitly use the
+    // shutdown() provided by this base class.
+    Context::shutdown("context destructor was called while still not shutdown");
     // at this point it is shutdown and cannot reinit
     // clean_up will finalize the rcl context
     this->clean_up();

rclcpp/src/rclcpp/detail/resolve_parameter_overrides.cpp

@@ -51,18 +51,13 @@ rclcpp::detail::resolve_parameter_overrides(
         [params]() {
           rcl_yaml_node_struct_fini(params);
         });
-      rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(params);
+      rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(params, node_fqn.c_str());
 
-      // Enforce wildcard matching precedence
-      // TODO(cottsay) implement further wildcard matching
-      const std::array<std::string, 2> node_matching_names{"/**", node_fqn};
-      for (const auto & node_name : node_matching_names) {
-        if (initial_map.count(node_name) > 0) {
-          // Combine parameter yaml files, overwriting values in older ones
-          for (const rclcpp::Parameter & param : initial_map.at(node_name)) {
-            result[param.get_name()] =
-              rclcpp::ParameterValue(param.get_value_message());
-          }
+      if (initial_map.count(node_fqn) > 0) {
+        // Combine parameter yaml files, overwriting values in older ones
+        for (const rclcpp::Parameter & param : initial_map.at(node_fqn)) {
+          result[param.get_name()] =
+            rclcpp::ParameterValue(param.get_value_message());
         }
       }
     }

rclcpp/src/rclcpp/duration.cpp

@@ -37,11 +37,6 @@ Duration::Duration(int32_t seconds, uint32_t nanoseconds)
   rcl_duration_.nanoseconds += nanoseconds;
 }
 
-Duration::Duration(rcl_duration_value_t nanoseconds)
-{
-  rcl_duration_.nanoseconds = nanoseconds;
-}
-
 Duration::Duration(std::chrono::nanoseconds nanoseconds)
 {
   rcl_duration_.nanoseconds = nanoseconds.count();
@@ -166,6 +161,13 @@ Duration::operator+(const rclcpp::Duration & rhs) const
     rcl_duration_.nanoseconds + rhs.rcl_duration_.nanoseconds);
 }
 
+Duration &
+Duration::operator+=(const rclcpp::Duration & rhs)
+{
+  *this = *this + rhs;
+  return *this;
+}
+
 void
 bounds_check_duration_difference(int64_t lhsns, int64_t rhsns, uint64_t max)
 {
@@ -195,6 +197,13 @@ Duration::operator-(const rclcpp::Duration & rhs) const
     rcl_duration_.nanoseconds - rhs.rcl_duration_.nanoseconds);
 }
 
+Duration &
+Duration::operator-=(const rclcpp::Duration & rhs)
+{
+  *this = *this - rhs;
+  return *this;
+}
+
 void
 bounds_check_duration_scale(int64_t dns, double scale, uint64_t max)
 {
@@ -227,6 +236,13 @@ Duration::operator*(double scale) const
       static_cast<long double>(rcl_duration_.nanoseconds) * scale_ld));
 }
 
+Duration &
+Duration::operator*=(double scale)
+{
+  *this = *this * scale;
+  return *this;
+}
+
 rcl_duration_value_t
 Duration::nanoseconds() const
 {

rclcpp/src/rclcpp/executor.cpp

@@ -106,11 +106,11 @@ Executor::~Executor()
   weak_groups_associated_with_executor_to_nodes_.clear();
   weak_groups_to_nodes_associated_with_executor_.clear();
   weak_groups_to_nodes_.clear();
-  for (const auto & pair : weak_nodes_to_guard_conditions_) {
+  for (const auto & pair : weak_groups_to_guard_conditions_) {
     auto guard_condition = pair.second;
     memory_strategy_->remove_guard_condition(guard_condition);
   }
-  weak_nodes_to_guard_conditions_.clear();
+  weak_groups_to_guard_conditions_.clear();
 
   // Finalize the wait set.
   if (rcl_wait_set_fini(&wait_set_) != RCL_RET_OK) {
@@ -204,8 +204,7 @@ Executor::add_callback_group_to_map(
   if (has_executor.exchange(true)) {
     throw std::runtime_error("Callback group has already been added to an executor.");
   }
-  bool is_new_node = !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_) &&
-    !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_);
+
   rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
   auto insert_info =
     weak_groups_to_nodes.insert(std::make_pair(weak_group_ptr, node_ptr));
@@ -215,21 +214,24 @@ Executor::add_callback_group_to_map(
   }
   // Also add to the map that contains all callback groups
   weak_groups_to_nodes_.insert(std::make_pair(weak_group_ptr, node_ptr));
-  if (is_new_node) {
-    const auto & gc = node_ptr->get_notify_guard_condition();
-    weak_nodes_to_guard_conditions_[node_ptr] = &gc;
-    if (notify) {
-      // Interrupt waiting to handle new node
-      try {
-        interrupt_guard_condition_.trigger();
-      } catch (const rclcpp::exceptions::RCLError & ex) {
-        throw std::runtime_error(
-                std::string(
-                  "Failed to trigger guard condition on callback group add: ") + ex.what());
-      }
+
+  if (node_ptr->get_context()->is_valid()) {
+    auto callback_group_guard_condition =
+      group_ptr->get_notify_guard_condition(node_ptr->get_context());
+    weak_groups_to_guard_conditions_[weak_group_ptr] = callback_group_guard_condition.get();
+    // Add the callback_group's notify condition to the guard condition handles
+    memory_strategy_->add_guard_condition(*callback_group_guard_condition);
+  }
+
+  if (notify) {
+    // Interrupt waiting to handle new node
+    try {
+      interrupt_guard_condition_.trigger();
+    } catch (const rclcpp::exceptions::RCLError & ex) {
+      throw std::runtime_error(
+              std::string(
+                "Failed to trigger guard condition on callback group add: ") + ex.what());
     }
-    // Add the node's notify condition to the guard condition handles
-    memory_strategy_->add_guard_condition(gc);
   }
 }
 
@@ -300,7 +302,12 @@ Executor::remove_callback_group_from_map(
   if (!has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_) &&
     !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_))
   {
-    weak_nodes_to_guard_conditions_.erase(node_ptr);
+    auto iter = weak_groups_to_guard_conditions_.find(weak_group_ptr);
+    if (iter != weak_groups_to_guard_conditions_.end()) {
+      memory_strategy_->remove_guard_condition(iter->second);
+    }
+    weak_groups_to_guard_conditions_.erase(weak_group_ptr);
+
     if (notify) {
       try {
         interrupt_guard_condition_.trigger();
@@ -310,7 +317,6 @@ Executor::remove_callback_group_from_map(
                   "Failed to trigger guard condition on callback group remove: ") + ex.what());
       }
     }
-    memory_strategy_->remove_guard_condition(&node_ptr->get_notify_guard_condition());
   }
 }
 
@@ -700,12 +706,6 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
         auto weak_node_ptr = pair.second;
         if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
           invalid_group_ptrs.push_back(weak_group_ptr);
-          auto node_guard_pair = weak_nodes_to_guard_conditions_.find(weak_node_ptr);
-          if (node_guard_pair != weak_nodes_to_guard_conditions_.end()) {
-            auto guard_condition = node_guard_pair->second;
-            weak_nodes_to_guard_conditions_.erase(weak_node_ptr);
-            memory_strategy_->remove_guard_condition(guard_condition);
-          }
         }
       }
       std::for_each(
@@ -721,6 +721,12 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
           {
             weak_groups_associated_with_executor_to_nodes_.erase(group_ptr);
           }
+          auto callback_guard_pair = weak_groups_to_guard_conditions_.find(group_ptr);
+          if (callback_guard_pair != weak_groups_to_guard_conditions_.end()) {
+            auto guard_condition = callback_guard_pair->second;
+            weak_groups_to_guard_conditions_.erase(group_ptr);
+            memory_strategy_->remove_guard_condition(guard_condition);
+          }
           weak_groups_to_nodes_.erase(group_ptr);
         });
     }

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -21,6 +21,7 @@
 
 #include "rcpputils/scope_exit.hpp"
 
+#include "rclcpp/logging.hpp"
 #include "rclcpp/utilities.hpp"
 
 using rclcpp::executors::MultiThreadedExecutor;
@@ -34,9 +35,15 @@ MultiThreadedExecutor::MultiThreadedExecutor(
   yield_before_execute_(yield_before_execute),
   next_exec_timeout_(next_exec_timeout)
 {
-  number_of_threads_ = number_of_threads ? number_of_threads : std::thread::hardware_concurrency();
-  if (number_of_threads_ == 0) {
-    number_of_threads_ = 1;
+  number_of_threads_ = number_of_threads > 0 ?
+    number_of_threads :
+    std::max(std::thread::hardware_concurrency(), 2U);
+
+  if (number_of_threads_ == 1) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "MultiThreadedExecutor is used with a single thread.\n"
+      "Use the SingleThreadedExecutor instead.");
   }
 }
 

rclcpp/src/rclcpp/generic_publisher.cpp

@@ -31,4 +31,49 @@ void GenericPublisher::publish(const rclcpp::SerializedMessage & message)
   }
 }
 
+void GenericPublisher::publish_as_loaned_msg(const rclcpp::SerializedMessage & message)
+{
+  auto loaned_message = borrow_loaned_message();
+  deserialize_message(message.get_rcl_serialized_message(), loaned_message);
+  publish_loaned_message(loaned_message);
+}
+
+void * GenericPublisher::borrow_loaned_message()
+{
+  void * loaned_message = nullptr;
+  auto return_code = rcl_borrow_loaned_message(
+    get_publisher_handle().get(), &type_support_, &loaned_message);
+
+  if (return_code != RMW_RET_OK) {
+    if (return_code == RCL_RET_UNSUPPORTED) {
+      rclcpp::exceptions::throw_from_rcl_error(
+        return_code,
+        "current middleware cannot support loan messages");
+    } else {
+      rclcpp::exceptions::throw_from_rcl_error(return_code, "failed to borrow loaned msg");
+    }
+  }
+  return loaned_message;
+}
+
+void GenericPublisher::deserialize_message(
+  const rmw_serialized_message_t & serialized_message,
+  void * deserialized_msg)
+{
+  auto return_code = rmw_deserialize(&serialized_message, &type_support_, deserialized_msg);
+  if (return_code != RMW_RET_OK) {
+    rclcpp::exceptions::throw_from_rcl_error(return_code, "failed to deserialize msg");
+  }
+}
+
+void GenericPublisher::publish_loaned_message(void * loaned_message)
+{
+  auto return_code = rcl_publish_loaned_message(
+    get_publisher_handle().get(), loaned_message, NULL);
+
+  if (return_code != RCL_RET_OK) {
+    rclcpp::exceptions::throw_from_rcl_error(return_code, "failed to publish loaned message");
+  }
+}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/graph_listener.cpp

@@ -48,7 +48,7 @@ GraphListener::GraphListener(const std::shared_ptr<Context> & parent_context)
 
 GraphListener::~GraphListener()
 {
-  this->shutdown(std::nothrow);
+  GraphListener::shutdown(std::nothrow);
 }
 
 void GraphListener::init_wait_set()

rclcpp/src/rclcpp/guard_condition.cpp

@@ -74,16 +74,19 @@ GuardCondition::get_rcl_guard_condition() const
 void
 GuardCondition::trigger()
 {
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+  rcl_ret_t ret = rcl_trigger_guard_condition(&rcl_guard_condition_);
+  if (RCL_RET_OK != ret) {
+    rclcpp::exceptions::throw_from_rcl_error(ret);
+  }
 
-  if (on_trigger_callback_) {
-    on_trigger_callback_(1);
-  } else {
-    rcl_ret_t ret = rcl_trigger_guard_condition(&rcl_guard_condition_);
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret);
+  {
+    std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+
+    if (on_trigger_callback_) {
+      on_trigger_callback_(1);
+    } else {
+      unread_count_++;
     }
-    unread_count_++;
   }
 }
 
@@ -125,10 +128,9 @@ GuardCondition::set_on_trigger_callback(std::function<void(size_t)> callback)
       callback(unread_count_);
       unread_count_ = 0;
     }
-    return;
+  } else {
+    on_trigger_callback_ = nullptr;
   }
-
-  on_trigger_callback_ = nullptr;
 }
 
