2.4.2

* Add statistics for handle_loaned_message (#1927)

Signed-off-by: Barry Xu <barry.xu@sony.com>
(cherry picked from commit 5c688303b3)

# Conflicts:
#	rclcpp/include/rclcpp/subscription.hpp

* Fix merge conflicts (#1939)

Signed-off-by: Barry Xu <barry.xu@sony.com>

README.md

@@ -8,10 +8,10 @@ rclcpp provides the standard C++ API for interacting with ROS 2.
 
 `#include "rclcpp/rclcpp.hpp"` allows use of the most common elements of the ROS 2 system.
 
-Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components.
+Visit the [rclcpp API documentation](http://docs.ros2.org/foxy/api/rclcpp/) for a complete list of its main components.
 
 ### Examples
 
-The ROS 2 tutorials [Writing a simple publisher and subscriber](https://docs.ros.org/en/rolling/Tutorials/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html).
-and [Writing a simple service and client](https://docs.ros.org/en/rolling/Tutorials/Writing-A-Simple-Cpp-Service-And-Client.html)
+The ROS 2 tutorials [Writing a simple publisher and subscriber](https://docs.ros.org/en/foxy/Tutorials/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html).
+and [Writing a simple service and client](https://docs.ros.org/en/foxy/Tutorials/Writing-A-Simple-Cpp-Service-And-Client.html)
 contain some examples of rclcpp APIs in use.