 }  // namespace rclcpp

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -19,7 +19,7 @@ using rclcpp::memory_strategy::MemoryStrategy;
 
 rclcpp::SubscriptionBase::SharedPtr
 MemoryStrategy::get_subscription_by_handle(
-  std::shared_ptr<const rcl_subscription_t> subscriber_handle,
+  const std::shared_ptr<const rcl_subscription_t> & subscriber_handle,
   const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
 {
   for (const auto & pair : weak_groups_to_nodes) {
@@ -40,7 +40,7 @@ MemoryStrategy::get_subscription_by_handle(
 
 rclcpp::ServiceBase::SharedPtr
 MemoryStrategy::get_service_by_handle(
-  std::shared_ptr<const rcl_service_t> service_handle,
+  const std::shared_ptr<const rcl_service_t> & service_handle,
   const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
 {
   for (const auto & pair : weak_groups_to_nodes) {
@@ -61,7 +61,7 @@ MemoryStrategy::get_service_by_handle(
 
 rclcpp::ClientBase::SharedPtr
 MemoryStrategy::get_client_by_handle(
-  std::shared_ptr<const rcl_client_t> client_handle,
+  const std::shared_ptr<const rcl_client_t> & client_handle,
   const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
 {
   for (const auto & pair : weak_groups_to_nodes) {
@@ -82,7 +82,7 @@ MemoryStrategy::get_client_by_handle(
 
 rclcpp::TimerBase::SharedPtr
 MemoryStrategy::get_timer_by_handle(
-  std::shared_ptr<const rcl_timer_t> timer_handle,
+  const std::shared_ptr<const rcl_timer_t> & timer_handle,
   const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
 {
   for (const auto & pair : weak_groups_to_nodes) {
@@ -103,7 +103,7 @@ MemoryStrategy::get_timer_by_handle(
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
 MemoryStrategy::get_node_by_group(
-  rclcpp::CallbackGroup::SharedPtr group,
+  const rclcpp::CallbackGroup::SharedPtr & group,
   const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
 {
   if (!group) {
@@ -121,7 +121,7 @@ MemoryStrategy::get_node_by_group(
 
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_subscription(
-  rclcpp::SubscriptionBase::SharedPtr subscription,
+  const rclcpp::SubscriptionBase::SharedPtr & subscription,
   const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
 {
   for (const auto & pair : weak_groups_to_nodes) {
@@ -143,7 +143,7 @@ MemoryStrategy::get_group_by_subscription(
 
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_service(
-  rclcpp::ServiceBase::SharedPtr service,
+  const rclcpp::ServiceBase::SharedPtr & service,
   const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
 {
   for (const auto & pair : weak_groups_to_nodes) {
@@ -165,7 +165,7 @@ MemoryStrategy::get_group_by_service(
 
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_client(
-  rclcpp::ClientBase::SharedPtr client,
+  const rclcpp::ClientBase::SharedPtr & client,
   const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
 {
   for (const auto & pair : weak_groups_to_nodes) {
@@ -187,7 +187,7 @@ MemoryStrategy::get_group_by_client(
 
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_timer(
-  rclcpp::TimerBase::SharedPtr timer,
+  const rclcpp::TimerBase::SharedPtr & timer,
   const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
 {
   for (const auto & pair : weak_groups_to_nodes) {
@@ -209,7 +209,7 @@ MemoryStrategy::get_group_by_timer(
 
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_waitable(
-  rclcpp::Waitable::SharedPtr waitable,
+  const rclcpp::Waitable::SharedPtr & waitable,
   const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
 {
   for (const auto & pair : weak_groups_to_nodes) {

rclcpp/src/rclcpp/node.cpp

@@ -310,24 +310,6 @@ Node::create_callback_group(
   return node_base_->create_callback_group(group_type, automatically_add_to_executor_with_node);
 }
 
-const rclcpp::ParameterValue &
-Node::declare_parameter(const std::string & name)
-{
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  return this->node_parameters_->declare_parameter(name);
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#else
-# pragma warning(pop)
-#endif
-}
-
 const rclcpp::ParameterValue &
 Node::declare_parameter(
   const std::string & name,
@@ -371,7 +353,7 @@ Node::has_parameter(const std::string & name) const
 rcl_interfaces::msg::SetParametersResult
 Node::set_parameter(const rclcpp::Parameter & parameter)
 {
-  return this->set_parameters_atomically({parameter});
+  return node_parameters_->set_parameters_atomically({parameter});
 }
 
 std::vector<rcl_interfaces::msg::SetParametersResult>
@@ -436,16 +418,40 @@ Node::list_parameters(const std::vector<std::string> & prefixes, uint64_t depth)
   return node_parameters_->list_parameters(prefixes, depth);
 }
 
+rclcpp::Node::PreSetParametersCallbackHandle::SharedPtr
+Node::add_pre_set_parameters_callback(PreSetParametersCallbackType callback)
+{
+  return node_parameters_->add_pre_set_parameters_callback(callback);
+}
+
 rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr
-Node::add_on_set_parameters_callback(OnParametersSetCallbackType callback)
+Node::add_on_set_parameters_callback(OnSetParametersCallbackType callback)
 {
   return node_parameters_->add_on_set_parameters_callback(callback);
 }
 
-void
-Node::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const callback)
+rclcpp::Node::PostSetParametersCallbackHandle::SharedPtr
+Node::add_post_set_parameters_callback(PostSetParametersCallbackType callback)
 {
-  return node_parameters_->remove_on_set_parameters_callback(callback);
+  return node_parameters_->add_post_set_parameters_callback(callback);
+}
+
+void
+Node::remove_pre_set_parameters_callback(const PreSetParametersCallbackHandle * const handler)
+{
+  node_parameters_->remove_pre_set_parameters_callback(handler);
+}
+
+void
+Node::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler)
+{
+  node_parameters_->remove_on_set_parameters_callback(handler);
+}
+
+void
+Node::remove_post_set_parameters_callback(const PostSetParametersCallbackHandle * const handler)
+{
+  node_parameters_->remove_post_set_parameters_callback(handler);
 }
 
 std::vector<std::string>

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -37,12 +37,13 @@ NodeBase::NodeBase(
   rclcpp::Context::SharedPtr context,
   const rcl_node_options_t & rcl_node_options,
   bool use_intra_process_default,
-  bool enable_topic_statistics_default)
+  bool enable_topic_statistics_default,
+  rclcpp::CallbackGroup::SharedPtr default_callback_group)
 : context_(context),
   use_intra_process_default_(use_intra_process_default),
   enable_topic_statistics_default_(enable_topic_statistics_default),
   node_handle_(nullptr),
-  default_callback_group_(nullptr),
+  default_callback_group_(default_callback_group),
   associated_with_executor_(false),
   notify_guard_condition_(context),
   notify_guard_condition_is_valid_(false)
@@ -128,9 +129,12 @@ NodeBase::NodeBase(
       delete node;
     });
 
-  // Create the default callback group.
-  using rclcpp::CallbackGroupType;
-  default_callback_group_ = create_callback_group(CallbackGroupType::MutuallyExclusive);
+  // Create the default callback group, if needed.
+  if (nullptr == default_callback_group_) {
+    using rclcpp::CallbackGroupType;
+    default_callback_group_ =
+      NodeBase::create_callback_group(CallbackGroupType::MutuallyExclusive);
+  }
 
   // Indicate the notify_guard_condition is now valid.
   notify_guard_condition_is_valid_ = true;

rclcpp/src/rclcpp/node_interfaces/node_logging.cpp

@@ -19,7 +19,7 @@ using rclcpp::node_interfaces::NodeLogging;
 NodeLogging::NodeLogging(rclcpp::node_interfaces::NodeBaseInterface * node_base)
 : node_base_(node_base)
 {
-  logger_ = rclcpp::get_logger(this->get_logger_name());
+  logger_ = rclcpp::get_logger(NodeLogging::get_logger_name());
 }
 
 NodeLogging::~NodeLogging()

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -39,6 +39,31 @@
 
 using rclcpp::node_interfaces::NodeParameters;
 
+RCLCPP_LOCAL
+void
+local_perform_automatically_declare_parameters_from_overrides(
+  const std::map<std::string, rclcpp::ParameterValue> & parameter_overrides,
+  std::function<bool(const std::string &)> has_parameter,
+  std::function<void(
+    const std::string &,
+    const rclcpp::ParameterValue &,
+    const rcl_interfaces::msg::ParameterDescriptor &,
+    bool)>
+  declare_parameter)
+{
+  rcl_interfaces::msg::ParameterDescriptor descriptor;
+  descriptor.dynamic_typing = true;
+  for (const auto & pair : parameter_overrides) {
+    if (!has_parameter(pair.first)) {
+      declare_parameter(
+        pair.first,
+        pair.second,
+        descriptor,
+        true);
+    }
+  }
+}
+
 NodeParameters::NodeParameters(
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
   const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
@@ -101,20 +126,43 @@ NodeParameters::NodeParameters(
   // If asked, initialize any parameters that ended up in the initial parameter values,
   // but did not get declared explcitily by this point.
   if (automatically_declare_parameters_from_overrides) {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.dynamic_typing = true;
-    for (const auto & pair : this->get_parameter_overrides()) {
-      if (!this->has_parameter(pair.first)) {
-        this->declare_parameter(
-          pair.first,
-          pair.second,
-          descriptor,
-          true);
+    using namespace std::placeholders;
+    local_perform_automatically_declare_parameters_from_overrides(
+      this->get_parameter_overrides(),
+      std::bind(&NodeParameters::has_parameter, this, _1),
+      [this](
+        const std::string & name,
+        const rclcpp::ParameterValue & default_value,
+        const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+        bool ignore_override)
+      {
+        NodeParameters::declare_parameter(
+          name, default_value, parameter_descriptor, ignore_override);
       }
-    }
+    );
   }
 }
 
+void
+NodeParameters::perform_automatically_declare_parameters_from_overrides()
+{
+  local_perform_automatically_declare_parameters_from_overrides(
+    this->get_parameter_overrides(),
+    [this](const std::string & name) {
+      return this->has_parameter(name);
+    },
+    [this](
+      const std::string & name,
+      const rclcpp::ParameterValue & default_value,
+      const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+      bool ignore_override)
+    {
+      this->declare_parameter(
+        name, default_value, parameter_descriptor, ignore_override);
+    }
+  );
+}
+
 NodeParameters::~NodeParameters()
 {}
 
@@ -236,6 +284,9 @@ __check_parameters(
     } else {
       descriptor = parameter_infos[name].descriptor;
     }
+    if (descriptor.name.empty()) {
+      descriptor.name = name;
+    }
     const auto new_type = parameter.get_type();
     const auto specified_type = static_cast<rclcpp::ParameterType>(descriptor.type);
     result.successful = descriptor.dynamic_typing || specified_type == new_type;
@@ -254,19 +305,54 @@ __check_parameters(
   return result;
 }
 
-using OnParametersSetCallbackType =
-  rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
-using CallbacksContainerType =
-  rclcpp::node_interfaces::NodeParameters::CallbacksContainerType;
+using PreSetParametersCallbackType =
+  rclcpp::node_interfaces::NodeParametersInterface::PreSetParametersCallbackType;
+using PreSetParametersCallbackHandle =
+  rclcpp::node_interfaces::PreSetParametersCallbackHandle;
+using PreSetCallbacksHandleContainer =
+  rclcpp::node_interfaces::NodeParameters::PreSetCallbacksHandleContainer;
+
+using OnSetParametersCallbackType =
+  rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType;
 using OnSetParametersCallbackHandle =
   rclcpp::node_interfaces::OnSetParametersCallbackHandle;
+using OnSetCallbacksHandleContainer =
+  rclcpp::node_interfaces::NodeParameters::OnSetCallbacksHandleContainer;
+
+using PostSetParametersCallbackType =
+  rclcpp::node_interfaces::NodeParametersInterface::PostSetParametersCallbackType;
+using PostSetParametersCallbackHandle =
+  rclcpp::node_interfaces::PostSetParametersCallbackHandle;
+using PostSetCallbacksHandleContainer =
+  rclcpp::node_interfaces::NodeParameters::PostSetCallbacksHandleContainer;
+
+RCLCPP_LOCAL
+void
+__call_pre_set_parameters_callbacks(
+  std::vector<rclcpp::Parameter> & parameters,
+  PreSetCallbacksHandleContainer & callback_container)
+{
+  if (callback_container.empty()) {
+    return;
+  }
+
+  auto it = callback_container.begin();
+  while (it != callback_container.end()) {
+    auto shared_handle = it->lock();
+    if (nullptr != shared_handle) {
+      shared_handle->callback(parameters);
+      it++;
+    } else {
+      it = callback_container.erase(it);
+    }
+  }
+}
 
 RCLCPP_LOCAL
 rcl_interfaces::msg::SetParametersResult
-__call_on_parameters_set_callbacks(
+__call_on_set_parameters_callbacks(
   const std::vector<rclcpp::Parameter> & parameters,
-  CallbacksContainerType & callback_container,
-  const OnParametersSetCallbackType & callback)
+  OnSetCallbacksHandleContainer & callback_container)
 {
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
@@ -283,19 +369,37 @@ __call_on_parameters_set_callbacks(
       it = callback_container.erase(it);
     }
   }
-  if (callback) {
-    result = callback(parameters);
-  }
   return result;
 }
 