rclcpp/CHANGELOG.rst

@@ -2,470 +2,157 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-16.0.2 (2022-11-07)
--------------------
-* fix mismatched issue if using zero_allocate (`#1995 <https://github.com/ros2/rclcpp/issues/1995>`_) (`#2026 <https://github.com/ros2/rclcpp/issues/2026>`_)
-* use regex for wildcard matching (backport `#1839 <https://github.com/ros2/rclcpp/issues/1839>`_) (`#1986 <https://github.com/ros2/rclcpp/issues/1986>`_)
-* Drop wrong template specialization (`#1926 <https://github.com/ros2/rclcpp/issues/1926>`_) (`#1937 <https://github.com/ros2/rclcpp/issues/1937>`_)
-* Add statistics for handle_loaned_message (`#1927 <https://github.com/ros2/rclcpp/issues/1927>`_) (`#1932 <https://github.com/ros2/rclcpp/issues/1932>`_)
-* Contributors: mergify[bot]
-
-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>`_)
+2.4.2 (2022-07-25)
+------------------
+* Add statistics for handle_loaned_message (`#1927 <https://github.com/ros2/rclcpp/issues/1927>`_) (`#1934 <https://github.com/ros2/rclcpp/issues/1934>`_)
+* Add test-dep ament_cmake_google_benchmark (`#1904 <https://github.com/ros2/rclcpp/issues/1904>`_) (`#1910 <https://github.com/ros2/rclcpp/issues/1910>`_)
+* Use parantheses around logging macro parameter (`#1820 <https://github.com/ros2/rclcpp/issues/1820>`_) (`#1823 <https://github.com/ros2/rclcpp/issues/1823>`_)
 * 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>`_)
-* Add RMW listener APIs (`#1579 <https://github.com/ros2/rclcpp/issues/1579>`_)
-* Remove fastrtps customization on tests (`#1887 <https://github.com/ros2/rclcpp/issues/1887>`_)
-* Install headers to include/${PROJECT_NAME} (`#1888 <https://github.com/ros2/rclcpp/issues/1888>`_)
-* Use ament_generate_version_header (`#1886 <https://github.com/ros2/rclcpp/issues/1886>`_)
-* use universal reference to support rvalue. (`#1883 <https://github.com/ros2/rclcpp/issues/1883>`_)
-* fix one subscription can wait_for_message twice (`#1870 <https://github.com/ros2/rclcpp/issues/1870>`_)
-* Add return value version of get_parameter_or (`#1813 <https://github.com/ros2/rclcpp/issues/1813>`_)
-* Cleanup time source object lifetimes (`#1867 <https://github.com/ros2/rclcpp/issues/1867>`_)
-* add is_spinning() method to executor base class
-* Contributors: Alberto Soragna, Chen Lihui, Chris Lalancette, Kenji Miyake, Miguel Company, Shane Loretz, Tomoya Fujita, iRobot ROS
-
-15.0.0 (2022-01-14)
--------------------
-* Cleanup the TypeAdapt tests (`#1858 <https://github.com/ros2/rclcpp/issues/1858>`_)
-* Cleanup includes (`#1857 <https://github.com/ros2/rclcpp/issues/1857>`_)
-* Fix include order and relative paths for cpplint (`#1859 <https://github.com/ros2/rclcpp/issues/1859>`_)
-* Rename stringstream in macros to a more unique name (`#1862 <https://github.com/ros2/rclcpp/issues/1862>`_)
-* Add non transform capabilities for intra-process (`#1849 <https://github.com/ros2/rclcpp/issues/1849>`_)
-* Fix rclcpp documentation build (`#1779 <https://github.com/ros2/rclcpp/issues/1779>`_)
-* Contributors: Chris Lalancette, Doug Smith, Gonzo, Jacob Perron, Michel Hidalgo
-
-14.1.0 (2022-01-05)
--------------------
-* Use UninitializedStaticallyTypedParameterException (`#1689 <https://github.com/ros2/rclcpp/issues/1689>`_)
-* Add wait_for_all_acked support (`#1662 <https://github.com/ros2/rclcpp/issues/1662>`_)
-* Add tests for function templates of declare_parameter (`#1747 <https://github.com/ros2/rclcpp/issues/1747>`_)
-* Contributors: Barry Xu, Bi0T1N, M. Mostafa Farzan
-
-14.0.0 (2021-12-17)
--------------------
-* Fixes for uncrustify 0.72 (`#1844 <https://github.com/ros2/rclcpp/issues/1844>`_)
-* use private member to keep the all reference underneath. (`#1845 <https://github.com/ros2/rclcpp/issues/1845>`_)
-* Make node base sharable (`#1832 <https://github.com/ros2/rclcpp/issues/1832>`_)
-* Add Clock::sleep_for() (`#1828 <https://github.com/ros2/rclcpp/issues/1828>`_)
-* Synchronize rcl and std::chrono steady clocks in Clock::sleep_until (`#1830 <https://github.com/ros2/rclcpp/issues/1830>`_)
-* Use rclcpp::guard_condition (`#1612 <https://github.com/ros2/rclcpp/issues/1612>`_)
-* Call CMake function to generate version header (`#1805 <https://github.com/ros2/rclcpp/issues/1805>`_)
-* Use parantheses around logging macro parameter (`#1820 <https://github.com/ros2/rclcpp/issues/1820>`_)
-* Remove author by request (`#1818 <https://github.com/ros2/rclcpp/issues/1818>`_)
-* Update maintainers (`#1817 <https://github.com/ros2/rclcpp/issues/1817>`_)
-* min_forward & min_backward thresholds must not be disabled (`#1815 <https://github.com/ros2/rclcpp/issues/1815>`_)
-* Re-add Clock::sleep_until (`#1814 <https://github.com/ros2/rclcpp/issues/1814>`_)
-* Fix lifetime of context so it remains alive while its dependent node handles are still in use (`#1754 <https://github.com/ros2/rclcpp/issues/1754>`_)
-* Add the interface for pre-shutdown callback (`#1714 <https://github.com/ros2/rclcpp/issues/1714>`_)
-* Take message ownership from moved LoanedMessage (`#1808 <https://github.com/ros2/rclcpp/issues/1808>`_)
-* Suppress clang dead-store warnings in the benchmarks. (`#1802 <https://github.com/ros2/rclcpp/issues/1802>`_)
-* Wait for publisher and subscription to match (`#1777 <https://github.com/ros2/rclcpp/issues/1777>`_)
-* Fix unused QoS profile for clock subscription and make ClockQoS the default (`#1801 <https://github.com/ros2/rclcpp/issues/1801>`_)
-* Contributors: Abrar Rahman Protyasha, Barry Xu, Chen Lihui, Chris Lalancette, Grey, Jacob Perron, Nikolai Morin, Shane Loretz, Tomoya Fujita, mauropasse
-
-13.1.0 (2021-10-18)
--------------------
-* Fix dangerous std::bind capture in TimeSource implementation. (`#1768 <https://github.com/ros2/rclcpp/issues/1768>`_)
-* Fix dangerous std::bind capture in ParameterEventHandler implementation. (`#1770 <https://github.com/ros2/rclcpp/issues/1770>`_)
-* Handle sigterm, in the same way sigint is being handled. (`#1771 <https://github.com/ros2/rclcpp/issues/1771>`_)
-* rclcpp::Node copy constructor: make copy of node_waitables\_ member. (`#1799 <https://github.com/ros2/rclcpp/issues/1799>`_)
-* Extend NodeGraph to match what rcl provides. (`#1484 <https://github.com/ros2/rclcpp/issues/1484>`_)
-* Context::sleep_for(): replace recursion with do-while to avoid potential stack-overflow. (`#1765 <https://github.com/ros2/rclcpp/issues/1765>`_)
-* extend_sub_namespace(): Verify string::empty() before calling string::front(). (`#1764 <https://github.com/ros2/rclcpp/issues/1764>`_)
-* Deprecate the `void shared_ptr<MessageT>` subscription callback signatures. (`#1713 <https://github.com/ros2/rclcpp/issues/1713>`_)
-* Contributors: Abrar Rahman Protyasha, Chris Lalancette, Emerson Knapp, Geoffrey Biggs, Ivan Santiago Paunovic, Jorge Perez, Tomoya Fujita, William Woodall, Yong-Hao Zou, livanov93
-
-13.0.0 (2021-08-23)
--------------------
-* Remove can_be_nullptr assignment check for QNX case. (`#1752 <https://github.com/ros2/rclcpp/issues/1752>`_)
-* Update client API to be able to remove pending requests. (`#1734 <https://github.com/ros2/rclcpp/issues/1734>`_)
-* Fix: Allow to add a node while spinning in the StaticSingleThreadedExecutor. (`#1690 <https://github.com/ros2/rclcpp/issues/1690>`_)
-* Add tracing instrumentation for executor and message taking. (`#1738 <https://github.com/ros2/rclcpp/issues/1738>`_)
-* Fix: Reset timer trigger time before execute in StaticSingleThreadedExecutor. (`#1739 <https://github.com/ros2/rclcpp/issues/1739>`_)
-* Use FindPython3 and make python3 dependency explicit. (`#1745 <https://github.com/ros2/rclcpp/issues/1745>`_)
-* Use rosidl_get_typesupport_target(). (`#1729 <https://github.com/ros2/rclcpp/issues/1729>`_)
-* Fix returning invalid namespace if sub_namespace is empty. (`#1658 <https://github.com/ros2/rclcpp/issues/1658>`_)
-* Add free function to wait for a subscription message. (`#1705 <https://github.com/ros2/rclcpp/issues/1705>`_)
-* Use rcpputils/scope_exit.hpp and remove rclcpp/scope_exit.hpp. (`#1727 <https://github.com/ros2/rclcpp/issues/1727>`_)
-* Contributors: Ahmed Sobhy, Christophe Bedard, Ivan Santiago Paunovic, Karsten Knese, M. Hofstätter, Mauro Passerino, Shane Loretz, mauropasse
-
-12.0.0 (2021-07-26)
--------------------
-* Remove unsafe get_callback_groups API.
-  Callers should change to using for_each_callback_group(), or
-  store the callback groups they need internally.
-* Add in callback_groups_for_each.
-  The main reason to add this method in is to make accesses to the
-  callback_groups\_ vector thread-safe.  By having a
-  callback_groups_for_each that accepts a std::function, we can
-  just have the callers give us the callback they are interested
-  in, and we can take care of the locking.
-  The rest of this fairly large PR is cleaning up all of the places
-  that use get_callback_groups() to instead use
-  callback_groups_for_each().
-* Use a different mechanism to avoid timers being scheduled multiple times by the MultiThreadedExecutor (`#1692 <https://github.com/ros2/rclcpp/issues/1692>`_)
-* Fix windows CI (`#1726 <https://github.com/ros2/rclcpp/issues/1726>`_)
-  Fix bug in AnyServiceCallback introduced in `#1709 <https://github.com/ros2/rclcpp/issues/1709>`_.
-* Contributors: Chris Lalancette, Ivan Santiago Paunovic
-
-11.2.0 (2021-07-21)
--------------------
-* Support to defer to send a response in services. (`#1709 <https://github.com/ros2/rclcpp/issues/1709>`_)
-  Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
-* Fix documentation bug. (`#1719 <https://github.com/ros2/rclcpp/issues/1719>`_)
-  Signed-off-by: William Woodall <william@osrfoundation.org>
-* Contributors: Ivan Santiago Paunovic, William Woodall
-
-11.1.0 (2021-07-13)
--------------------
-* Removed left over ``is_initialized()`` implementation (`#1711 <https://github.com/ros2/rclcpp/issues/1711>`_)
-  Leftover from https://github.com/ros2/rclcpp/pull/1622
-* Fixed declare parameter methods for int and float vectors (`#1696 <https://github.com/ros2/rclcpp/issues/1696>`_)
-* Cleaned up implementation of the intra-process manager (`#1695 <https://github.com/ros2/rclcpp/issues/1695>`_)
-* Added the node name to an executor ``runtime_error`` (`#1686 <https://github.com/ros2/rclcpp/issues/1686>`_)
-* Fixed a typo "Attack" -> "Attach" (`#1687 <https://github.com/ros2/rclcpp/issues/1687>`_)
-* Removed use of std::allocator<>::rebind (`#1678 <https://github.com/ros2/rclcpp/issues/1678>`_)
-  rebind is deprecated in c++17 and removed in c++20
-* Contributors: Alberto Soragna, Chen Lihui, Chris Lalancette, Petter Nilsson, Steve Macenski, William Woodall
-
-11.0.0 (2021-05-18)
--------------------
-* Allow declare uninitialized parameters (`#1673 <https://github.com/ros2/rclcpp/issues/1673>`_)
-* Fix syntax issue with gcc (`#1674 <https://github.com/ros2/rclcpp/issues/1674>`_)
-* [service] Don't use a weak_ptr to avoid leaking (`#1668 <https://github.com/ros2/rclcpp/issues/1668>`_)
-* Contributors: Ivan Santiago Paunovic, Jacob Perron, William Woodall
-
-10.0.0 (2021-05-11)
--------------------
-* Fix doc typo (`#1663 <https://github.com/ros2/rclcpp/issues/1663>`_)
-* [rclcpp] Type Adaptation feature (`#1557 <https://github.com/ros2/rclcpp/issues/1557>`_)
-* Do not attempt to use void allocators for memory allocation. (`#1657 <https://github.com/ros2/rclcpp/issues/1657>`_)
-* Keep custom allocator in publisher and subscription options alive. (`#1647 <https://github.com/ros2/rclcpp/issues/1647>`_)
-* Fix get_publishers_subscriptions_info_by_topic test in test_node.cpp (`#1648 <https://github.com/ros2/rclcpp/issues/1648>`_)
-* Use OnShutdown callback handle instead of OnShutdown callback (`#1639 <https://github.com/ros2/rclcpp/issues/1639>`_)
-* use dynamic_pointer_cast to detect allocator mismatch in intra process manager (`#1643 <https://github.com/ros2/rclcpp/issues/1643>`_)
-* Increase cppcheck timeout to 500s (`#1634 <https://github.com/ros2/rclcpp/issues/1634>`_)
-* Clarify node parameters docs (`#1631 <https://github.com/ros2/rclcpp/issues/1631>`_)
-* Contributors: Audrow Nash, Barry Xu, Jacob Perron, Michel Hidalgo, Shane Loretz, William Woodall
-
-9.0.2 (2021-04-14)
+2.4.1 (2022-01-31)
 ------------------
-* Avoid returning loan when none was obtained. (`#1629 <https://github.com/ros2/rclcpp/issues/1629>`_)
-* Use a different implementation of mutex two priorities (`#1628 <https://github.com/ros2/rclcpp/issues/1628>`_)
-* Do not test the value of the history policy when testing the get_publishers/subscriptions_info_by_topic() methods (`#1626 <https://github.com/ros2/rclcpp/issues/1626>`_)
-* Check first parameter type and range before calling the user validation callbacks (`#1627 <https://github.com/ros2/rclcpp/issues/1627>`_)
-* Contributors: Ivan Santiago Paunovic, Miguel Company
+* Fix subscription instrumentation for ConstSharedPtr[WithInfo]Callback (`#1872 <https://github.com/ros2/rclcpp/issues/1872>`_)
+* Add node_waitables\_ to copy constructor (backport `#1799 <https://github.com/ros2/rclcpp/issues/1799>`_) (`#1834 <https://github.com/ros2/rclcpp/issues/1834>`_)
+* Fix returning invalid namespace if sub_namespace is empty (`#1658 <https://github.com/ros2/rclcpp/issues/1658>`_) (`#1811 <https://github.com/ros2/rclcpp/issues/1811>`_)
+* [service] Don't use a weak_ptr to avoid leaking (`#1668 <https://github.com/ros2/rclcpp/issues/1668>`_) (`#1669 <https://github.com/ros2/rclcpp/issues/1669>`_)
+* Use dynamic_pointer_cast to detect allocator mismatch in intra process manager (backport `#1643 <https://github.com/ros2/rclcpp/issues/1643>`_) (`#1645 <https://github.com/ros2/rclcpp/issues/1645>`_)
+* Contributors: Abrar Rahman Protyasha, Christophe Bedard, Ivan Santiago Paunovic, M. Hofstätter, Michel Hidalgo, Tomoya Fujita, William Woodall
 
-9.0.1 (2021-04-12)
+2.4.0 (2021-09-01)
 ------------------
-* Restore test exception for Connext (`#1625 <https://github.com/ros2/rclcpp/issues/1625>`_)
-* Fix race condition in TimeSource clock thread setup (`#1623 <https://github.com/ros2/rclcpp/issues/1623>`_)
-* Contributors: Andrea Sorbini, Michel Hidalgo
+* Guard against integer overflow in duration conversion (`#1584 <https://github.com/ros2/rclcpp/issues/1584>`_) (`#1761 <https://github.com/ros2/rclcpp/issues/1761>`_)
+* Update for checking correct variable (`#1534 <https://github.com/ros2/rclcpp/issues/1534>`_) (`#1760 <https://github.com/ros2/rclcpp/issues/1760>`_)
+* Fix SEGV caused by order of destruction of Node sub-interfaces (`#1469 <https://github.com/ros2/rclcpp/issues/1469>`_) (`#1736 <https://github.com/ros2/rclcpp/issues/1736>`_)
+* Add wait for message API (`#1705 <https://github.com/ros2/rclcpp/issues/1705>`_) (`#1737 <https://github.com/ros2/rclcpp/issues/1737>`_)
+* Fix documentation bug (`#1719 <https://github.com/ros2/rclcpp/issues/1719>`_) (`#1721 <https://github.com/ros2/rclcpp/issues/1721>`_)
+* Fix clock thread issue (`#1266 <https://github.com/ros2/rclcpp/issues/1266>`_) (`#1267 <https://github.com/ros2/rclcpp/issues/1267>`_) (`#1685 <https://github.com/ros2/rclcpp/issues/1685>`_)
+* Allow timers to keep up the intended rate in MultiThreadedExecutor `#1516 <https://github.com/ros2/rclcpp/issues/1516>`_ (`#1636 <https://github.com/ros2/rclcpp/issues/1636>`_)
+  Backports `#1516 <https://github.com/ros2/rclcpp/issues/1516>`_ and follow-up fix `#1628 <https://github.com/ros2/rclcpp/issues/1628>`_
+* Contributors: Chen Lihui, Colin MacKenzie, Daisuke Sato, Jacob Perron, Karsten Knese, Tomoya Fujita, hsgwa, William Woodall
 
-9.0.0 (2021-04-06)
+2.3.1 (2021-04-14)
 ------------------
-* remove deprecated code which was deprecated in foxy and should be removed in galactic (`#1622 <https://github.com/ros2/rclcpp/issues/1622>`_)
-* Change index.ros.org -> docs.ros.org. (`#1620 <https://github.com/ros2/rclcpp/issues/1620>`_)
-* Unique network flows (`#1496 <https://github.com/ros2/rclcpp/issues/1496>`_)
-* Add spin_some support to the StaticSingleThreadedExecutor (`#1338 <https://github.com/ros2/rclcpp/issues/1338>`_)
-* Add publishing instrumentation (`#1600 <https://github.com/ros2/rclcpp/issues/1600>`_)
-* Create load_parameters and delete_parameters methods (`#1596 <https://github.com/ros2/rclcpp/issues/1596>`_)
-* refactor AnySubscriptionCallback and add/deprecate callback signatures (`#1598 <https://github.com/ros2/rclcpp/issues/1598>`_)
-* Add generic publisher and generic subscription for serialized messages (`#1452 <https://github.com/ros2/rclcpp/issues/1452>`_)
-* use context from `node_base\_` for clock executor. (`#1617 <https://github.com/ros2/rclcpp/issues/1617>`_)
-* updating quality declaration links (re: `ros2/docs.ros2.org#52 <https://github.com/ros2/docs.ros2.org/issues/52>`_) (`#1615 <https://github.com/ros2/rclcpp/issues/1615>`_)
-* Contributors: Ananya Muddukrishna, BriceRenaudeau, Chris Lalancette, Christophe Bedard, Nikolai Morin, Tomoya Fujita, William Woodall, mauropasse, shonigmann
+* Update quality declaration links (re: `ros2/docs.ros2.org#52 <https://github.com/ros2/docs.ros2.org/issues/52>`_) (`#1616 <https://github.com/ros2/rclcpp/issues/1616>`_)
+* Fix documented example in create_publisher (`#1558 <https://github.com/ros2/rclcpp/issues/1558>`_) (`#1559 <https://github.com/ros2/rclcpp/issues/1559>`_)
+* Fix runtime error: reference binding to null pointer of type (`#1547 <https://github.com/ros2/rclcpp/issues/1547>`_) (`#1548 <https://github.com/ros2/rclcpp/issues/1548>`_)
+* Contributors: Jacob Perron, Simon Honigmann, Tomoya Fujita
 