+RCLCPP_LOCAL
+void __call_post_set_parameters_callbacks(
+  const std::vector<rclcpp::Parameter> & parameters,
+  PostSetCallbacksHandleContainer & callback_container)
+{
+  if (callback_container.empty()) {
+    return;
+  }
+
+  auto it = callback_container.begin();
+  while (it != callback_container.end()) {
+    auto shared_handle = it->lock();
+    if (nullptr != shared_handle) {
+      shared_handle->callback(parameters);
+      it++;
+    } else {
+      it = callback_container.erase(it);
+    }
+  }
+}
+
 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,
+  OnSetCallbacksHandleContainer & on_set_callback_container,
+  PostSetCallbacksHandleContainer & post_set_callback_container,
   bool allow_undeclared = false)
 {
   // Check if the value being set complies with the descriptor.
@@ -304,9 +408,9 @@ __set_parameters_atomically_common(
   if (!result.successful) {
     return result;
   }
-  // Call the user callback to see if the new value(s) are allowed.
+  // Call the user callbacks to see if the new value(s) are allowed.
   result =
-    __call_on_parameters_set_callbacks(parameters, callback_container, callback);
+    __call_on_set_parameters_callbacks(parameters, on_set_callback_container);
   if (!result.successful) {
     return result;
   }
@@ -318,6 +422,8 @@ __set_parameters_atomically_common(
       parameter_infos[name].descriptor.type = parameters[i].get_type();
       parameter_infos[name].value = parameters[i].get_parameter_value();
     }
+    // Call the user post set parameter callback
+    __call_post_set_parameters_callbacks(parameters, post_set_callback_container);
   }
 
   // Either way, return the result.
@@ -332,8 +438,8 @@ __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,
+  OnSetCallbacksHandleContainer & on_set_callback_container,
+  PostSetCallbacksHandleContainer & post_set_callback_container,
   rcl_interfaces::msg::ParameterEvent * parameter_event_out,
   bool ignore_override = false)
 {
@@ -363,14 +469,15 @@ __declare_parameter_common(
     return result;
   }
 
-  // Check with the user's callback to see if the initial value can be set.
+  // Check with the user's callbacks to see if the initial value can be set.
   std::vector<rclcpp::Parameter> parameter_wrappers {rclcpp::Parameter(name, *initial_value)};
   // This function also takes care of default vs initial value.
   auto result = __set_parameters_atomically_common(
     parameter_wrappers,
     parameter_infos,
-    callback_container,
-    callback);
+    on_set_callback_container,
+    post_set_callback_container
+  );
 
   if (!result.successful) {
     return result;
@@ -397,8 +504,8 @@ declare_parameter_helper(
   bool ignore_override,
   std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters,
   const std::map<std::string, rclcpp::ParameterValue> & overrides,
-  CallbacksContainerType & callback_container,
-  const OnParametersSetCallbackType & callback,
+  OnSetCallbacksHandleContainer & on_set_callback_container,
+  PostSetCallbacksHandleContainer & post_set_callback_container,
   rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent> * events_publisher,
   const std::string & combined_name,
   rclcpp::node_interfaces::NodeClockInterface & node_clock)
@@ -434,8 +541,8 @@ declare_parameter_helper(
     parameter_descriptor,
     parameters,
     overrides,
-    callback_container,
-    callback,
+    on_set_callback_container,
+    post_set_callback_container,
     &parameter_event,
     ignore_override);
 
@@ -464,14 +571,6 @@ declare_parameter_helper(
   return parameters.at(name).value;
 }
 
-const rclcpp::ParameterValue &
-NodeParameters::declare_parameter(const std::string & name)
-{
-  rcl_interfaces::msg::ParameterDescriptor descriptor;
-  descriptor.dynamic_typing = true;
-  return this->declare_parameter(name, rclcpp::ParameterValue{}, descriptor, false);
-}
-
 const rclcpp::ParameterValue &
 NodeParameters::declare_parameter(
   const std::string & name,
@@ -490,8 +589,8 @@ NodeParameters::declare_parameter(
     ignore_override,
     parameters_,
     parameter_overrides_,
-    on_parameters_set_callback_container_,
-    on_parameters_set_callback_,
+    on_set_parameters_callback_container_,
+    post_set_parameters_callback_container_,
     events_publisher_.get(),
     combined_name_,
     *node_clock_);
@@ -526,8 +625,8 @@ NodeParameters::declare_parameter(
     ignore_override,
     parameters_,
     parameter_overrides_,
-    on_parameters_set_callback_container_,
-    on_parameters_set_callback_,
+    on_set_parameters_callback_container_,
+    post_set_parameters_callback_container_,
     events_publisher_.get(),
     combined_name_,
     *node_clock_);
@@ -601,12 +700,27 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
 
   rcl_interfaces::msg::SetParametersResult result;
 
+  // call any user registered pre set parameter callbacks
+  // this callback can make changes to the original parameters list
+  // also check if the changed parameter list is empty or not, if empty return
+  std::vector<rclcpp::Parameter> parameters_after_pre_set_callback(parameters);
+  __call_pre_set_parameters_callbacks(
+    parameters_after_pre_set_callback,
+    pre_set_parameters_callback_container_);
+
+  if (parameters_after_pre_set_callback.empty()) {
+    result.successful = false;
+    result.reason = "parameter list cannot be empty, this might be due to "
+      "pre_set_parameters_callback modifying the original parameters list.";
+    return result;
+  }
+
   // Check if any of the parameters are read-only, or if any parameters are not
   // declared.
   // If not declared, keep track of them in order to declare them later, when
   // undeclared parameters are allowed, and if they're not allowed, fail.
   std::vector<const rclcpp::Parameter *> parameters_to_be_declared;
-  for (const auto & parameter : parameters) {
+  for (const auto & parameter : parameters_after_pre_set_callback) {
     const std::string & name = parameter.get_name();
 
     // Check to make sure the parameter name is valid.
@@ -641,12 +755,13 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
 
   // Declare parameters into a temporary "staging area", incase one of the declares fail.
   // We will use the staged changes as input to the "set atomically" action.
-  // We explicitly avoid calling the user callback here, so that it may be called once, with
+  // We explicitly avoid calling the user callbacks here, so that it may be called once, with
   // all the other parameters to be set (already declared parameters).
   std::map<std::string, rclcpp::node_interfaces::ParameterInfo> staged_parameter_changes;
   rcl_interfaces::msg::ParameterEvent parameter_event_msg;
   parameter_event_msg.node = combined_name_;
-  CallbacksContainerType empty_callback_container;
+  OnSetCallbacksHandleContainer empty_on_set_callback_container;
+  PostSetCallbacksHandleContainer empty_post_set_callback_container;
 
   // Implicit declare uses dynamic type descriptor.
   rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -661,8 +776,8 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
       staged_parameter_changes,
       parameter_overrides_,
       // Only call callbacks once below
-      empty_callback_container,  // callback_container is explicitly empty
-      nullptr,  // callback is explicitly null.
+      empty_on_set_callback_container,   // callback_container is explicitly empty
+      empty_post_set_callback_container,  // callback_container is explicitly empty
       &parameter_event_msg,
       true);
     if (!result.successful) {
@@ -675,12 +790,14 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
   // If there were implicitly declared parameters, then we may need to copy the input parameters
   // and then assign the value that was selected after the declare (could be affected by the
   // initial parameter values).
-  const std::vector<rclcpp::Parameter> * parameters_to_be_set = &parameters;
+  const std::vector<rclcpp::Parameter> * parameters_to_be_set = &parameters_after_pre_set_callback;
   std::vector<rclcpp::Parameter> parameters_copy;
   if (0 != staged_parameter_changes.size()) {  // If there were any implicitly declared parameters.
     bool any_initial_values_used = false;
     for (const auto & staged_parameter_change : staged_parameter_changes) {
-      auto it = __find_parameter_by_name(parameters, staged_parameter_change.first);
+      auto it = __find_parameter_by_name(
+        parameters_after_pre_set_callback,
+        staged_parameter_change.first);
       if (it->get_parameter_value() != staged_parameter_change.second.value) {
         // In this case, the value of the staged parameter differs from the
         // input from the user, and therefore we need to update things before setting.
@@ -690,7 +807,7 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
       }
     }
     if (any_initial_values_used) {
-      parameters_copy = parameters;
+      parameters_copy = parameters_after_pre_set_callback;
       for (const auto & staged_parameter_change : staged_parameter_changes) {
         auto it = __find_parameter_by_name(parameters_copy, staged_parameter_change.first);
         *it = Parameter(staged_parameter_change.first, staged_parameter_change.second.value);
@@ -722,11 +839,10 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
     *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_,
+    // the remaining aren't called
+    on_set_parameters_callback_container_,
+    post_set_parameters_callback_container_,
     allow_undeclared_);  // allow undeclared
 
   // If not successful, then stop here.
@@ -782,7 +898,6 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
     parameter_event_msg.stamp = node_clock_->get_clock()->now();
     events_publisher_->publish(parameter_event_msg);
   }
-
   return result;
 }
 
@@ -968,6 +1083,26 @@ NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint6
   return result;
 }
 
+void
+NodeParameters::remove_pre_set_parameters_callback(
+  const PreSetParametersCallbackHandle * const handle)
+{
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+
+  auto it = std::find_if(
+    pre_set_parameters_callback_container_.begin(),
+    pre_set_parameters_callback_container_.end(),
+    [handle](const auto & weak_handle) {
+      return handle == weak_handle.lock().get();
+    });
+  if (it != pre_set_parameters_callback_container_.end()) {
+    pre_set_parameters_callback_container_.erase(it);
+  } else {
+    throw std::runtime_error("Pre set parameter callback doesn't exist");
+  }
+}
+
 void
 NodeParameters::remove_on_set_parameters_callback(
   const OnSetParametersCallbackHandle * const handle)
@@ -976,20 +1111,53 @@ NodeParameters::remove_on_set_parameters_callback(
   ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
 
   auto it = std::find_if(
-    on_parameters_set_callback_container_.begin(),
-    on_parameters_set_callback_container_.end(),
+    on_set_parameters_callback_container_.begin(),
+    on_set_parameters_callback_container_.end(),
     [handle](const auto & weak_handle) {
       return handle == weak_handle.lock().get();
     });
-  if (it != on_parameters_set_callback_container_.end()) {
-    on_parameters_set_callback_container_.erase(it);
+  if (it != on_set_parameters_callback_container_.end()) {
+    on_set_parameters_callback_container_.erase(it);
   } else {
-    throw std::runtime_error("Callback doesn't exist");
+    throw std::runtime_error("On set parameter callback doesn't exist");
   }
 }
 
+void
+NodeParameters::remove_post_set_parameters_callback(
+  const PostSetParametersCallbackHandle * const handle)
+{
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+
+  auto it = std::find_if(
+    post_set_parameters_callback_container_.begin(),
+    post_set_parameters_callback_container_.end(),
+    [handle](const auto & weak_handle) {
+      return handle == weak_handle.lock().get();
+    });
+  if (it != post_set_parameters_callback_container_.end()) {
+    post_set_parameters_callback_container_.erase(it);
+  } else {
+    throw std::runtime_error("Post set parameter callback doesn't exist");
+  }
+}
+
+PreSetParametersCallbackHandle::SharedPtr
+NodeParameters::add_pre_set_parameters_callback(PreSetParametersCallbackType callback)
+{
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+
+  auto handle = std::make_shared<PreSetParametersCallbackHandle>();
+  handle->callback = callback;
+  // the last callback registered is executed first.
+  pre_set_parameters_callback_container_.emplace_front(handle);
+  return handle;
+}
+
 OnSetParametersCallbackHandle::SharedPtr
-NodeParameters::add_on_set_parameters_callback(OnParametersSetCallbackType callback)
+NodeParameters::add_on_set_parameters_callback(OnSetParametersCallbackType callback)
 {
   std::lock_guard<std::recursive_mutex> lock(mutex_);
   ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
@@ -997,7 +1165,21 @@ NodeParameters::add_on_set_parameters_callback(OnParametersSetCallbackType callb
   auto handle = std::make_shared<OnSetParametersCallbackHandle>();
   handle->callback = callback;
   // the last callback registered is executed first.
-  on_parameters_set_callback_container_.emplace_front(handle);
+  on_set_parameters_callback_container_.emplace_front(handle);
+  return handle;
+}
+
+PostSetParametersCallbackHandle::SharedPtr
+NodeParameters::add_post_set_parameters_callback(
+  PostSetParametersCallbackType callback)
+{
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+
+  auto handle = std::make_shared<PostSetParametersCallbackHandle>();
+  handle->callback = callback;
+  // the last callback registered is executed first.
+  post_set_parameters_callback_container_.emplace_front(handle);
   return handle;
 }
 

rclcpp/src/rclcpp/node_interfaces/node_services.cpp

@@ -35,15 +35,17 @@ NodeServices::add_service(
       // TODO(jacquelinekay): use custom exception
       throw std::runtime_error("Cannot create service, group not in node.");
     }
-    group->add_service(service_base_ptr);
   } else {
-    node_base_->get_default_callback_group()->add_service(service_base_ptr);
+    group = node_base_->get_default_callback_group();
   }
 
+  group->add_service(service_base_ptr);
+
   // Notify the executor that a new service was created using the parent Node.
   auto & node_gc = node_base_->get_notify_guard_condition();
   try {
     node_gc.trigger();
+    group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
             std::string("failed to notify wait set on service creation: ") + ex.what());
@@ -60,15 +62,17 @@ NodeServices::add_client(
       // TODO(jacquelinekay): use custom exception
       throw std::runtime_error("Cannot create client, group not in node.");
     }
-    group->add_client(client_base_ptr);
   } else {
-    node_base_->get_default_callback_group()->add_client(client_base_ptr);
+    group = node_base_->get_default_callback_group();
   }
 