-8.2.0 (2021-03-31)
+2.3.0 (2020-12-09)
 ------------------
-* Initialize integers in test_parameter_event_handler.cpp to avoid undefined behavior (`#1609 <https://github.com/ros2/rclcpp/issues/1609>`_)
-* Namespace tracetools C++ functions (`#1608 <https://github.com/ros2/rclcpp/issues/1608>`_)
-* Revert "Namespace tracetools C++ functions (`#1603 <https://github.com/ros2/rclcpp/issues/1603>`_)" (`#1607 <https://github.com/ros2/rclcpp/issues/1607>`_)
-* Namespace tracetools C++ functions (`#1603 <https://github.com/ros2/rclcpp/issues/1603>`_)
-* Clock subscription callback group spins in its own thread (`#1556 <https://github.com/ros2/rclcpp/issues/1556>`_)
-* Contributors: Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, anaelle-sw
-
-8.1.0 (2021-03-25)
-------------------
-* Remove rmw_connext_cpp references. (`#1595 <https://github.com/ros2/rclcpp/issues/1595>`_)
-* Add API for checking QoS profile compatibility (`#1554 <https://github.com/ros2/rclcpp/issues/1554>`_)
-* Document misuse of parameters callback (`#1590 <https://github.com/ros2/rclcpp/issues/1590>`_)
-* use const auto & to iterate over parameters (`#1593 <https://github.com/ros2/rclcpp/issues/1593>`_)
-* Contributors: Chris Lalancette, Jacob Perron, Karsten Knese
-
-8.0.0 (2021-03-23)
-------------------
-* Guard against integer overflow in duration conversion (`#1584 <https://github.com/ros2/rclcpp/issues/1584>`_)
-* Contributors: Jacob Perron
-
-7.0.1 (2021-03-22)
-------------------
-* get_parameters service should return empty if undeclared parameters are allowed (`#1514 <https://github.com/ros2/rclcpp/issues/1514>`_)
-* Made 'Context::shutdown_reason' function a const function (`#1578 <https://github.com/ros2/rclcpp/issues/1578>`_)
-* Contributors: Tomoya Fujita, suab321321
-
-7.0.0 (2021-03-18)
-------------------
-* Document design decisions that were made for statically typed parameters (`#1568 <https://github.com/ros2/rclcpp/issues/1568>`_)
-* Fix doc typo in CallbackGroup constructor (`#1582 <https://github.com/ros2/rclcpp/issues/1582>`_)
-* Enable qos parameter overrides for the /parameter_events topic  (`#1532 <https://github.com/ros2/rclcpp/issues/1532>`_)
-* Add support for rmw_connextdds (`#1574 <https://github.com/ros2/rclcpp/issues/1574>`_)
-* Remove 'struct' from the rcl_time_jump_t. (`#1577 <https://github.com/ros2/rclcpp/issues/1577>`_)
-* Add tests for declaring statically typed parameters when undeclared parameters are allowed (`#1575 <https://github.com/ros2/rclcpp/issues/1575>`_)
-* Quiet clang memory leak warning on "DoNotOptimize". (`#1571 <https://github.com/ros2/rclcpp/issues/1571>`_)
-* Add ParameterEventsSubscriber class (`#829 <https://github.com/ros2/rclcpp/issues/829>`_)
-* When a parameter change is rejected, the parameters map shouldn't be updated. (`#1567 <https://github.com/ros2/rclcpp/pull/1567>`_)
-* Fix when to throw the NoParameterOverrideProvided exception. (`#1567 <https://github.com/ros2/rclcpp/pull/1567>`_)
-* Fix SEGV caused by order of destruction of Node sub-interfaces (`#1469 <https://github.com/ros2/rclcpp/issues/1469>`_)
-* Fix benchmark test failure introduced in `#1522 <https://github.com/ros2/rclcpp/issues/1522>`_ (`#1564 <https://github.com/ros2/rclcpp/issues/1564>`_)
-* Fix documented example in create_publisher (`#1558 <https://github.com/ros2/rclcpp/issues/1558>`_)
-* Enforce static parameter types (`#1522 <https://github.com/ros2/rclcpp/issues/1522>`_)
-* Allow timers to keep up the intended rate in MultiThreadedExecutor (`#1516 <https://github.com/ros2/rclcpp/issues/1516>`_)
-* Fix UBSAN warnings in any_subscription_callback. (`#1551 <https://github.com/ros2/rclcpp/issues/1551>`_)
-* Fix runtime error: reference binding to null pointer of type (`#1547 <https://github.com/ros2/rclcpp/issues/1547>`_)
-* Contributors: Andrea Sorbini, Chris Lalancette, Colin MacKenzie, Ivan Santiago Paunovic, Jacob Perron, Steven! Ragnarök, bpwilcox, tomoya
-
-6.3.1 (2021-02-08)
-------------------
-* Reference test resources directly from source tree (`#1543 <https://github.com/ros2/rclcpp/issues/1543>`_)
-* clear statistics after window reset (`#1531 <https://github.com/ros2/rclcpp/issues/1531>`_) (`#1535 <https://github.com/ros2/rclcpp/issues/1535>`_)
-* Fix a minor string error in the topic_statistics test. (`#1541 <https://github.com/ros2/rclcpp/issues/1541>`_)
-* Avoid `Resource deadlock avoided` if use intra_process_comms (`#1530 <https://github.com/ros2/rclcpp/issues/1530>`_)
-* Avoid an object copy in parameter_value.cpp. (`#1538 <https://github.com/ros2/rclcpp/issues/1538>`_)
-* Assert that the publisher_list size is 1. (`#1537 <https://github.com/ros2/rclcpp/issues/1537>`_)
-* Don't access objects after they have been std::move (`#1536 <https://github.com/ros2/rclcpp/issues/1536>`_)
-* Update for checking correct variable (`#1534 <https://github.com/ros2/rclcpp/issues/1534>`_)
-* Destroy msg extracted from LoanedMessage. (`#1305 <https://github.com/ros2/rclcpp/issues/1305>`_)
-* Contributors: Chen Lihui, Chris Lalancette, Ivan Santiago Paunovic, Miaofei Mei, Scott K Logan, William Woodall, hsgwa
-
-6.3.0 (2021-01-25)
-------------------
-* Add instrumentation for linking a timer to a node (`#1500 <https://github.com/ros2/rclcpp/issues/1500>`_)
-* Fix error when using IPC with StaticSingleThreadExecutor (`#1520 <https://github.com/ros2/rclcpp/issues/1520>`_)
-* Change to using unique_ptrs for DummyExecutor. (`#1517 <https://github.com/ros2/rclcpp/issues/1517>`_)
-* Allow reconfiguring 'clock' topic qos (`#1512 <https://github.com/ros2/rclcpp/issues/1512>`_)
-* Allow to add/remove nodes thread safely in rclcpp::Executor  (`#1505 <https://github.com/ros2/rclcpp/issues/1505>`_)
-* Call rclcpp::shutdown in test_node for clean shutdown on Windows (`#1515 <https://github.com/ros2/rclcpp/issues/1515>`_)
-* Reapply "Add get_logging_directory method to rclcpp::Logger (`#1509 <https://github.com/ros2/rclcpp/issues/1509>`_)" (`#1513 <https://github.com/ros2/rclcpp/issues/1513>`_)
-* use describe_parameters of parameter client for test (`#1499 <https://github.com/ros2/rclcpp/issues/1499>`_)
-* Revert "Add get_logging_directory method to rclcpp::Logger (`#1509 <https://github.com/ros2/rclcpp/issues/1509>`_)" (`#1511 <https://github.com/ros2/rclcpp/issues/1511>`_)
-* Add get_logging_directory method to rclcpp::Logger (`#1509 <https://github.com/ros2/rclcpp/issues/1509>`_)
-* Contributors: Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, eboasson, mauropasse, tomoya
-
-6.2.0 (2021-01-08)
-------------------
-* Better documentation for the QoS class (`#1508 <https://github.com/ros2/rclcpp/issues/1508>`_)
-* Modify excluding callback duration from topic statistics (`#1492 <https://github.com/ros2/rclcpp/issues/1492>`_)
-* Make the test of graph users more robust. (`#1504 <https://github.com/ros2/rclcpp/issues/1504>`_)
-* Make sure to wait for graph change events in test_node_graph. (`#1503 <https://github.com/ros2/rclcpp/issues/1503>`_)
-* add timeout to SyncParametersClient methods (`#1493 <https://github.com/ros2/rclcpp/issues/1493>`_)
-* Fix wrong test expectations (`#1497 <https://github.com/ros2/rclcpp/issues/1497>`_)
-* Update create_publisher/subscription documentation, clarifying when a parameters interface is required (`#1494 <https://github.com/ros2/rclcpp/issues/1494>`_)
-* Fix string literal warnings (`#1442 <https://github.com/ros2/rclcpp/issues/1442>`_)
-* support describe_parameters methods to parameter client. (`#1453 <https://github.com/ros2/rclcpp/issues/1453>`_)
-* Contributors: Audrow Nash, Chris Lalancette, Ivan Santiago Paunovic, Nikolai Morin, hsgwa, tomoya
-
-6.1.0 (2020-12-10)
-------------------
-* Add getters to rclcpp::qos and rclcpp::Policy enum classes (`#1467 <https://github.com/ros2/rclcpp/issues/1467>`_)
-* Change nullptr checks to use ASSERT_TRUE. (`#1486 <https://github.com/ros2/rclcpp/issues/1486>`_)
-* Adjust logic around finding and erasing guard_condition (`#1474 <https://github.com/ros2/rclcpp/issues/1474>`_)
-* Update QDs to QL 1 (`#1477 <https://github.com/ros2/rclcpp/issues/1477>`_)
-* Add performance tests for parameter transport (`#1463 <https://github.com/ros2/rclcpp/issues/1463>`_)
-* Contributors: Chris Lalancette, Ivan Santiago Paunovic, Scott K Logan, Stephen Brawner
-
-6.0.0 (2020-11-18)
-------------------
-* Move ownership of shutdown_guard_condition to executors/graph_listener (`#1404 <https://github.com/ros2/rclcpp/issues/1404>`_)
-* Add options to automatically declare qos parameters when creating a publisher/subscription (`#1465 <https://github.com/ros2/rclcpp/issues/1465>`_)
-* Add `take_data` to `Waitable` and `data` to `AnyExecutable` (`#1241 <https://github.com/ros2/rclcpp/issues/1241>`_)
-* Add benchmarks for node parameters interface (`#1444 <https://github.com/ros2/rclcpp/issues/1444>`_)
-* Remove allocation from executor::remove_node() (`#1448 <https://github.com/ros2/rclcpp/issues/1448>`_)
-* Fix test crashes on CentOS 7 (`#1449 <https://github.com/ros2/rclcpp/issues/1449>`_)
-* Bump rclcpp packages to Quality Level 2 (`#1445 <https://github.com/ros2/rclcpp/issues/1445>`_)
+* Update QD to QL 1 (`#1480 <https://github.com/ros2/rclcpp/issues/1480>`_)
+* Add performance tests for parameter transport (`#1470 <https://github.com/ros2/rclcpp/issues/1470>`_)
+* Add benchmarks for node parameters interface (`#1470 <https://github.com/ros2/rclcpp/issues/1470>`_)
+* Fix NodeOptions copy constructor (`#1376 <https://github.com/ros2/rclcpp/issues/1376>`_) (`#1451 <https://github.com/ros2/rclcpp/issues/1451>`_)
+* Avoid reference cycle to fix memory leak (`#1301 <https://github.com/ros2/rclcpp/issues/1301>`_) (`#1450 <https://github.com/ros2/rclcpp/issues/1450>`_)
+* Bump rclcpp packages to Quality Level 2 (`#1445 <https://github.com/ros2/rclcpp/issues/1445>`_) (`#1446 <https://github.com/ros2/rclcpp/issues/1446>`_)
 * Added executor benchmark tests (`#1413 <https://github.com/ros2/rclcpp/issues/1413>`_)
-* Add fully-qualified namespace to WeakCallbackGroupsToNodesMap (`#1435 <https://github.com/ros2/rclcpp/issues/1435>`_)
-* Contributors: Alejandro Hernández Cordero, Audrow Nash, Chris Lalancette, Ivan Santiago Paunovic, Louise Poubel, Scott K Logan, brawner
-
-5.1.0 (2020-11-02)
-------------------
-* Deprecate Duration(rcl_duration_value_t) in favor of static Duration::from_nanoseconds(rcl_duration_value_t) (`#1432 <https://github.com/ros2/rclcpp/issues/1432>`_)
-* Avoid parsing arguments twice in `rclcpp::init_and_remove_ros_arguments` (`#1415 <https://github.com/ros2/rclcpp/issues/1415>`_)
 * Add service and client benchmarks (`#1425 <https://github.com/ros2/rclcpp/issues/1425>`_)
 * Set CMakeLists to only use default rmw for benchmarks (`#1427 <https://github.com/ros2/rclcpp/issues/1427>`_)
-* Update tracetools' QL in rclcpp's QD (`#1428 <https://github.com/ros2/rclcpp/issues/1428>`_)
-* Add missing locking to the rclcpp_action::ServerBase. (`#1421 <https://github.com/ros2/rclcpp/issues/1421>`_)
 * Initial benchmark tests for rclcpp::init/shutdown create/destroy node (`#1411 <https://github.com/ros2/rclcpp/issues/1411>`_)
-* Refactor test CMakeLists in prep for benchmarks (`#1422 <https://github.com/ros2/rclcpp/issues/1422>`_)
-* Add methods in topic and service interface to resolve a name (`#1410 <https://github.com/ros2/rclcpp/issues/1410>`_)
-* Update deprecated gtest macros (`#1370 <https://github.com/ros2/rclcpp/issues/1370>`_)
+* Use global namespace for parameter events subscription topic (`#1257 <https://github.com/ros2/rclcpp/issues/1257>`_) (`#1261 <https://github.com/ros2/rclcpp/issues/1261>`_)
+* Refactor test CMakeLists.txt (`#1422 <https://github.com/ros2/rclcpp/issues/1422>`_) and moving rosidl_generate_interfaces_call (`#1424 <https://github.com/ros2/rclcpp/issues/1424>`_)  (`#1437 <https://github.com/ros2/rclcpp/issues/1437>`_)
+* Update tracetools' QL in rclcpp's QD (`#1428 <https://github.com/ros2/rclcpp/issues/1428>`_) (`#1430 <https://github.com/ros2/rclcpp/issues/1430>`_)
+* Add coverage statement (`#1367 <https://github.com/ros2/rclcpp/issues/1367>`_)
+* Update tracetools' QL to 2 in rclcpp's QD (`#1187 <https://github.com/ros2/rclcpp/issues/1187>`_)
+* Fix reference to rclcpp in its QD (`#1161 <https://github.com/ros2/rclcpp/issues/1161>`_)
 * Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency (`#1303 <https://github.com/ros2/rclcpp/issues/1303>`_)
 * Increase test timeouts of slow running tests with rmw_connext_cpp (`#1400 <https://github.com/ros2/rclcpp/issues/1400>`_)
-* Avoid self dependency that not destoryed (`#1301 <https://github.com/ros2/rclcpp/issues/1301>`_)
-* Update maintainers (`#1384 <https://github.com/ros2/rclcpp/issues/1384>`_)
-* Add clock qos to node options (`#1375 <https://github.com/ros2/rclcpp/issues/1375>`_)
-* Fix NodeOptions copy constructor (`#1376 <https://github.com/ros2/rclcpp/issues/1376>`_)
 * Make sure to clean the external client/service handle. (`#1296 <https://github.com/ros2/rclcpp/issues/1296>`_)
 * Increase coverage of WaitSetTemplate (`#1368 <https://github.com/ros2/rclcpp/issues/1368>`_)
 * Increase coverage of guard_condition.cpp to 100% (`#1369 <https://github.com/ros2/rclcpp/issues/1369>`_)
-* Add coverage statement (`#1367 <https://github.com/ros2/rclcpp/issues/1367>`_)
 * Tests for LoanedMessage with mocked loaned message publisher (`#1366 <https://github.com/ros2/rclcpp/issues/1366>`_)
 * Add unit tests for qos and qos_event files (`#1352 <https://github.com/ros2/rclcpp/issues/1352>`_)
 * Finish coverage of publisher API (`#1365 <https://github.com/ros2/rclcpp/issues/1365>`_)
-* Finish API coverage on executors. (`#1364 <https://github.com/ros2/rclcpp/issues/1364>`_)
+* Finish API coverage on executors (`#1364 <https://github.com/ros2/rclcpp/issues/1364>`_)
+* Only exchange intra_process waitable if nonnull (`#1317 <https://github.com/ros2/rclcpp/issues/1317>`_)
 * Add test for ParameterService (`#1355 <https://github.com/ros2/rclcpp/issues/1355>`_)
 * Add time API coverage tests (`#1347 <https://github.com/ros2/rclcpp/issues/1347>`_)
 * Add timer coverage tests (`#1363 <https://github.com/ros2/rclcpp/issues/1363>`_)
 * Add in additional tests for parameter_client.cpp coverage.
 * Minor fixes to the parameter_service.cpp file.
-* reset rcl_context shared_ptr after calling rcl_init sucessfully (`#1357 <https://github.com/ros2/rclcpp/issues/1357>`_)
-* Improved test publisher - zero qos history depth value exception (`#1360 <https://github.com/ros2/rclcpp/issues/1360>`_)
+* Improve test publisher - zero qos history depth value exception (`#1360 <https://github.com/ros2/rclcpp/issues/1360>`_)
 * Covered resolve_use_intra_process (`#1359 <https://github.com/ros2/rclcpp/issues/1359>`_)
 * Improve test_subscription_options (`#1358 <https://github.com/ros2/rclcpp/issues/1358>`_)
-* Add in more tests for init_options coverage. (`#1353 <https://github.com/ros2/rclcpp/issues/1353>`_)
+* Add in more tests for init_options coverage (`#1353 <https://github.com/ros2/rclcpp/issues/1353>`_)
 * Test the remaining node public API (`#1342 <https://github.com/ros2/rclcpp/issues/1342>`_)
 * Complete coverage of Parameter and ParameterValue API (`#1344 <https://github.com/ros2/rclcpp/issues/1344>`_)
-* Add in more tests for the utilities. (`#1349 <https://github.com/ros2/rclcpp/issues/1349>`_)
-* Add in two more tests for expand_topic_or_service_name. (`#1350 <https://github.com/ros2/rclcpp/issues/1350>`_)
+* Add in more tests for the utilities (`#1349 <https://github.com/ros2/rclcpp/issues/1349>`_)
+* Add in two more tests for expand_topic_or_service_name (`#1350 <https://github.com/ros2/rclcpp/issues/1350>`_)
 * Add tests for node_options API (`#1343 <https://github.com/ros2/rclcpp/issues/1343>`_)
 * Add in more coverage for expand_topic_or_service_name. (`#1346 <https://github.com/ros2/rclcpp/issues/1346>`_)
-* Test exception in spin_until_future_complete. (`#1345 <https://github.com/ros2/rclcpp/issues/1345>`_)
 * Add coverage tests graph_listener (`#1330 <https://github.com/ros2/rclcpp/issues/1330>`_)
-* Add in unit tests for the Executor class.
-* Allow mimick patching of methods with up to 9 arguments.
-* Improve the error messages in the Executor class.
+* Add executor unit tests `#1336 <https://github.com/ros2/rclcpp/issues/1336>`_ (`#1395 <https://github.com/ros2/rclcpp/issues/1395>`_)
 * Add coverage for client API (`#1329 <https://github.com/ros2/rclcpp/issues/1329>`_)
 * Increase service coverage (`#1332 <https://github.com/ros2/rclcpp/issues/1332>`_)
-* Make more of the static entity collector API private.
-* Const-ify more of the static executor.
-* Add more tests for the static single threaded executor.
-* Many more tests for the static_executor_entities_collector.
-* Get one more line of code coverage in memory_strategy.cpp
-* Bugfix when adding callback group.
-* Fix typos in comments.
-* Remove deprecated executor::FutureReturnCode APIs. (`#1327 <https://github.com/ros2/rclcpp/issues/1327>`_)
+* Add ostream test for FutureReturnCode (`#1327 <https://github.com/ros2/rclcpp/issues/1327>`_) (`#1393 <https://github.com/ros2/rclcpp/issues/1393>`_)
 * Increase coverage of publisher/subscription API (`#1325 <https://github.com/ros2/rclcpp/issues/1325>`_)
-* Not finalize guard condition while destructing SubscriptionIntraProcess (`#1307 <https://github.com/ros2/rclcpp/issues/1307>`_)
-* Expose qos setting for /rosout (`#1247 <https://github.com/ros2/rclcpp/issues/1247>`_)
 * Add coverage for missing API (except executors) (`#1326 <https://github.com/ros2/rclcpp/issues/1326>`_)
-* Include topic name in QoS mismatch warning messages (`#1286 <https://github.com/ros2/rclcpp/issues/1286>`_)
 * Add coverage tests context functions (`#1321 <https://github.com/ros2/rclcpp/issues/1321>`_)
 * Increase coverage of node_interfaces, including with mocking rcl errors (`#1322 <https://github.com/ros2/rclcpp/issues/1322>`_)
-* Contributors: Ada-King, Alejandro Hernández Cordero, Audrow Nash, Barry Xu, Chen Lihui, Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, Jorge Perez, Morgan Quigley, brawner
-
-5.0.0 (2020-09-18)
-------------------
-* Make node_graph::count_graph_users() const (`#1320 <https://github.com/ros2/rclcpp/issues/1320>`_)
 * Add coverage for wait_set_policies (`#1316 <https://github.com/ros2/rclcpp/issues/1316>`_)
-* Only exchange intra_process waitable if nonnull (`#1317 <https://github.com/ros2/rclcpp/issues/1317>`_)
-* Check waitable for nullptr during constructor (`#1315 <https://github.com/ros2/rclcpp/issues/1315>`_)
-* Call vector.erase with end iterator overload (`#1314 <https://github.com/ros2/rclcpp/issues/1314>`_)
-* Use best effort, keep last, history depth 1 QoS Profile for '/clock' subscriptions (`#1312 <https://github.com/ros2/rclcpp/issues/1312>`_)
 * Add tests type_support module (`#1308 <https://github.com/ros2/rclcpp/issues/1308>`_)
 * Replace std_msgs with test_msgs in executors test (`#1310 <https://github.com/ros2/rclcpp/issues/1310>`_)
-* Add set_level for rclcpp::Logger (`#1284 <https://github.com/ros2/rclcpp/issues/1284>`_)
-* Remove unused private function (rclcpp::Node and rclcpp_lifecycle::Node) (`#1294 <https://github.com/ros2/rclcpp/issues/1294>`_)
 * Adding tests basic getters (`#1291 <https://github.com/ros2/rclcpp/issues/1291>`_)
-* Adding callback groups in executor (`#1218 <https://github.com/ros2/rclcpp/issues/1218>`_)
 * Refactor Subscription Topic Statistics Tests (`#1281 <https://github.com/ros2/rclcpp/issues/1281>`_)
-* Add operator!= for duration (`#1236 <https://github.com/ros2/rclcpp/issues/1236>`_)
-* Fix clock thread issue (`#1266 <https://github.com/ros2/rclcpp/issues/1266>`_) (`#1267 <https://github.com/ros2/rclcpp/issues/1267>`_)