+  group->add_client(client_base_ptr);
+
   // Notify the executor that a new client was created using the parent Node.
   auto & node_gc = node_base_->get_notify_guard_condition();
   try {
     node_gc.trigger();
+    group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
             std::string("failed to notify wait set on client creation: ") + ex.what());

rclcpp/src/rclcpp/node_interfaces/node_timers.cpp

@@ -37,14 +37,15 @@ NodeTimers::add_timer(
       // TODO(jacquelinekay): use custom exception
       throw std::runtime_error("Cannot create timer, group not in node.");
     }
-    callback_group->add_timer(timer);
   } else {
-    node_base_->get_default_callback_group()->add_timer(timer);
+    callback_group = node_base_->get_default_callback_group();
   }
+  callback_group->add_timer(timer);
 
   auto & node_gc = node_base_->get_notify_guard_condition();
   try {
     node_gc.trigger();
+    callback_group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
             std::string("failed to notify wait set on timer creation: ") + ex.what());

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -73,6 +73,7 @@ NodeTopics::add_publisher(
   auto & node_gc = node_base_->get_notify_guard_condition();
   try {
     node_gc.trigger();
+    callback_group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
             std::string("failed to notify wait set on publisher creation: ") + ex.what());
@@ -121,6 +122,7 @@ NodeTopics::add_subscription(
   auto & node_gc = node_base_->get_notify_guard_condition();
   try {
     node_gc.trigger();
+    callback_group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
             std::string("failed to notify wait set on subscription creation: ") + ex.what());

rclcpp/src/rclcpp/node_interfaces/node_waitables.cpp

@@ -35,15 +35,17 @@ NodeWaitables::add_waitable(
       // TODO(jacobperron): use custom exception
       throw std::runtime_error("Cannot create waitable, group not in node.");
     }
-    group->add_waitable(waitable_ptr);
   } else {
-    node_base_->get_default_callback_group()->add_waitable(waitable_ptr);
+    group = node_base_->get_default_callback_group();
   }
 
+  group->add_waitable(waitable_ptr);
+
   // Notify the executor that a new waitable was created using the parent Node.
   auto & node_gc = node_base_->get_notify_guard_condition();
   try {
     node_gc.trigger();
+    group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
             std::string("failed to notify wait set on waitable creation: ") + ex.what());

rclcpp/src/rclcpp/parameter_client.cpp

@@ -35,7 +35,7 @@ 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,
+  const rclcpp::QoS & qos_profile,
   rclcpp::CallbackGroup::SharedPtr group)
 : node_topics_interface_(node_topics_interface)
 {
@@ -46,7 +46,7 @@ AsyncParametersClient::AsyncParametersClient(
   }
 
   rcl_client_options_t options = rcl_client_get_default_options();
-  options.qos = qos_profile;
+  options.qos = qos_profile.get_rmw_qos_profile();
 
   using rclcpp::Client;
   using rclcpp::ClientBase;
@@ -290,28 +290,24 @@ std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
 AsyncParametersClient::load_parameters(
   const std::string & yaml_filename)
 {
-  rclcpp::ParameterMap parameter_map = rclcpp::parameter_map_from_yaml_file(yaml_filename);
-  return this->load_parameters(parameter_map);
+  rclcpp::ParameterMap parameter_map =
+    rclcpp::parameter_map_from_yaml_file(yaml_filename, remote_node_name_.c_str());
+
+  auto iter = parameter_map.find(remote_node_name_);
+  if (iter == parameter_map.end() || iter->second.size() == 0) {
+    throw rclcpp::exceptions::InvalidParametersException("No valid parameter");
+  }
+  auto future_result = set_parameters(iter->second);
+
+  return future_result;
 }
 
 std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
 AsyncParametersClient::load_parameters(
   const rclcpp::ParameterMap & parameter_map)
 {
-  std::vector<rclcpp::Parameter> parameters;
-  std::string remote_name = remote_node_name_.substr(remote_node_name_.substr(1).find("/") + 2);
-  for (const auto & params : parameter_map) {
-    std::string node_full_name = params.first;
-    std::string node_name = node_full_name.substr(node_full_name.find("/*/") + 3);
-    if (node_full_name == remote_node_name_ ||
-      node_full_name == "/**" ||
-      (node_name == remote_name))
-    {
-      for (const auto & param : params.second) {
-        parameters.push_back(param);
-      }
-    }
-  }
+  std::vector<rclcpp::Parameter> parameters =
+    rclcpp::parameters_from_map(parameter_map, remote_node_name_.c_str());
 
   if (parameters.size() == 0) {
     throw rclcpp::exceptions::InvalidParametersException("No valid parameter");

rclcpp/src/rclcpp/parameter_event_handler.cpp

@@ -133,9 +133,13 @@ ParameterEventHandler::get_parameter_from_event(
 {
   rclcpp::Parameter p;
   if (!get_parameter_from_event(event, p, parameter_name, node_name)) {
-    throw std::runtime_error(
-            "Parameter '" + parameter_name + "' of node '" + node_name +
-            "' is not part of parameter event");
+    if (event.node == node_name) {
+      return rclcpp::Parameter(parameter_name, rclcpp::PARAMETER_NOT_SET);
+    } else {
+      throw std::runtime_error(
+              "The node name '" + node_name + "' of parameter '" + parameter_name +
+              +"' doesn't match the node name '" + event.node + "' in parameter event");
+    }
   }
   return p;
 }

rclcpp/src/rclcpp/parameter_map.cpp

@@ -13,8 +13,11 @@
 // limitations under the License.
 
 #include <string>
+#include <regex>
 #include <vector>
 
+#include "rcpputils/find_and_replace.hpp"
+#include "rcpputils/scope_exit.hpp"
 #include "rclcpp/parameter_map.hpp"
 
 using rclcpp::exceptions::InvalidParametersException;
@@ -22,8 +25,15 @@ using rclcpp::exceptions::InvalidParameterValueException;
 using rclcpp::ParameterMap;
 using rclcpp::ParameterValue;
 
+static bool is_node_name_matched(const std::string & node_name, const char * node_fqn)
+{
+  // Update the regular expression ["/*" -> "(/\\w+)" and "/**" -> "(/\\w+)*"]
+  std::string regex = rcpputils::find_and_replace(node_name, "/*", "(/\\w+)");
+  return std::regex_match(node_fqn, std::regex(regex));
+}
+
 ParameterMap
-rclcpp::parameter_map_from(const rcl_params_t * const c_params)
+rclcpp::parameter_map_from(const rcl_params_t * const c_params, const char * node_fqn)
 {
   if (NULL == c_params) {
     throw InvalidParametersException("parameters struct is NULL");
@@ -49,6 +59,15 @@ rclcpp::parameter_map_from(const rcl_params_t * const c_params)
       node_name = c_node_name;
     }
 
+    if (node_fqn) {
+      if (!is_node_name_matched(node_name, node_fqn)) {
+        // No need to parse the items because the user just care about node_fqn
+        continue;
+      }
+
+      node_name = node_fqn;
+    }
+
     const rcl_node_params_t * const c_params_node = &(c_params->params[n]);
 
     std::vector<Parameter> & params_node = parameters[node_name];
@@ -65,6 +84,7 @@ rclcpp::parameter_map_from(const rcl_params_t * const c_params)
       params_node.emplace_back(c_param_name, parameter_value_from(c_param_value));
     }
   }
+
   return parameters;
 }
 
@@ -128,13 +148,31 @@ rclcpp::parameter_value_from(const rcl_variant_t * const c_param_value)
 }
 
 ParameterMap
-rclcpp::parameter_map_from_yaml_file(const std::string & yaml_filename)
+rclcpp::parameter_map_from_yaml_file(const std::string & yaml_filename, const char * node_fqn)
 {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   rcl_params_t * rcl_parameters = rcl_yaml_node_struct_init(allocator);
+  RCPPUTILS_SCOPE_EXIT(rcl_yaml_node_struct_fini(rcl_parameters); );
   const char * path = yaml_filename.c_str();
   if (!rcl_parse_yaml_file(path, rcl_parameters)) {
     rclcpp::exceptions::throw_from_rcl_error(RCL_RET_ERROR);
   }
-  return rclcpp::parameter_map_from(rcl_parameters);
+
+  return rclcpp::parameter_map_from(rcl_parameters, node_fqn);
+}
+
+std::vector<rclcpp::Parameter>
+rclcpp::parameters_from_map(const ParameterMap & parameter_map, const char * node_fqn)
+{
+  std::vector<rclcpp::Parameter> parameters;
+  std::string node_name_old;
+  for (auto & [node_name, node_parameters] : parameter_map) {
+    if (node_fqn && !is_node_name_matched(node_name, node_fqn)) {
+      // No need to parse the items because the user just care about node_fqn
+      continue;
+    }
+    parameters.insert(parameters.end(), node_parameters.begin(), node_parameters.end());
+  }
+
+  return parameters;
 }

rclcpp/src/rclcpp/parameter_service.cpp

@@ -29,7 +29,7 @@ ParameterService::ParameterService(
   const std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base,
   const std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services,
   rclcpp::node_interfaces::NodeParametersInterface * node_params,
-  const rmw_qos_profile_t & qos_profile)
+  const rclcpp::QoS & qos_profile)
 {
   const std::string node_name = node_base->get_name();
 

rclcpp/src/rclcpp/publisher_base.cpp

@@ -47,7 +47,9 @@ PublisherBase::PublisherBase(
   const rosidl_message_type_support_t & type_support,
   const rcl_publisher_options_t & publisher_options)
 : rcl_node_handle_(node_base->get_shared_rcl_node_handle()),
-  intra_process_is_enabled_(false), intra_process_publisher_id_(0)
+  intra_process_is_enabled_(false),
+  intra_process_publisher_id_(0),
+  type_support_(type_support)
 {
   auto custom_deleter = [node_handle = this->rcl_node_handle_](rcl_publisher_t * rcl_pub)
     {
@@ -100,11 +102,6 @@ PublisherBase::PublisherBase(
 
 PublisherBase::~PublisherBase()
 {
-  for (const auto & pair : event_handlers_) {
-    rcl_publisher_event_type_t event_type = pair.first;
-    clear_on_new_qos_event_callback(event_type);
-  }
-
   // must fini the events before fini-ing the publisher
   event_handlers_.clear();
 

rclcpp/src/rclcpp/qos.cpp

@@ -150,6 +150,12 @@ QoS::best_effort()
   return this->reliability(RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);
 }
 
+QoS &
+QoS::reliability_best_available()
+{
+  return this->reliability(RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE);
+}
+
 QoS &
 QoS::durability(rmw_qos_durability_policy_t durability)
 {
@@ -176,6 +182,12 @@ QoS::transient_local()
   return this->durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
 }
 
+QoS &
+QoS::durability_best_available()
+{
+  return this->durability(RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE);
+}
+
 QoS &
 QoS::deadline(rmw_time_t deadline)
 {
@@ -380,4 +392,8 @@ SystemDefaultsQoS::SystemDefaultsQoS(const QoSInitialization & qos_initializatio
 : QoS(qos_initialization, rmw_qos_profile_system_default)
 {}
 
+BestAvailableQoS::BestAvailableQoS(const QoSInitialization & qos_initialization)
+: QoS(qos_initialization, rmw_qos_profile_best_available)
+{}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/qos_event.cpp

@@ -35,6 +35,11 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(
 
 QOSEventHandlerBase::~QOSEventHandlerBase()
 {
+  // Since the rmw event listener holds a reference to
+  // this callback, we need to clear it on destruction of this class.
+  // This clearing is not needed for other rclcpp entities like pub/subs, since
+  // they do own the underlying rmw entities, which are destroyed
+  // on their rclcpp destructors, thus no risk of dangling pointers.
   if (on_new_event_callback_) {
     clear_on_ready_callback();
   }

rclcpp/src/rclcpp/service.cpp

@@ -32,10 +32,6 @@ ServiceBase::ServiceBase(std::shared_ptr<rcl_node_t> node_handle)
   node_logger_(rclcpp::get_node_logger(node_handle_.get()))
 {}
 
-ServiceBase::~ServiceBase()
-{
-  clear_on_new_request_callback();
-}
 
 bool
 ServiceBase::take_type_erased_request(void * request_out, rmw_request_id_t & request_id_out)
@@ -88,6 +84,44 @@ ServiceBase::exchange_in_use_by_wait_set_state(bool in_use_state)
   return in_use_by_wait_set_.exchange(in_use_state);
 }
 