 * Fix topic stats test, wait for more messages, only check the ones with samples (`#1274 <https://github.com/ros2/rclcpp/issues/1274>`_)
-* Add get_domain_id method to rclcpp::Context (`#1271 <https://github.com/ros2/rclcpp/issues/1271>`_)
 * Fixes for unit tests that fail under cyclonedds (`#1270 <https://github.com/ros2/rclcpp/issues/1270>`_)
 * initialize_logging\_ should be copied (`#1272 <https://github.com/ros2/rclcpp/issues/1272>`_)
-* Use static_cast instead of C-style cast for instrumentation (`#1263 <https://github.com/ros2/rclcpp/issues/1263>`_)
-* Make parameter clients use template constructors (`#1249 <https://github.com/ros2/rclcpp/issues/1249>`_)
-* Ability to configure domain_id via InitOptions. (`#1165 <https://github.com/ros2/rclcpp/issues/1165>`_)
+* Ability to configure domain_id via InitOptions (`#1165 <https://github.com/ros2/rclcpp/issues/1165>`_)
 * Simplify and fix allocator memory strategy unit test for connext (`#1252 <https://github.com/ros2/rclcpp/issues/1252>`_)
-* Use global namespace for parameter events subscription topic (`#1257 <https://github.com/ros2/rclcpp/issues/1257>`_)
 * Increase timeouts for connext for long tests (`#1253 <https://github.com/ros2/rclcpp/issues/1253>`_)
 * Adjust test_static_executor_entities_collector for rmw_connext_cpp (`#1251 <https://github.com/ros2/rclcpp/issues/1251>`_)
 * Fix failing test with Connext since it doesn't wait for discovery (`#1246 <https://github.com/ros2/rclcpp/issues/1246>`_)
 * Fix node graph test with Connext and CycloneDDS returning actual data (`#1245 <https://github.com/ros2/rclcpp/issues/1245>`_)
-* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_)
 * Unittests for memory strategy files, except allocator_memory_strategy (`#1189 <https://github.com/ros2/rclcpp/issues/1189>`_)
 * EXPECT_THROW_EQ and ASSERT_THROW_EQ macros for unittests (`#1232 <https://github.com/ros2/rclcpp/issues/1232>`_)
+* Parameterize test executors for all executor types (`#1222 <https://github.com/ros2/rclcpp/issues/1222>`_) (`#1386 <https://github.com/ros2/rclcpp/issues/1386>`_)
+* Derive and throw exception in spin_some spin_all for StaticSingleThreadedExecutor (`#1385 <https://github.com/ros2/rclcpp/issues/1385>`_)
 * Add unit test for static_executor_entities_collector (`#1221 <https://github.com/ros2/rclcpp/issues/1221>`_)
-* Parameterize test executors for all executor types (`#1222 <https://github.com/ros2/rclcpp/issues/1222>`_)
 * Unit tests for allocator_memory_strategy.cpp part 2 (`#1198 <https://github.com/ros2/rclcpp/issues/1198>`_)
 * Unit tests for allocator_memory_strategy.hpp (`#1197 <https://github.com/ros2/rclcpp/issues/1197>`_)
-* Derive and throw exception in spin_some spin_all for StaticSingleThreadedExecutor (`#1220 <https://github.com/ros2/rclcpp/issues/1220>`_)
-* Make ring buffer thread-safe (`#1213 <https://github.com/ros2/rclcpp/issues/1213>`_)
-* Add missing RCLCPP_PUBLIC to ~StaticExecutorEntitiesCollector (`#1227 <https://github.com/ros2/rclcpp/issues/1227>`_)
-* Document graph functions don't apply remap rules (`#1225 <https://github.com/ros2/rclcpp/issues/1225>`_)
-* Remove recreation of entities_collector (`#1217 <https://github.com/ros2/rclcpp/issues/1217>`_)
-* Contributors: Audrow Nash, Chen Lihui, Christophe Bedard, Daisuke Sato, Devin Bonnie, Dirk Thomas, Ivan Santiago Paunovic, Jacob Perron, Jannik Abbenseth, Jorge Perez, Pedro Pena, Shane Loretz, Stephen Brawner, Tomoya Fujita
-
-4.0.0 (2020-07-09)
-------------------
-* Fix rclcpp::NodeOptions::operator= (`#1211 <https://github.com/ros2/rclcpp/issues/1211>`_)
-* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_)
 * Unit tests for node interfaces (`#1202 <https://github.com/ros2/rclcpp/issues/1202>`_)
-* Remove usage of domain id in node options (`#1205 <https://github.com/ros2/rclcpp/issues/1205>`_)
-* Remove deprecated set_on_parameters_set_callback function (`#1199 <https://github.com/ros2/rclcpp/issues/1199>`_)
-* Fix conversion of negative durations to messages (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_)
-* Fix implementation of NodeOptions::use_global_arguments() (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_)
-* Bump to QD to level 3 and fixed links (`#1158 <https://github.com/ros2/rclcpp/issues/1158>`_)
-* Fix pub/sub count API tests (`#1203 <https://github.com/ros2/rclcpp/issues/1203>`_)
-* Update tracetools' QL to 2 in rclcpp's QD (`#1187 <https://github.com/ros2/rclcpp/issues/1187>`_)
-* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_)
-* Throw exception if rcl_timer_init fails (`#1179 <https://github.com/ros2/rclcpp/issues/1179>`_)
 * Unit tests for some header-only functions/classes (`#1181 <https://github.com/ros2/rclcpp/issues/1181>`_)
-* Callback should be perfectly-forwarded (`#1183 <https://github.com/ros2/rclcpp/issues/1183>`_)
 * Add unit tests for logging functionality (`#1184 <https://github.com/ros2/rclcpp/issues/1184>`_)
-* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_)
-* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Claire Wang, Dirk Thomas, Ivan Santiago Paunovic, Johannes Meyer, Michel Hidalgo, Stephen Brawner, tomoya
-
-3.0.0 (2020-06-18)
-------------------
+* Fix rclcpp::NodeOptions::operator= (`#1211 <https://github.com/ros2/rclcpp/issues/1211>`_)
 * Check period duration in create_wall_timer (`#1178 <https://github.com/ros2/rclcpp/issues/1178>`_)
-* Fix get_node_time_source_interface() docstring (`#988 <https://github.com/ros2/rclcpp/issues/988>`_)
-* Add message lost subscription event (`#1164 <https://github.com/ros2/rclcpp/issues/1164>`_)
-* Add spin_all method to Executor (`#1156 <https://github.com/ros2/rclcpp/issues/1156>`_)
-* Reorganize test directory and split CMakeLists.txt (`#1173 <https://github.com/ros2/rclcpp/issues/1173>`_)
+* Throw exception if rcl_timer_init fails (`#1179 <https://github.com/ros2/rclcpp/issues/1179>`_)
+* Remove finalization of guard_condition from GraphListener::__shutdown() (`#1401 <https://github.com/ros2/rclcpp/issues/1401>`_)
+* Contributors: Alejandro Hernández Cordero, Chen Lihui, Chris Lalancette, Christophe Bedard, Devin Bonnie, Dirk Thomas, Jacob Perron, Jorge Perez, Louise Poubel, Michel Hidalgo, Scott K Logan, Stephen Brawner, tomoya
+
+2.2.0 (2020-10-07)
+------------------
+* Fix implementation of NodeOptions::use_global_arguments() (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_) (`#1372 <https://github.com/ros2/rclcpp/issues/1372>`_)
+* Fix conversion of negative durations to messages (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_) (`#1371 <https://github.com/ros2/rclcpp/issues/1371>`_)
+* Call vector.erase with end iterator overload (`#1314 <https://github.com/ros2/rclcpp/issues/1314>`_) (`#1380 <https://github.com/ros2/rclcpp/issues/1380>`_)
+* Check waitable for nullptr during constructor (`#1315 <https://github.com/ros2/rclcpp/issues/1315>`_) (`#1379 <https://github.com/ros2/rclcpp/issues/1379>`_)
+* Fix pub/sub count API tests. (`#1203 <https://github.com/ros2/rclcpp/issues/1203>`_) (`#1319 <https://github.com/ros2/rclcpp/issues/1319>`_)
+* Reorganize test directory and split CMakeLists.txt (`#1173 <https://github.com/ros2/rclcpp/issues/1173>`_) (`#1262 <https://github.com/ros2/rclcpp/issues/1262>`_)
+* Add operator!= for duration (`#1236 <https://github.com/ros2/rclcpp/issues/1236>`_) (`#1278 <https://github.com/ros2/rclcpp/issues/1278>`_)
+* Contributors: Ivan Santiago Paunovic, Jacob Perron, Jannik Abbenseth, Johannes Meyer, Michel Hidalgo, Stephen Brawner
+
+2.1.0 (2020-08-03)
+------------------
+* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_) (`#1244 <https://github.com/ros2/rclcpp/issues/1244>`_)
+* Add missing RCLCPP_PUBLIC to ~StaticExecutorEntitiesCollector (`#1227 <https://github.com/ros2/rclcpp/issues/1227>`_) (`#1228 <https://github.com/ros2/rclcpp/issues/1228>`_)
+* Remove recreation of entities_collector (`#1217 <https://github.com/ros2/rclcpp/issues/1217>`_) (`#1224 <https://github.com/ros2/rclcpp/issues/1224>`_)
+* Contributors: Jacob Perron, brawner
+
+2.0.2 (2020-07-07)
+------------------
+* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_) (`#1214 <https://github.com/ros2/rclcpp/issues/1214>`_)
+* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_) (`#1193 <https://github.com/ros2/rclcpp/issues/1193>`_)
+* Contributors: Dirk Thomas, tomoya
+
+2.0.1 (2020-06-23)
+------------------
+* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_) (`#1192 <https://github.com/ros2/rclcpp/issues/1192>`_)
+* Fix get_node_time_source_interface() docstring (`#988 <https://github.com/ros2/rclcpp/issues/988>`_) (`#1185 <https://github.com/ros2/rclcpp/issues/1185>`_)
+* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
 * Check if context is valid when looping in spin_some (`#1167 <https://github.com/ros2/rclcpp/issues/1167>`_)
-* Add check for invalid topic statistics publish period (`#1151 <https://github.com/ros2/rclcpp/issues/1151>`_)
 * Fix spin_until_future_complete: check spinning value (`#1023 <https://github.com/ros2/rclcpp/issues/1023>`_)
-* Fix doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_)
-* Fix reference to rclcpp in its Quality declaration (`#1161 <https://github.com/ros2/rclcpp/issues/1161>`_)
-* Allow spin_until_future_complete to accept any future like object (`#1113 <https://github.com/ros2/rclcpp/issues/1113>`_)
-* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Devin Bonnie, Dirk Thomas, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Sarthak Mittal, brawner, tomoya
+  Make Executor::spin_once_impl private before backporting, to avoid API compatibility issues
+* Add check for invalid topic statistics publish period (`#1151 <https://github.com/ros2/rclcpp/issues/1151>`_) (`#1172 <https://github.com/ros2/rclcpp/issues/1172>`_)
+* Contributors: Alejandro Hernández Cordero, Devin Bonnie, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Stephen Brawner
 
 2.0.0 (2020-06-01)
 ------------------

rclcpp/CMakeLists.txt

@@ -1,11 +1,10 @@
-cmake_minimum_required(VERSION 3.12)
+cmake_minimum_required(VERSION 3.5)
 
 project(rclcpp)
 
 find_package(Threads REQUIRED)
 
 find_package(ament_cmake_ros REQUIRED)
-find_package(ament_index_cpp REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(libstatistics_collector REQUIRED)
 find_package(rcl REQUIRED)
@@ -21,10 +20,9 @@ find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(statistics_msgs REQUIRED)
 find_package(tracetools REQUIRED)
 
-# TODO(wjwwood): remove this when gtest can build on its own, when using target_compile_features()
-# Default to C++17
+# Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   # About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
@@ -41,8 +39,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/clock.cpp
   src/rclcpp/context.cpp
   src/rclcpp/contexts/default_context.cpp
-  src/rclcpp/detail/add_guard_condition_to_rcl_wait_set.cpp
-  src/rclcpp/detail/resolve_parameter_overrides.cpp
+  src/rclcpp/detail/mutex_two_priorities.cpp
   src/rclcpp/detail/rmw_implementation_specific_payload.cpp
   src/rclcpp/detail/rmw_implementation_specific_publisher_payload.cpp
   src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
@@ -53,14 +50,12 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
+  src/rclcpp/expand_topic_or_service_name.cpp
   src/rclcpp/executors/multi_threaded_executor.cpp
   src/rclcpp/executors/single_threaded_executor.cpp
   src/rclcpp/executors/static_executor_entities_collector.cpp
   src/rclcpp/executors/static_single_threaded_executor.cpp
-  src/rclcpp/expand_topic_or_service_name.cpp
   src/rclcpp/future_return_code.cpp
-  src/rclcpp/generic_publisher.cpp
-  src/rclcpp/generic_subscription.cpp
   src/rclcpp/graph_listener.cpp
   src/rclcpp/guard_condition.cpp
   src/rclcpp/init_options.cpp
@@ -70,8 +65,8 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/memory_strategies.cpp
   src/rclcpp/memory_strategy.cpp
   src/rclcpp/message_info.cpp
-  src/rclcpp/network_flow_endpoint.cpp
   src/rclcpp/node.cpp
+  src/rclcpp/node_options.cpp
   src/rclcpp/node_interfaces/node_base.cpp
   src/rclcpp/node_interfaces/node_clock.cpp
   src/rclcpp/node_interfaces/node_graph.cpp
@@ -82,18 +77,15 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/node_interfaces/node_timers.cpp
   src/rclcpp/node_interfaces/node_topics.cpp
   src/rclcpp/node_interfaces/node_waitables.cpp
-  src/rclcpp/node_options.cpp
   src/rclcpp/parameter.cpp
+  src/rclcpp/parameter_value.cpp
   src/rclcpp/parameter_client.cpp
-  src/rclcpp/parameter_event_handler.cpp
   src/rclcpp/parameter_events_filter.cpp
   src/rclcpp/parameter_map.cpp
   src/rclcpp/parameter_service.cpp
-  src/rclcpp/parameter_value.cpp
   src/rclcpp/publisher_base.cpp
   src/rclcpp/qos.cpp
   src/rclcpp/qos_event.cpp
-  src/rclcpp/qos_overriding_options.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp
@@ -104,14 +96,11 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/time_source.cpp
   src/rclcpp/timer.cpp
   src/rclcpp/type_support.cpp
-  src/rclcpp/typesupport_helpers.cpp
   src/rclcpp/utilities.cpp
   src/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.cpp
   src/rclcpp/waitable.cpp
 )
 
-find_package(Python3 REQUIRED COMPONENTS Interpreter)
-
 # "watch" template for changes
 configure_file(
   "resource/logging.hpp.em"
@@ -125,7 +114,7 @@ set(python_code_logging
 string(REPLACE ";" "$<SEMICOLON>" python_code_logging "${python_code_logging}")
 add_custom_command(OUTPUT include/rclcpp/logging.hpp
   COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"
-  COMMAND Python3::Interpreter ARGS -c "${python_code_logging}"
+  COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code_logging}"
   DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
   COMMENT "Expanding logging.hpp.em"
   VERBATIM
@@ -149,7 +138,7 @@ foreach(interface_file ${interface_files})
   string(REPLACE ";" "$<SEMICOLON>" python_${interface_name}_traits "${python_${interface_name}_traits}")
   add_custom_command(OUTPUT include/rclcpp/node_interfaces/${interface_name}_traits.hpp
     COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
-    COMMAND Python3::Interpreter ARGS -c "${python_${interface_name}_traits}"
+    COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_${interface_name}_traits}"
     DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
     COMMENT "Expanding interface_traits.hpp.em into ${interface_name}_traits.hpp"
     VERBATIM
@@ -169,7 +158,7 @@ foreach(interface_file ${interface_files})
   string(REPLACE ";" "$<SEMICOLON>" python_get_${interface_name} "${python_get_${interface_name}}")
   add_custom_command(OUTPUT include/rclcpp/node_interfaces/get_${interface_name}.hpp
     COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
-    COMMAND Python3::Interpreter ARGS -c "${python_get_${interface_name}}"
+    COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_get_${interface_name}}"
     DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/get_${interface_name}.hpp.em.watch"
     COMMENT "Expanding get_interface.hpp.em into get_${interface_file}.hpp"
     VERBATIM
@@ -178,23 +167,17 @@ foreach(interface_file ${interface_files})
     include/rclcpp/node_interfaces/get_${interface_name}.hpp)
 endforeach()
 
-add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})
-target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
-# TODO(wjwwood): address all deprecation warnings and then remove this
-if(WIN32)
-  target_compile_definitions(${PROJECT_NAME} PUBLIC "_SILENCE_ALL_CXX17_DEPRECATION_WARNINGS")
-endif()
+add_library(${PROJECT_NAME}
+  ${${PROJECT_NAME}_SRCS})
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+  "$<INSTALL_INTERFACE:include>")
 target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
-  "ament_index_cpp"
   "libstatistics_collector"
   "rcl"
-  "rcl_interfaces"
   "rcl_yaml_param_parser"
   "rcpputils"
   "rcutils"
@@ -218,15 +201,11 @@ install(
   RUNTIME DESTINATION bin
 )
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
+# specific order: dependents before dependencies
+ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
-
-# Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})
 
-# specific order: dependents before dependencies
-ament_export_dependencies(ament_index_cpp)
 ament_export_dependencies(libstatistics_collector)
 ament_export_dependencies(rcl)
 ament_export_dependencies(rcpputils)
@@ -251,12 +230,5 @@ ament_package()
 
 install(
   DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/
-  DESTINATION include/${PROJECT_NAME}
+  DESTINATION include
 )
-
-if(TEST cppcheck)
-  # must set the property after ament_package()
-  set_tests_properties(cppcheck PROPERTIES TIMEOUT 500)
-endif()
-
-ament_generate_version_header(${PROJECT_NAME})

rclcpp/Doxyfile

@@ -21,22 +21,13 @@ GENERATE_LATEX         = NO
 ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
-PREDEFINED             += DOXYGEN_ONLY
-PREDEFINED             += RCLCPP_LOCAL=
-PREDEFINED             += RCLCPP_PUBLIC=
-PREDEFINED             += RCLCPP_PUBLIC_TYPE=
-PREDEFINED             += RCUTILS_WARN_UNUSED=
-PREDEFINED             += RCPPUTILS_TSA_GUARDED_BY(x)=
-PREDEFINED             += RCPPUTILS_TSA_PT_GUARDED_BY(x)=
-PREDEFINED             += RCPPUTILS_TSA_REQUIRES(x)=
-
-DOT_GRAPH_MAX_NODES    = 101
+PREDEFINED             = RCLCPP_PUBLIC=
 
 # 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/QUALITY_DECLARATION.md

@@ -10,7 +10,7 @@ Below are the rationales, notes, and caveats for this claim, organized by each r
 
 ### Version Scheme [1.i]
 
-`rclcpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#versioning).
+`rclcpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#versioning).
 
 ### Version Stability [1.ii]
 
@@ -39,11 +39,11 @@ Headers under the folder `detail` are not considered part of the public API and
 
 ## Change Control Process [2]
 
-`rclcpp` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process).
+`rclcpp` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process).
 