+rclcpp::QoS
+ServiceBase::get_response_publisher_actual_qos() const
+{
+  const rmw_qos_profile_t * qos =
+    rcl_service_response_publisher_get_actual_qos(service_handle_.get());
+  if (!qos) {
+    auto msg =
+      std::string("failed to get service's response publisher qos settings: ") +
+      rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(msg);
+  }
+
+  rclcpp::QoS response_publisher_qos =
+    rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
+
+  return response_publisher_qos;
+}
+
+rclcpp::QoS
+ServiceBase::get_request_subscription_actual_qos() const
+{
+  const rmw_qos_profile_t * qos =
+    rcl_service_request_subscription_get_actual_qos(service_handle_.get());
+  if (!qos) {
+    auto msg =
+      std::string("failed to get service's request subscription qos settings: ") +
+      rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(msg);
+  }
+
+  rclcpp::QoS request_subscription_qos =
+    rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
+
+  return request_subscription_qos;
+}
+
 void
 ServiceBase::set_on_new_request_callback(rcl_event_callback_t callback, const void * user_data)
 {

rclcpp/src/rclcpp/signal_handler.cpp

@@ -191,7 +191,9 @@ SignalHandler::uninstall()
     signal_handlers_options_ = SignalHandlerOptions::None;
     RCLCPP_DEBUG(get_logger(), "SignalHandler::uninstall(): notifying deferred signal handler");
     notify_signal_handler();
-    signal_handler_thread_.join();
+    if (signal_handler_thread_.joinable()) {
+      signal_handler_thread_.join();
+    }
     teardown_wait_for_signal();
   } catch (...) {
     installed_.exchange(true);

rclcpp/src/rclcpp/subscription_base.cpp

@@ -20,6 +20,8 @@
 #include <unordered_map>
 #include <vector>
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
@@ -85,13 +87,6 @@ SubscriptionBase::SubscriptionBase(
 
 SubscriptionBase::~SubscriptionBase()
 {
-  clear_on_new_message_callback();
-
-  for (const auto & pair : event_handlers_) {
-    rcl_subscription_event_type_t event_type = pair.first;
-    clear_on_new_qos_event_callback(event_type);
-  }
-
   if (!use_intra_process_) {
     return;
   }
@@ -354,3 +349,91 @@ SubscriptionBase::set_on_new_message_callback(
     throw_from_rcl_error(ret, "failed to set the on new message callback for subscription");
   }
 }
+
+bool
+SubscriptionBase::is_cft_enabled() const
+{
+  return rcl_subscription_is_cft_enabled(subscription_handle_.get());
+}
+
+void
+SubscriptionBase::set_content_filter(
+  const std::string & filter_expression,
+  const std::vector<std::string> & expression_parameters)
+{
+  rcl_subscription_content_filter_options_t options =
+    rcl_get_zero_initialized_subscription_content_filter_options();
+
+  std::vector<const char *> cstrings =
+    get_c_vector_string(expression_parameters);
+  rcl_ret_t ret = rcl_subscription_content_filter_options_init(
+    subscription_handle_.get(),
+    get_c_string(filter_expression),
+    cstrings.size(),
+    cstrings.data(),
+    &options);
+  if (RCL_RET_OK != ret) {
+    rclcpp::exceptions::throw_from_rcl_error(
+      ret, "failed to init subscription content_filtered_topic option");
+  }
+  RCPPUTILS_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_subscription_content_filter_options_fini(
+      subscription_handle_.get(), &options);
+    if (RCL_RET_OK != ret) {
+      RCLCPP_ERROR(
+        rclcpp::get_logger("rclcpp"),
+        "Failed to fini subscription content_filtered_topic option: %s",
+        rcl_get_error_string().str);
+      rcl_reset_error();
+    }
+  });
+
+  ret = rcl_subscription_set_content_filter(
+    subscription_handle_.get(),
+    &options);
+
+  if (RCL_RET_OK != ret) {
+    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to set cft expression parameters");
+  }
+}
+
+rclcpp::ContentFilterOptions
+SubscriptionBase::get_content_filter() const
+{
+  rclcpp::ContentFilterOptions ret_options;
+  rcl_subscription_content_filter_options_t options =
+    rcl_get_zero_initialized_subscription_content_filter_options();
+
+  rcl_ret_t ret = rcl_subscription_get_content_filter(
+    subscription_handle_.get(),
+    &options);
+
+  if (RCL_RET_OK != ret) {
+    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get cft expression parameters");
+  }
+
+  RCPPUTILS_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_subscription_content_filter_options_fini(
+      subscription_handle_.get(), &options);
+    if (RCL_RET_OK != ret) {
+      RCLCPP_ERROR(
+        rclcpp::get_logger("rclcpp"),
+        "Failed to fini subscription content_filtered_topic option: %s",
+        rcl_get_error_string().str);
+      rcl_reset_error();
+    }
+  });
+
+  rmw_subscription_content_filter_options_t & content_filter_options =
+    options.rmw_subscription_content_filter_options;
+  ret_options.filter_expression = content_filter_options.filter_expression;
+
+  for (size_t i = 0; i < content_filter_options.expression_parameters.size; ++i) {
+    ret_options.expression_parameters.push_back(
+      content_filter_options.expression_parameters.data[i]);
+  }
+
+  return ret_options;
+}

rclcpp/src/rclcpp/subscription_intra_process_base.cpp

@@ -17,11 +17,6 @@
 
 using rclcpp::experimental::SubscriptionIntraProcessBase;
 
-SubscriptionIntraProcessBase::~SubscriptionIntraProcessBase()
-{
-  clear_on_ready_callback();
-}
-
 void
 SubscriptionIntraProcessBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 {

rclcpp/src/rclcpp/timer.cpp

@@ -119,7 +119,9 @@ TimerBase::time_until_trigger()
   int64_t time_until_next_call = 0;
   rcl_ret_t ret = rcl_timer_get_time_until_next_call(
     timer_handle_.get(), &time_until_next_call);
-  if (ret != RCL_RET_OK) {
+  if (ret == RCL_RET_TIMER_CANCELED) {
+    return std::chrono::nanoseconds::max();
+  } else if (ret != RCL_RET_OK) {
     rclcpp::exceptions::throw_from_rcl_error(ret, "Timer could not get time until next call");
   }
   return std::chrono::nanoseconds(time_until_next_call);

rclcpp/src/rclcpp/utilities.cpp

@@ -214,4 +214,17 @@ get_c_string(const std::string & string_in)
   return string_in.c_str();
 }
 
+std::vector<const char *>
+get_c_vector_string(const std::vector<std::string> & strings_in)
+{
+  std::vector<const char *> cstrings;
+  cstrings.reserve(strings_in.size());
+
+  for (size_t i = 0; i < strings_in.size(); ++i) {
+    cstrings.push_back(strings_in[i].c_str());
+  }
+
+  return cstrings;
+}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/waitable.cpp

@@ -54,6 +54,15 @@ Waitable::get_number_of_ready_guard_conditions()
   return 0u;
 }
 
+std::shared_ptr<void>
+Waitable::take_data_by_entity_id(size_t id)
+{
+  (void)id;
+  throw std::runtime_error(
+          "Custom waitables should override take_data_by_entity_id "
+          "if they want to use it.");
+}
+
 bool
 Waitable::exchange_in_use_by_wait_set_state(bool in_use_state)
 {

rclcpp/test/rclcpp/CMakeLists.txt

@@ -100,15 +100,20 @@ if(TARGET test_create_subscription)
     "test_msgs"
   )
 endif()
-ament_add_gtest(test_add_callback_groups_to_executor
-  test_add_callback_groups_to_executor.cpp
-  TIMEOUT 120)
-if(TARGET test_add_callback_groups_to_executor)
-  target_link_libraries(test_add_callback_groups_to_executor ${PROJECT_NAME})
-  ament_target_dependencies(test_add_callback_groups_to_executor
-    "test_msgs"
+function(test_add_callback_groups_to_executor_for_rmw_implementation)
+  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
+  ament_add_gmock(test_add_callback_groups_to_executor${target_suffix} test_add_callback_groups_to_executor.cpp
+    ENV ${rmw_implementation_env_var}
+    TIMEOUT 120
   )
-endif()
+  if(TARGET test_add_callback_groups_to_executor${target_suffix})
+    target_link_libraries(test_add_callback_groups_to_executor${target_suffix} ${PROJECT_NAME})
+    ament_target_dependencies(test_add_callback_groups_to_executor${target_suffix}
+      "test_msgs"
+    )
+  endif()
+endfunction()
+call_for_each_rmw_implementation(test_add_callback_groups_to_executor_for_rmw_implementation)
 ament_add_gtest(test_expand_topic_or_service_name test_expand_topic_or_service_name.cpp)
 if(TARGET test_expand_topic_or_service_name)
   ament_target_dependencies(test_expand_topic_or_service_name
@@ -299,7 +304,7 @@ if(TARGET test_init_options)
   ament_target_dependencies(test_init_options "rcl")
   target_link_libraries(test_init_options ${PROJECT_NAME} mimick)
 endif()
-ament_add_gtest(test_parameter_client test_parameter_client.cpp)
+ament_add_gmock(test_parameter_client test_parameter_client.cpp)
 if(TARGET test_parameter_client)
   ament_target_dependencies(test_parameter_client
     "rcl_interfaces"
@@ -733,3 +738,21 @@ ament_add_gtest(test_graph_listener test_graph_listener.cpp)
 if(TARGET test_graph_listener)
   target_link_libraries(test_graph_listener ${PROJECT_NAME} mimick)
 endif()
+
+function(test_subscription_content_filter_for_rmw_implementation)
+  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
+  ament_add_gmock(test_subscription_content_filter${target_suffix}
+    test_subscription_content_filter.cpp
+    ENV ${rmw_implementation_env_var}
+    TIMEOUT 120
+  )
+  if(TARGET test_subscription_content_filter${target_suffix})
+    target_link_libraries(test_subscription_content_filter${target_suffix} ${PROJECT_NAME} mimick)
+    ament_target_dependencies(test_subscription_content_filter${target_suffix}
+      "rcpputils"
+      "rosidl_typesupport_cpp"
+      "test_msgs"
+    )
+  endif()
+endfunction()
+call_for_each_rmw_implementation(test_subscription_content_filter_for_rmw_implementation)

rclcpp/test/rclcpp/allocator/test_allocator_common.cpp

@@ -51,6 +51,53 @@ TEST(TestAllocatorCommon, retyped_allocate) {
   EXPECT_NO_THROW(code2());
 }
 
+TEST(TestAllocatorCommon, retyped_zero_allocate_basic) {
+  std::allocator<int> allocator;
+  void * untyped_allocator = &allocator;
+  void * allocated_mem =
+    rclcpp::allocator::retyped_zero_allocate<std::allocator<char>>(20u, 1u, untyped_allocator);
+  ASSERT_TRUE(nullptr != allocated_mem);
+
+  auto code = [&untyped_allocator, allocated_mem]() {
+      rclcpp::allocator::retyped_deallocate<char, std::allocator<char>>(
+        allocated_mem, untyped_allocator);
+    };
+  EXPECT_NO_THROW(code());
+}
+
+TEST(TestAllocatorCommon, retyped_zero_allocate) {
+  std::allocator<int> allocator;
+  void * untyped_allocator = &allocator;
+  void * allocated_mem =
+    rclcpp::allocator::retyped_zero_allocate<std::allocator<char>>(20u, 1u, untyped_allocator);
+  // The more natural check here is ASSERT_NE(nullptr, ptr), but clang static
+  // analysis throws a false-positive memory leak warning.  Use ASSERT_TRUE instead.
+  ASSERT_TRUE(nullptr != allocated_mem);
+
+  auto code = [&untyped_allocator, allocated_mem]() {
+      rclcpp::allocator::retyped_deallocate<int, std::allocator<int>>(
+        allocated_mem, untyped_allocator);
+    };
+  EXPECT_NO_THROW(code());
+
+  allocated_mem = allocator.allocate(1);
+  // The more natural check here is ASSERT_NE(nullptr, ptr), but clang static
+  // analysis throws a false-positive memory leak warning.  Use ASSERT_TRUE instead.
+  ASSERT_TRUE(nullptr != allocated_mem);
+  void * reallocated_mem =
+    rclcpp::allocator::retyped_reallocate<int, std::allocator<int>>(
+    allocated_mem, 2u, untyped_allocator);
+  // The more natural check here is ASSERT_NE(nullptr, ptr), but clang static
+  // analysis throws a false-positive memory leak warning.  Use ASSERT_TRUE instead.
+  ASSERT_TRUE(nullptr != reallocated_mem);
+
+  auto code2 = [&untyped_allocator, reallocated_mem]() {
+      rclcpp::allocator::retyped_deallocate<int, std::allocator<int>>(
+        reallocated_mem, untyped_allocator);
+    };
+  EXPECT_NO_THROW(code2());
+}
+
 TEST(TestAllocatorCommon, get_rcl_allocator) {
   std::allocator<int> allocator;
   auto rcl_allocator = rclcpp::allocator::get_rcl_allocator<int>(allocator);

rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp

@@ -31,6 +31,8 @@
 #include "../../mocking_utils/patch.hpp"
 #include "../../utils/rclcpp_gtest_macros.hpp"
 
+#include "rcpputils/filesystem_helper.hpp"
+
 class TestNodeParameters : public ::testing::Test
 {
 public:
@@ -47,6 +49,7 @@ public:
       dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
       node->get_node_parameters_interface().get());
     ASSERT_NE(nullptr, node_parameters);
+    test_resources_path /= "test_node_parameters";
   }
 
   void TearDown()
@@ -57,6 +60,8 @@ public:
 protected:
   std::shared_ptr<rclcpp::Node> node;
   rclcpp::node_interfaces::NodeParameters * node_parameters;
+
+  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
 };
 
 TEST_F(TestNodeParameters, construct_destruct_rcl_errors) {
@@ -170,7 +175,7 @@ TEST_F(TestNodeParameters, set_parameters) {
   EXPECT_TRUE(result[0].successful);
 }
 
-TEST_F(TestNodeParameters, add_remove_parameters_callback) {
+TEST_F(TestNodeParameters, add_remove_on_set_parameters_callback) {
   rcl_interfaces::msg::ParameterDescriptor bool_descriptor;
   bool_descriptor.name = "bool_parameter";
   bool_descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
@@ -197,5 +202,248 @@ TEST_F(TestNodeParameters, add_remove_parameters_callback) {
 
   RCLCPP_EXPECT_THROW_EQ(
     node_parameters->remove_on_set_parameters_callback(handle.get()),
-    std::runtime_error("Callback doesn't exist"));
+    std::runtime_error("On set parameter callback doesn't exist"));
+}
+
+TEST_F(TestNodeParameters, add_remove_pre_set_parameters_callback) {
+  //  `add_pre_set_parameters_callback` used to modify parameters list.
+  auto modify_parameter_list_callback = [](std::vector<rclcpp::Parameter> & parameters) {
+      for (const auto & param : parameters) {
+        if (param.get_name() == "param1") {
+          parameters.emplace_back("param2", 2.0);
+        }
+      }
+    };
+
+  // `add_pre_set_parameters_callback` used to make the parameters list empty.
+  auto empty_parameter_list_callback = [](std::vector<rclcpp::Parameter> & parameters) {
+      parameters = {};
+    };
+
+  auto handle1 =
+    node_parameters->add_pre_set_parameters_callback(modify_parameter_list_callback);
+
+  double default_value = 0.0;
+  node_parameters->declare_parameter(
+    "param1", rclcpp::ParameterValue(default_value));
+  node_parameters->declare_parameter(
+    "param2", rclcpp::ParameterValue(default_value));
+
+  // verify that `declare_parameter` does not call any of the callbacks registered with
+  // `add_pre_set_parameters_callback`
+  EXPECT_TRUE(node_parameters->has_parameter("param1"));
+  EXPECT_EQ(node_parameters->get_parameter("param1").get_value<double>(), default_value);
+  EXPECT_TRUE(node_parameters->has_parameter("param2"));
+  EXPECT_EQ(node_parameters->get_parameter("param2").get_value<double>(), default_value);
+
+  // verify that the `param2` was set successfully conditioned on setting of
+  // `param1`
+  const std::vector<rclcpp::Parameter> parameters_to_be_set = {
+    rclcpp::Parameter("param1", 1.0)};
+  auto result = node_parameters->set_parameters(parameters_to_be_set);
+  // we expect the result size to be same as the original "parameters_to_be_set"
+  // since the pre set parameter callback will set the modified param list atomically.
+  ASSERT_EQ(1u, result.size());
+  EXPECT_TRUE(result[0].successful);
+  EXPECT_TRUE(node_parameters->has_parameter("param1"));
+  EXPECT_EQ(node_parameters->get_parameter("param1").get_value<double>(), 1.0);
+  EXPECT_TRUE(node_parameters->has_parameter("param2"));
+  EXPECT_EQ(node_parameters->get_parameter("param2").get_value<double>(), 2.0);
+  EXPECT_NO_THROW(node_parameters->remove_pre_set_parameters_callback(handle1.get()));
+  RCLCPP_EXPECT_THROW_EQ(
+    node_parameters->remove_pre_set_parameters_callback(handle1.get()),
+    std::runtime_error("Pre set parameter callback doesn't exist"));
+
+  // verify that the result should be unsuccessful if the pre set callback makes
+  // parameter list empty
+  auto handle2 =
+    node_parameters->add_pre_set_parameters_callback(empty_parameter_list_callback);
+  auto results = node_parameters->set_parameters(parameters_to_be_set);
+
+  std::string reason = "parameter list cannot be empty, this might be due to "
+    "pre_set_parameters_callback modifying the original parameters list.";
+  EXPECT_FALSE(results[0].successful);
+  EXPECT_EQ(results[0].reason, reason);
+  EXPECT_NO_THROW(node_parameters->remove_pre_set_parameters_callback(handle2.get()));
+  RCLCPP_EXPECT_THROW_EQ(
+    node_parameters->remove_pre_set_parameters_callback(handle2.get()),
+    std::runtime_error("Pre set parameter callback doesn't exist"));
+}
+
+TEST_F(TestNodeParameters, add_remove_post_set_parameters_callback) {
+  rcl_interfaces::msg::ParameterDescriptor param1_descriptor;
+  param1_descriptor.name = "double_parameter1";
+  param1_descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+  param1_descriptor.read_only = false;
+
+  rcl_interfaces::msg::ParameterDescriptor param2_descriptor;
+  param2_descriptor.name = "double_parameter2";
+  param2_descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+  param2_descriptor.read_only = false;
+
+  double variable_tracking_param1_internally = node_parameters->declare_parameter(
+    "param1", rclcpp::ParameterValue(0.0), param1_descriptor, false).get<double>();
+  double variable_tracking_param2_internally = node_parameters->declare_parameter(
+    "param2", rclcpp::ParameterValue(0.0), param2_descriptor, false).get<double>();
+
+  EXPECT_EQ(variable_tracking_param1_internally, 0.0);
+  EXPECT_EQ(variable_tracking_param2_internally, 0.0);
+
+  const std::vector<rclcpp::Parameter> parameters_to_be_set = {
+    rclcpp::Parameter("param1", 1.0),
+    rclcpp::Parameter("param2", 2.0)};
+
+  // register a callback for successful set parameter and change the internally tracked variables.
+  auto callback = [&](const std::vector<rclcpp::Parameter> & parameters) {
+      for (const auto & param : parameters) {
+        if (param.get_name() == "param1") {
+          variable_tracking_param1_internally = param.get_value<double>();
+        } else if (param.get_name() == "param2") {
+          variable_tracking_param2_internally = param.get_value<double>();
+        }
+      }
+    };
+
+  auto handle = node_parameters->add_post_set_parameters_callback(callback);
+  auto result = node_parameters->set_parameters(parameters_to_be_set);
+  ASSERT_EQ(2u, result.size());
+  EXPECT_TRUE(result[0].successful);
+  EXPECT_TRUE(result[1].successful);
+  EXPECT_TRUE(node_parameters->has_parameter("param1"));
+  EXPECT_TRUE(node_parameters->has_parameter("param2"));
+  EXPECT_EQ(variable_tracking_param1_internally, 1.0);
+  EXPECT_EQ(variable_tracking_param2_internally, 2.0);
+
+  EXPECT_NO_THROW(node_parameters->remove_post_set_parameters_callback(handle.get()));
+
+  RCLCPP_EXPECT_THROW_EQ(
+    node_parameters->remove_post_set_parameters_callback(handle.get()),
+    std::runtime_error("Post set parameter callback doesn't exist"));
+}
+
+TEST_F(TestNodeParameters, wildcard_with_namespace)
+{
+  rclcpp::NodeOptions opts;
+  opts.arguments(
+  {
+    "--ros-args",
+    "--params-file", (test_resources_path / "wildcards.yaml").string()
+  });
+
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node2", "ns", opts);
+
+  auto * node_parameters =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters);
+
+  const auto & parameter_overrides = node_parameters->get_parameter_overrides();
+  EXPECT_EQ(7u, parameter_overrides.size());
+  EXPECT_EQ(parameter_overrides.at("full_wild").get<std::string>(), "full_wild");
+  EXPECT_EQ(parameter_overrides.at("namespace_wild").get<std::string>(), "namespace_wild");
+  EXPECT_EQ(
+    parameter_overrides.at("namespace_wild_another").get<std::string>(),
+    "namespace_wild_another");
+  EXPECT_EQ(
+    parameter_overrides.at("namespace_wild_one_star").get<std::string>(),
+    "namespace_wild_one_star");
+  EXPECT_EQ(parameter_overrides.at("node_wild_in_ns").get<std::string>(), "node_wild_in_ns");
+  EXPECT_EQ(
+    parameter_overrides.at("node_wild_in_ns_another").get<std::string>(),
+    "node_wild_in_ns_another");
+  EXPECT_EQ(parameter_overrides.at("explicit_in_ns").get<std::string>(), "explicit_in_ns");
+  EXPECT_EQ(parameter_overrides.count("should_not_appear"), 0u);
+}
+
+TEST_F(TestNodeParameters, wildcard_no_namespace)
+{
+  rclcpp::NodeOptions opts;
+  opts.arguments(
+  {
+    "--ros-args",
+    "--params-file", (test_resources_path / "wildcards.yaml").string()
+  });
+
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node2", opts);
+
+  auto * node_parameters =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters);
+
+  const auto & parameter_overrides = node_parameters->get_parameter_overrides();
+  EXPECT_EQ(5u, parameter_overrides.size());
+  EXPECT_EQ(parameter_overrides.at("full_wild").get<std::string>(), "full_wild");
+  EXPECT_EQ(parameter_overrides.at("namespace_wild").get<std::string>(), "namespace_wild");
+  EXPECT_EQ(
+    parameter_overrides.at("namespace_wild_another").get<std::string>(),
+    "namespace_wild_another");
+  EXPECT_EQ(parameter_overrides.at("node_wild_no_ns").get<std::string>(), "node_wild_no_ns");
+  EXPECT_EQ(parameter_overrides.at("explicit_no_ns").get<std::string>(), "explicit_no_ns");
+  EXPECT_EQ(parameter_overrides.count("should_not_appear"), 0u);
+  // "/*" match exactly one token, not expect to get `namespace_wild_one_star`
+  EXPECT_EQ(parameter_overrides.count("namespace_wild_one_star"), 0u);
+}
+
+TEST_F(TestNodeParameters, params_by_order)
+{
+  rclcpp::NodeOptions opts;
+  opts.arguments(
+  {
+    "--ros-args",
+    "--params-file", (test_resources_path / "params_by_order.yaml").string()
+  });
+
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node2", "ns", opts);
+
+  auto * node_parameters =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters);
+
+  const auto & parameter_overrides = node_parameters->get_parameter_overrides();
+  EXPECT_EQ(3u, parameter_overrides.size());
+  EXPECT_EQ(parameter_overrides.at("a_value").get<std::string>(), "last_one_win");
+  EXPECT_EQ(parameter_overrides.at("foo").get<std::string>(), "foo");
+  EXPECT_EQ(parameter_overrides.at("bar").get<std::string>(), "bar");
+}
+
+TEST_F(TestNodeParameters, complicated_wildcards)
+{
+  rclcpp::NodeOptions opts;
+  opts.arguments(
+  {
+    "--ros-args",
+    "--params-file", (test_resources_path / "complicated_wildcards.yaml").string()
+  });
+
+  {
+    // regex matched: /**/foo/*/bar
+    std::shared_ptr<rclcpp::Node> node =
+      std::make_shared<rclcpp::Node>("node2", "/a/b/c/foo/d/bar", opts);
+
+    auto * node_parameters =
+      dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+      node->get_node_parameters_interface().get());
+    ASSERT_NE(nullptr, node_parameters);
+
+    const auto & parameter_overrides = node_parameters->get_parameter_overrides();
+    EXPECT_EQ(2u, parameter_overrides.size());
+    EXPECT_EQ(parameter_overrides.at("foo").get<std::string>(), "foo");
+    EXPECT_EQ(parameter_overrides.at("bar").get<std::string>(), "bar");
+  }
+
+  {
+    // regex not matched: /**/foo/*/bar
+    std::shared_ptr<rclcpp::Node> node =
+      std::make_shared<rclcpp::Node>("node2", "/a/b/c/foo/bar", opts);
+
+    auto * node_parameters =
+      dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+      node->get_node_parameters_interface().get());
+    ASSERT_NE(nullptr, node_parameters);
+
+    const auto & parameter_overrides = node_parameters->get_parameter_overrides();
+    EXPECT_EQ(0u, parameter_overrides.size());
+  }
 }

rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp

@@ -162,7 +162,7 @@ protected:
 
     services_.push_back(
       node_with_service->create_service<test_msgs::srv::Empty>(
-        "service", std::move(service_callback), rmw_qos_profile_services_default, callback_group));
+        "service", std::move(service_callback), rclcpp::ServicesQoS(), callback_group));
     return node_with_service;
   }
 
@@ -177,7 +177,7 @@ protected:
 
     clients_.push_back(
       node_with_client->create_client<test_msgs::srv::Empty>(
-        "service", rmw_qos_profile_services_default, callback_group));
+        "service", rclcpp::ServicesQoS(), callback_group));
     return node_with_client;
   }
 
@@ -793,7 +793,7 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service_out_of_scope) {
       [](const test_msgs::srv::Empty::Request::SharedPtr,
         test_msgs::srv::Empty::Response::SharedPtr) {};
     auto service = node->create_service<test_msgs::srv::Empty>(
-      "service", std::move(service_callback), rmw_qos_profile_services_default, callback_group);
+      "service", std::move(service_callback), rclcpp::ServicesQoS(), callback_group);
 
     node->for_each_callback_group(
       [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
@@ -831,7 +831,7 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_client_out_of_scope) {
       node->create_callback_group(
       rclcpp::CallbackGroupType::MutuallyExclusive);
     auto client = node->create_client<test_msgs::srv::Empty>(
-      "service", rmw_qos_profile_services_default, callback_group);
+      "service", rclcpp::ServicesQoS(), callback_group);
 
     weak_groups_to_nodes.insert(
       std::pair<rclcpp::CallbackGroup::WeakPtr,

rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp

@@ -276,6 +276,70 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, one_node_many_callback_groups_many_e
   ASSERT_EQ(timer_executor.get_all_callback_groups().size(), 2u);
 }
 
+/*
+ * Test callback groups from one node to many executors.
+ * A subscriber on a new executor with a callback group not received a message
+ * because the executor can't be triggered while a subscriber created, see
+ * https://github.com/ros2/rclcpp/issues/1611
+*/
+TYPED_TEST(TestAddCallbackGroupsToExecutor, subscriber_triggered_to_receive_message)
+{
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+
+  // create a thread running an executor with a new callback group for a coming subscriber
+  rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
+    rclcpp::CallbackGroupType::MutuallyExclusive, false);
+  rclcpp::executors::SingleThreadedExecutor cb_grp_executor;
+
+  std::promise<bool> received_message_promise;
+  auto received_message_future = received_message_promise.get_future();
+  rclcpp::FutureReturnCode return_code = rclcpp::FutureReturnCode::TIMEOUT;
+  std::thread cb_grp_thread = std::thread(
+    [&cb_grp, &node, &cb_grp_executor, &received_message_future, &return_code]() {
+      cb_grp_executor.add_callback_group(cb_grp, node->get_node_base_interface());
+      return_code = cb_grp_executor.spin_until_future_complete(received_message_future, 10s);
+    });
+
+  // expect the subscriber to receive a message
+  auto sub_callback = [&received_message_promise](test_msgs::msg::Empty::ConstSharedPtr) {
+      received_message_promise.set_value(true);
+    };
+
+  rclcpp::Subscription<test_msgs::msg::Empty>::SharedPtr subscription;
+  rclcpp::Publisher<test_msgs::msg::Empty>::SharedPtr publisher;
+  // to create a timer with a callback run on another executor
+  rclcpp::TimerBase::SharedPtr timer = nullptr;
+  std::promise<void> timer_promise;
+  auto timer_callback =
+    [&subscription, &publisher, &timer, &cb_grp, &node, &sub_callback, &timer_promise]() {
+      if (timer) {
+        timer.reset();
+      }
+
+      // create a subscription using the `cb_grp` callback group
+      rclcpp::QoS qos = rclcpp::QoS(1).reliable();
+      auto options = rclcpp::SubscriptionOptions();
+      options.callback_group = cb_grp;
+      subscription =
+        node->create_subscription<test_msgs::msg::Empty>("topic_name", qos, sub_callback, options);
+      // create a publisher to send data
+      publisher =
+        node->create_publisher<test_msgs::msg::Empty>("topic_name", qos);
+      publisher->publish(test_msgs::msg::Empty());
+      timer_promise.set_value();
+    };
+
+  rclcpp::executors::SingleThreadedExecutor timer_executor;
+  timer = node->create_wall_timer(100ms, timer_callback);
+  timer_executor.add_node(node);
+  auto future = timer_promise.get_future();
+  timer_executor.spin_until_future_complete(future);
+  cb_grp_thread.join();
+
+  ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
+  EXPECT_TRUE(received_message_future.get());
+}
+
 /*
  * Test removing callback group from executor that its not associated with.
  */

rclcpp/test/rclcpp/test_any_subscription_callback.cpp

@@ -84,35 +84,6 @@ protected:
   rclcpp::MessageInfo message_info_;
 };
 
-void construct_with_null_allocator()
-{
-// suppress deprecated function warning
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-
-  // We need to wrap this in a function because `EXPECT_THROW` is a macro, and thinks
-  // that the comma in here splits macro arguments, not the template arguments.
-  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> any_subscription_callback(nullptr);
-
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-}
-
-TEST(AnySubscriptionCallback, null_allocator) {
-  EXPECT_THROW(
-    construct_with_null_allocator(),
-    std::invalid_argument);
-}
-
 TEST_F(TestAnySubscriptionCallback, construct_destruct) {
   // Default constructor.
   rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc1;
@@ -122,6 +93,111 @@ TEST_F(TestAnySubscriptionCallback, construct_destruct) {
   rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc2(allocator);
 }
 
+TEST_F(TestAnySubscriptionCallback, is_serialized_message_callback) {
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set([](const rclcpp::SerializedMessage &) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set([](const rclcpp::SerializedMessage &, const rclcpp::MessageInfo &) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set([](const rclcpp::SerializedMessage &, const rclcpp::MessageInfo &) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set([](std::unique_ptr<rclcpp::SerializedMessage>) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set([](std::unique_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set([](const std::shared_ptr<const rclcpp::SerializedMessage> &) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set(
+      [](
+        const std::shared_ptr<const rclcpp::SerializedMessage> &,
+        const rclcpp::MessageInfo &) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set([](std::shared_ptr<rclcpp::SerializedMessage>) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+  {
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
+    asc.set([](std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
+    EXPECT_TRUE(asc.is_serialized_message_callback());
+    EXPECT_NO_THROW(
+      asc.dispatch(
+        std::make_shared<rclcpp::SerializedMessage>(),
+        rclcpp::MessageInfo{}));
+  }
+}
+
 TEST_F(TestAnySubscriptionCallback, unset_dispatch_throw) {
   EXPECT_THROW(
     any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_),

rclcpp/test/rclcpp/test_client.cpp

@@ -24,6 +24,7 @@
 #include "rcl_interfaces/srv/list_parameters.hpp"
 
 #include "../mocking_utils/patch.hpp"
+#include "../utils/rclcpp_gtest_macros.hpp"
 
 #include "test_msgs/srv/empty.hpp"
 
@@ -91,6 +92,30 @@ TEST_F(TestClient, construction_and_destruction) {
   {
     auto client = node->create_client<ListParameters>("service");
   }
+  {
+    // suppress deprecated function warning
+    #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 client = node->create_client<ListParameters>(
+      "service", rmw_qos_profile_services_default);
+
+    // remove warning suppression
+    #if !defined(_WIN32)
+    # pragma GCC diagnostic pop
+    #else  // !defined(_WIN32)
+    # pragma warning(pop)
+    #endif
+  }
+  {
+    auto client = node->create_client<ListParameters>(
+      "service", rclcpp::ServicesQoS());
+  }
 
   {
     ASSERT_THROW(
@@ -122,6 +147,27 @@ TEST_F(TestClient, construction_with_free_function) {
         nullptr);
     }, rclcpp::exceptions::InvalidServiceNameError);
   }
+  {
+    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",
+      rclcpp::ServicesQoS(),
+      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",
+        rclcpp::ServicesQoS(),
+        nullptr);
+    }, rclcpp::exceptions::InvalidServiceNameError);
+  }
 }
 
 TEST_F(TestClient, construct_with_rcl_error) {
@@ -350,12 +396,15 @@ TEST_F(TestClient, on_new_response_callback) {
   auto client_node = std::make_shared<rclcpp::Node>("client_node", "ns");
   auto server_node = std::make_shared<rclcpp::Node>("server_node", "ns");
 
-  auto client = client_node->create_client<test_msgs::srv::Empty>("test_service");
+  rclcpp::ServicesQoS client_qos;
+  client_qos.keep_last(3);
+  auto client = client_node->create_client<test_msgs::srv::Empty>("test_service", client_qos);
   std::atomic<size_t> server_requests_count {0};
   auto server_callback = [&server_requests_count](
     const test_msgs::srv::Empty::Request::SharedPtr,
     test_msgs::srv::Empty::Response::SharedPtr) {server_requests_count++;};
-  auto server = server_node->create_service<test_msgs::srv::Empty>("test_service", server_callback);
+  auto server = server_node->create_service<test_msgs::srv::Empty>(
+    "test_service", server_callback, client_qos);
   auto request = std::make_shared<test_msgs::srv::Empty::Request>();
 
   std::atomic<size_t> c1 {0};
@@ -422,7 +471,7 @@ TEST_F(TestClient, on_new_response_callback) {
   start = std::chrono::steady_clock::now();
   do {
     std::this_thread::sleep_for(100ms);
-  } while (c3 == 0 && std::chrono::steady_clock::now() - start < 10s);
+  } while (c3 < 3 && std::chrono::steady_clock::now() - start < 10s);
 
   EXPECT_EQ(c1.load(), 1u);
   EXPECT_EQ(c2.load(), 1u);
@@ -431,3 +480,103 @@ TEST_F(TestClient, on_new_response_callback) {
   std::function<void(size_t)> invalid_cb = nullptr;
   EXPECT_THROW(client->set_on_new_response_callback(invalid_cb), std::invalid_argument);
 }
+
+TEST_F(TestClient, rcl_client_request_publisher_get_actual_qos_error) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_client_request_publisher_get_actual_qos, nullptr);
+  auto client = node->create_client<test_msgs::srv::Empty>("service");
+  RCLCPP_EXPECT_THROW_EQ(
+    client->get_request_publisher_actual_qos(),
+    std::runtime_error("failed to get client's request publisher qos settings: error not set"));
+}
+
+TEST_F(TestClient, rcl_client_response_subscription_get_actual_qos_error) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_client_response_subscription_get_actual_qos, nullptr);
+  auto client = node->create_client<test_msgs::srv::Empty>("service");
+  RCLCPP_EXPECT_THROW_EQ(
+    client->get_response_subscription_actual_qos(),
+    std::runtime_error("failed to get client's response subscription qos settings: error not set"));
+}
+
+TEST_F(TestClient, client_qos) {
+  rclcpp::ServicesQoS qos_profile;
+  qos_profile.liveliness(rclcpp::LivelinessPolicy::Automatic);
+  rclcpp::Duration duration(std::chrono::nanoseconds(1));
+  qos_profile.deadline(duration);
+  qos_profile.lifespan(duration);
+  qos_profile.liveliness_lease_duration(duration);
+
+  auto client =
+    node->create_client<test_msgs::srv::Empty>("client", qos_profile);
+
+  auto rp_qos = client->get_request_publisher_actual_qos();
+  auto rs_qos = client->get_response_subscription_actual_qos();
+
+  EXPECT_EQ(qos_profile, rp_qos);
+  // Lifespan has no meaning for subscription/readers
+  rs_qos.lifespan(qos_profile.lifespan());
+  EXPECT_EQ(qos_profile, rs_qos);
+}
+
+TEST_F(TestClient, client_qos_depth) {
+  using namespace std::literals::chrono_literals;
+
+  rclcpp::ServicesQoS client_qos_profile;
+  client_qos_profile.keep_last(2);
+
+  auto client = node->create_client<test_msgs::srv::Empty>("test_qos_depth", client_qos_profile);
+
+  uint64_t server_cb_count_ = 0;
+  auto server_callback = [&](
+    const test_msgs::srv::Empty::Request::SharedPtr,
+    test_msgs::srv::Empty::Response::SharedPtr) {server_cb_count_++;};
+
+  auto server_node = std::make_shared<rclcpp::Node>("server_node", "/ns");
+
+  rclcpp::QoS server_qos(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
+
+  auto server = server_node->create_service<test_msgs::srv::Empty>(
+    "test_qos_depth", std::move(server_callback), server_qos);
+
+  auto request = std::make_shared<test_msgs::srv::Empty::Request>();
+  ::testing::AssertionResult request_result = ::testing::AssertionSuccess();
+
+  using SharedFuture = rclcpp::Client<test_msgs::srv::Empty>::SharedFuture;
+  uint64_t client_cb_count_ = 0;
+  auto client_callback = [&client_cb_count_, &request_result](SharedFuture future_response) {
+      if (nullptr == future_response.get()) {
+        request_result = ::testing::AssertionFailure() << "Future response was null";
+      }
+      client_cb_count_++;
+    };
+
+  uint64_t client_requests = 5;
+  for (uint64_t i = 0; i < client_requests; i++) {
+    client->async_send_request(request, client_callback);
+    std::this_thread::sleep_for(10ms);
+  }
+
+  auto start = std::chrono::steady_clock::now();
+  while ((server_cb_count_ < client_requests) &&
+    (std::chrono::steady_clock::now() - start) < 2s)
+  {
+    rclcpp::spin_some(server_node);
+    std::this_thread::sleep_for(2ms);
+  }
+
+  EXPECT_GT(server_cb_count_, client_qos_profile.depth());
+
+  start = std::chrono::steady_clock::now();
+  while ((client_cb_count_ < client_qos_profile.depth()) &&
+    (std::chrono::steady_clock::now() - start) < 1s)
+  {
+    rclcpp::spin_some(node);
+  }
+
+  // Spin an extra time to check if client QoS depth has been ignored,
+  // so more client callbacks might be called than expected.
+  rclcpp::spin_some(node);
+
+  EXPECT_EQ(client_cb_count_, client_qos_profile.depth());
+}

rclcpp/test/rclcpp/test_create_timer.cpp

@@ -62,7 +62,7 @@ TEST(TestCreateTimer, call_with_node_wrapper_compiles)
   rclcpp::shutdown();
 }
 
-TEST(TestCreateTimer, call_wall_timer_with_bad_arguments)
+TEST(TestCreateWallTimer, call_wall_timer_with_bad_arguments)
 {
   rclcpp::init(0, nullptr);
   NodeWrapper node("test_create_wall_timers_with_bad_arguments");
@@ -116,3 +116,80 @@ TEST(TestCreateTimer, call_wall_timer_with_bad_arguments)
     std::invalid_argument);
   rclcpp::shutdown();
 }
+
+TEST(TestCreateTimer, call_timer_with_bad_arguments)
+{
+  rclcpp::init(0, nullptr);
+  NodeWrapper node("test_create_timers_with_bad_arguments");
+  auto callback = []() {};
+  rclcpp::CallbackGroup::SharedPtr group = nullptr;
+  auto node_interface =
+    rclcpp::node_interfaces::get_node_base_interface(node).get();
+  auto timers_interface =
+    rclcpp::node_interfaces::get_node_timers_interface(node).get();
+
+  auto clock = node.get_node_clock_interface()->get_clock();
+
+  // Negative period
+  EXPECT_THROW(
+    rclcpp::create_timer(
+      clock, -1ms, callback, group, node_interface, timers_interface),
+    std::invalid_argument);
+
+  // Very negative period
+  constexpr auto nanoseconds_min = std::chrono::nanoseconds::min();
+  EXPECT_THROW(
+    rclcpp::create_timer(
+      clock, nanoseconds_min, callback, group, node_interface, timers_interface),
+    std::invalid_argument);
+
+  // Period must be less than nanoseconds::max()
+  constexpr auto nanoseconds_max = std::chrono::nanoseconds::min();
+  EXPECT_THROW(
+    rclcpp::create_timer(
+      clock, nanoseconds_max, callback, group, node_interface, timers_interface),
+    std::invalid_argument);
+
+  EXPECT_NO_THROW(
+    rclcpp::create_timer(
+      clock, nanoseconds_max - 1us, callback, group, node_interface, timers_interface));
+
+  EXPECT_NO_THROW(
+    rclcpp::create_timer(clock, 0ms, callback, group, node_interface, timers_interface));
+
+  // Period must be less than nanoseconds::max()
+  constexpr auto hours_max = std::chrono::hours::max();
+  EXPECT_THROW(
+    rclcpp::create_timer(
+      clock, hours_max, callback, group, node_interface, timers_interface),
+    std::invalid_argument);
+
+  // node_interface is null
+  EXPECT_THROW(
+    rclcpp::create_timer(clock, 1ms, callback, group, nullptr, timers_interface),
+    std::invalid_argument);
+
+  // timers_interface is null
+  EXPECT_THROW(
+    rclcpp::create_timer(clock, 1ms, callback, group, node_interface, nullptr),
+    std::invalid_argument);
+
+  rclcpp::shutdown();
+}
+
+static void test_timer_callback(void) {}
+
+TEST(TestCreateTimer, timer_function_pointer)
+{
+  rclcpp::init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>("timer_function_pointer_node");
+
+  // make sure build succeeds with function pointer instead of lambda
+  auto some_timer = rclcpp::create_timer(
+    node,
+    node->get_clock(),
+    rclcpp::Duration(0ms),
+    test_timer_callback);
+
+  rclcpp::shutdown();
+}

rclcpp/test/rclcpp/test_duration.cpp

@@ -52,9 +52,23 @@ TEST_F(TestDuration, operators) {
   EXPECT_EQ(sub.nanoseconds(), young.nanoseconds() - old.nanoseconds());
   EXPECT_EQ(sub, young - old);
 
+  rclcpp::Duration addequal = old;
+  addequal += young;
+  EXPECT_EQ(addequal.nanoseconds(), old.nanoseconds() + young.nanoseconds());
+  EXPECT_EQ(addequal, old + young);
+
+  rclcpp::Duration subequal = young;
+  subequal -= old;
+  EXPECT_EQ(subequal.nanoseconds(), young.nanoseconds() - old.nanoseconds());
+  EXPECT_EQ(subequal, young - old);
+
   rclcpp::Duration scale = old * 3;
   EXPECT_EQ(scale.nanoseconds(), old.nanoseconds() * 3);
 
+  rclcpp::Duration scaleequal = old;
+  scaleequal *= 3;
+  EXPECT_EQ(scaleequal.nanoseconds(), old.nanoseconds() * 3);
+
   rclcpp::Duration time = rclcpp::Duration(0, 0);
   rclcpp::Duration copy_constructor_duration(time);
   rclcpp::Duration assignment_op_duration = rclcpp::Duration(1, 0);

rclcpp/test/rclcpp/test_generic_pubsub.cpp

@@ -61,34 +61,37 @@ public:
     publishers_.push_back(publisher);
   }
 
-  std::vector<std::string> subscribe_raw_messages(
-    size_t expected_messages_number, const std::string & topic_name, const std::string & type)
+  template<typename T1, typename T2>
+  std::vector<T1> subscribe_raw_messages(
+    size_t expected_recv_msg_count, const std::string & topic_name, const std::string & type)
   {
-    std::vector<std::string> messages;
+    std::vector<T1> messages;
     size_t counter = 0;
     auto subscription = node_->create_generic_subscription(
       topic_name, type, rclcpp::QoS(1),
-      [&counter, &messages](std::shared_ptr<rclcpp::SerializedMessage> message) {
-        test_msgs::msg::Strings string_message;
-        rclcpp::Serialization<test_msgs::msg::Strings> serializer;
-        serializer.deserialize_message(message.get(), &string_message);
-        messages.push_back(string_message.string_value);
+      [&counter, &messages, this](std::shared_ptr<rclcpp::SerializedMessage> message) {
+        T2 deserialized_message;
+        rclcpp::Serialization<T2> serializer;
+        serializer.deserialize_message(message.get(), &deserialized_message);
+        messages.push_back(this->get_data_from_msg(deserialized_message));
         counter++;
       });
 
-    while (counter < expected_messages_number) {
+    while (counter < expected_recv_msg_count) {
       rclcpp::spin_some(node_);
     }
     return messages;
   }
 
-  rclcpp::SerializedMessage serialize_string_message(const std::string & message)
+  template<typename T1, typename T2>
+  rclcpp::SerializedMessage serialize_message(const T1 & data)
   {
-    test_msgs::msg::Strings string_message;
-    string_message.string_value = message;
-    rclcpp::Serialization<test_msgs::msg::Strings> ser;
+    T2 message;
+    write_message(data, message);
+
+    rclcpp::Serialization<T2> ser;
     SerializedMessage result;
-    ser.serialize_message(&string_message, &result);
+    ser.serialize_message(&message, &result);
     return result;
   }
 
@@ -115,6 +118,27 @@ public:
   std::shared_ptr<rclcpp::Node> node_;
   rclcpp::Node::SharedPtr publisher_node_;
   std::vector<std::shared_ptr<rclcpp::PublisherBase>> publishers_;
+
+private:
+  void write_message(const std::string & data, test_msgs::msg::Strings & message)
+  {
+    message.string_value = data;
+  }
+
+  void write_message(const int64_t & data, test_msgs::msg::BasicTypes & message)
+  {
+    message.int64_value = data;
+  }
+
+  std::string get_data_from_msg(const test_msgs::msg::Strings & message)
+  {
+    return message.string_value;
+  }
+
+  int64_t get_data_from_msg(const test_msgs::msg::BasicTypes & message)
+  {
+    return message.int64_value;
+  }
 };
 
 
@@ -130,7 +154,7 @@ TEST_F(RclcppGenericNodeFixture, publisher_and_subscriber_work)
 
   auto subscriber_future_ = std::async(
     std::launch::async, [this, topic_name, type] {
-      return subscribe_raw_messages(1, topic_name, type);
+      return subscribe_raw_messages<std::string, test_msgs::msg::Strings>(1, topic_name, type);
     });
 
   // TODO(karsten1987): Port 'wait_for_sub' to rclcpp
@@ -147,7 +171,7 @@ TEST_F(RclcppGenericNodeFixture, publisher_and_subscriber_work)
   ASSERT_TRUE(success);
 
   for (const auto & message : test_messages) {
-    publisher->publish(serialize_string_message(message));
+    publisher->publish(serialize_message<std::string, test_msgs::msg::Strings>(message));
   }
 
   auto subscribed_messages = subscriber_future_.get();
@@ -155,6 +179,51 @@ TEST_F(RclcppGenericNodeFixture, publisher_and_subscriber_work)
   EXPECT_THAT(subscribed_messages[0], StrEq("Hello World"));
 }
 
+TEST_F(RclcppGenericNodeFixture, publish_loaned_msg_work)
+{
+  // We currently publish more messages because they can get lost
+  std::vector<int64_t> test_messages = {100, 100};
+  std::string topic_name = "/int64_topic";
+  std::string type = "test_msgs/msg/BasicTypes";
+
+  auto publisher = node_->create_generic_publisher(topic_name, type, rclcpp::QoS(1));
+
+  if (publisher->can_loan_messages()) {
+    auto subscriber_future_ = std::async(
+      std::launch::async, [this, topic_name, type] {
+        return subscribe_raw_messages<int64_t, test_msgs::msg::BasicTypes>(
+          1, topic_name, type);
+      });
+
+    auto allocator = node_->get_node_options().allocator();
+    auto success = false;
+    auto ret = rcl_wait_for_subscribers(
+      node_->get_node_base_interface()->get_rcl_node_handle(),
+      &allocator,
+      topic_name.c_str(),
+      1u,
+      static_cast<rcutils_duration_value_t>(2e9),
+      &success);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_TRUE(success);
+
+    for (const auto & message : test_messages) {
+      publisher->publish_as_loaned_msg(
+        serialize_message<int64_t, test_msgs::msg::BasicTypes>(message));
+    }
+
+    auto subscribed_messages = subscriber_future_.get();
+    EXPECT_THAT(subscribed_messages, SizeIs(Not(0)));
+    EXPECT_EQ(subscribed_messages[0], test_messages[0]);
+  } else {
+    ASSERT_THROW(
+    {
+      publisher->publish_as_loaned_msg(
+        serialize_message<int64_t, test_msgs::msg::BasicTypes>(test_messages[0]));
+    }, rclcpp::exceptions::RCLError);
+  }
+}
+
 TEST_F(RclcppGenericNodeFixture, generic_subscription_uses_qos)
 {
   // If the GenericSubscription does not use the provided QoS profile,

rclcpp/test/rclcpp/test_guard_condition.cpp

@@ -164,3 +164,21 @@ TEST_F(TestGuardCondition, set_on_trigger_callback) {
     EXPECT_EQ(c1.load(), 2u);
   }
 }
+
+/*
+ * Testing that callback and waitset are both notified by triggering gc
+ */
+TEST_F(TestGuardCondition, callback_and_waitset) {
+  auto gc = std::make_shared<rclcpp::GuardCondition>();
+  std::atomic<size_t> c1 {0};
+  auto increase_c1_cb = [&c1](size_t count_msgs) {c1 += count_msgs;};
+  gc->set_on_trigger_callback(increase_c1_cb);
+
+  rclcpp::WaitSet wait_set;
+  wait_set.add_guard_condition(gc);
+
+  gc->trigger();
+
+  EXPECT_EQ(rclcpp::WaitResultKind::Ready, wait_set.wait(std::chrono::seconds(1)).kind());
+  EXPECT_EQ(c1.load(), 1u);
+}

rclcpp/test/rclcpp/test_memory_strategy.cpp

@@ -155,7 +155,7 @@ TEST_F(TestMemoryStrategy, get_service_by_handle) {
       {
         auto service = node->create_service<test_msgs::srv::Empty>(
           "service", std::move(service_callback),
-          rmw_qos_profile_services_default, callback_group);
+          rclcpp::ServicesQoS(), callback_group);
 
         service_handle = service->get_service_handle();
 
@@ -197,7 +197,7 @@ TEST_F(TestMemoryStrategy, get_client_by_handle) {
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
       {
         auto client = node->create_client<test_msgs::srv::Empty>(
-          "service", rmw_qos_profile_services_default, callback_group);
+          "service", rclcpp::ServicesQoS(), callback_group);
 
         client_handle = client->get_client_handle();
         weak_groups_to_nodes.insert(
@@ -396,7 +396,7 @@ TEST_F(TestMemoryStrategy, get_group_by_service) {
 
       service = node->create_service<test_msgs::srv::Empty>(
         "service", std::move(service_callback),
-        rmw_qos_profile_services_default, callback_group);
+        rclcpp::ServicesQoS(), callback_group);
       weak_groups_to_nodes.insert(
         std::pair<rclcpp::CallbackGroup::WeakPtr,
         rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
@@ -435,7 +435,7 @@ TEST_F(TestMemoryStrategy, get_group_by_client) {
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
 
       client = node->create_client<test_msgs::srv::Empty>(
-        "service", rmw_qos_profile_services_default, callback_group);
+        "service", rclcpp::ServicesQoS(), callback_group);
       weak_groups_to_nodes.insert(
         std::pair<rclcpp::CallbackGroup::WeakPtr,
         rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(