 ### Change Requests [2.i]
 
-All changes will occur through a pull request, check [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process) for additional information.
+All changes will occur through a pull request, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Contributor Origin [2.ii]
 
@@ -51,18 +51,17 @@ This package uses DCO as its confirmation of contributor origin policy. More inf
 
 ### Peer Review Policy [2.iii]
 
-All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process) for additional information.
+All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Continuous Integration [2.iv]
 
 All pull requests must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
 
-Currently nightly results can be seen here:
-
-* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rclcpp/)
-* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rclcpp/)
-* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rclcpp/)
-* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rclcpp/)
+Though there are no nightly jobs for foxy outside of linux, each change is tested on ci.ros2.org.
+* [linux-aarch64](https://ci.ros2.org/job/ci_linux-aarch64)
+* [linux](https://ci.ros2.org/job/ci_linux)
+* [mac_osx](https://ci.ros2.org/job/ci_osx)
+* [windows](https://ci.ros2.org/job/ci_windows)
 
 ###  Documentation Policy [2.v]
 
@@ -72,37 +71,36 @@ All pull requests must resolve related documentation changes before merging.
 
 ### Feature Documentation [3.i]
 
-`rclcpp` has a [feature list](http://docs.ros2.org/latest/api/rclcpp/) and each item in the list links to the corresponding feature documentation. There is documentation for all of the features, and new features require documentation before being added.
+`rclcpp` has a [feature list](http://docs.ros2.org/foxy/api/rclcpp/) and each item in the list links to the corresponding feature documentation. There is documentation for all of the features, and new features require documentation before being added.
 
 ### Public API Documentation [3.ii]
 
-The API is publicly available in its [ROS 2 API documentation](http://docs.ros2.org/latest/api/rclcpp/).
+The API is publicly available in its [ROS 2 API documentation](http://docs.ros2.org/foxy/api/rclcpp/).
 
 ### License [3.iii]
 
 The license for `rclcpp` is Apache 2.0, and a summary is in each source file, the type is declared in the [`package.xml`](./package.xml) manifest file, and a full copy of the license is in the [`LICENSE`](../LICENSE) file.
 
-There is an automated test which runs a linter that ensures each file has a license statement. [Here](http://build.ros2.org/view/Rpr/job/Rpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp/) can be found a list with the latest results of the various linters being run on the package.
+There is an automated test which runs a linter that ensures each file has a license statement. [Here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp/) can be found a list with the latest results of the various linters being run on the package.
 
 ### Copyright Statements [3.iv]
 
 The copyright holders each provide a statement of copyright in each source code file in `rclcpp`.
 
-There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [here](http://build.ros2.org/view/Rpr/job/Rpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp/copyright/).
+There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp/copyright/).
 
 ## Testing [4]
 
 ### Feature Testing [4.i]
 
-Each feature in `rclcpp` has corresponding tests which simulate typical usage, and they are located in the [`test`](https://github.com/ros2/rclcpp/tree/master/test) directory.
+Each feature in `rclcpp` has corresponding tests which simulate typical usage, and they are located in the [`test`](https://github.com/ros2/rclcpp/tree/foxy/test) directory.
 New features are required to have tests before being added.
 
-Currently nightly test results can be seen here:
-
-* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rclcpp/)
-* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rclcpp/)
-* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rclcpp/)
-* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rclcpp/)
+Though there are no nightly jobs for foxy outside of linux, each change is tested on ci.ros2.org.
+* [linux-aarch64](https://ci.ros2.org/job/ci_linux-aarch64)
+* [linux](https://ci.ros2.org/job/ci_linux)
+* [mac_osx](https://ci.ros2.org/job/ci_osx)
+* [windows](https://ci.ros2.org/job/ci_windows)
 
 ### Public API Testing [4.ii]
 
@@ -111,7 +109,7 @@ The tests aim to cover both typical usage and corner cases, but are quantified b
 
 ### Coverage [4.iii]
 
-`rclcpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#code-coverage), and opts to use line coverage instead of branch coverage.
+`rclcpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#code-coverage), and opts to use line coverage instead of branch coverage.
 
 This includes:
 
@@ -121,31 +119,27 @@ This includes:
 
 Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers.
 
-Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_src_rclcpp/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#note-on-coverage-runs).
+Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_foxy_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_src_rclcpp/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#note-on-coverage-runs).
 
 `rclcpp` has a line coverage `>= 95%`, which is calculated over all directories within `rclcpp` with the exception of the `experimental` directory.
 
 ### Performance [4.iv]
 
-`rclcpp` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#performance), and opts to do performance analysis on each release rather than each change.
+`rclcpp` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#performance), and opts to do performance analysis on each release rather than each change.
 
-The performance tests of `rclcpp` are located in the [test/benchmark directory](https://github.com/ros2/rclcpp/tree/master/rclcpp/test/benchmark).
+The performance tests of `rclcpp` are located in the [test/benchmark directory](https://github.com/ros2/rclcpp/tree/foxy/rclcpp/test/benchmark).
 
 System level performance benchmarks that cover features of `rclcpp` can be found at:
-* [Benchmarks](http://build.ros2.org/view/Rci/job/Rci__benchmark_ubuntu_focal_amd64/BenchmarkTable/)
-* [Performance](http://build.ros2.org/view/Rci/job/Rci__nightly-performance_ubuntu_focal_amd64/lastCompletedBuild/)
+* [Benchmarks](http://build.ros2.org/view/Fci/job/Fci__benchmark_ubuntu_focal_amd64/BenchmarkTable/)
+* [Performance](http://build.ros2.org/view/Fci/job/Fci__nightly-performance_ubuntu_focal_amd64/lastCompletedBuild/)
 
 Changes that introduce regressions in performance must be adequately justified in order to be accepted and merged.
 
 ### Linters and Static Analysis [4.v]
 
-`rclcpp` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
+`rclcpp` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
 
-Currently nightly test results can be seen here:
-* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rclcpp/)
-* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rclcpp/)
-* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rclcpp/)
-* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rclcpp/)
+Currently nightly test results can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp).
 
 ## Dependencies [5]
 
@@ -163,49 +157,49 @@ It also has several test dependencies, which do not affect the resulting quality
 
 The `libstatistics_collector` package provides lightweight aggregation utilities to collect statistics and measure message metrics.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros-tooling/libstatistics_collector/tree/master/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros-tooling/libstatistics_collector/tree/foxy-devel/QUALITY_DECLARATION.md).
 
 #### `rcl`
 
 `rcl` a library to support implementation of language specific ROS 2 Client Libraries.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/blob/master/rcl/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/blob/foxy/rcl/QUALITY_DECLARATION.md).
 
 #### `rcl_yaml_param_parser`
 
 The `rcl_yaml_param_parser` package provides an API that is used to parse YAML configuration files which may be used to configure ROS and specific nodes.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/master/rcl_yaml_param_parser/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/foxy/rcl_yaml_param_parser/QUALITY_DECLARATION.md).
 
 #### `rcpputils`
 
 The `rcpputils` package provides an API which contains common utilities and data structures useful when programming in C++.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcpputils/blob/master/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcpputils/blob/foxy/QUALITY_DECLARATION.md).
 
 #### `rcutils`
 
 The `rcutils` package provides an API which contains common utilities and data structures useful when programming in C.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/foxy/QUALITY_DECLARATION.md).
 
 #### `rmw`
 
 `rmw` is the ROS 2 middleware library.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/master/rmw/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/foxy/rmw/QUALITY_DECLARATION.md).
 
 #### `statistics_msgs`
 
 The `statistics_msgs` package contains ROS 2 message definitions for reporting statistics for topics and system resources.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/master/statistics_msgs/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/foxy/statistics_msgs/QUALITY_DECLARATION.md).
 
 #### `tracetools`
 
 The `tracetools` package provides utilities for instrumenting the code in `rclcpp` so that it may be traced for debugging and performance analysis.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://gitlab.com/ros-tracing/ros2_tracing/-/blob/master/tracetools/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://gitlab.com/ros-tracing/ros2_tracing/-/blob/foxy/tracetools/QUALITY_DECLARATION.md).
 
 ### Direct Runtime non-ROS Dependency [5.iii]
 
@@ -215,11 +209,11 @@ It is **Quality Level 1**, see its [Quality Declaration document](https://gitlab
 
 `rclcpp` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
 
-Currently nightly build status can be seen here:
-* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/rclcpp/)
-* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/rclcpp/)
-* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/rclcpp/)
-* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/rclcpp/)
+Though there are no nightly jobs for foxy outside of linux, each change is tested on ci.ros2.org.
+* [linux-aarch64](https://ci.ros2.org/job/ci_linux-aarch64)
+* [linux](https://ci.ros2.org/job/ci_linux)
+* [mac_osx](https://ci.ros2.org/job/ci_osx)
+* [windows](https://ci.ros2.org/job/ci_windows)
 
 ## Security
 

rclcpp/doc/notes_on_statically_typed_parameters.md

@@ -1,141 +0,0 @@
-# Notes on statically typed parameters
-
-## Introduction
-
-Until ROS 2 Foxy, all parameters could change type anytime, except if the user installed a parameter callback to reject a change.
-This could generate confusing errors, for example:
-
-```
-$ ros2 run demo_nodes_py listener &
-$ ros2 param set /listener use_sim_time not_a_boolean
-[ERROR] [1614712713.233733147] [listener]: use_sim_time parameter set to something besides a bool
-Set parameter successful
-$ ros2 param get /listener use_sim_time
-String value is: not_a_boolean
-```
-
-For most use cases, having static parameter types is enough.
-This article documents some of the decisions that were made when implementing static parameter types enforcement in:
-
-* https://github.com/ros2/rclcpp/pull/1522
-* https://github.com/ros2/rclpy/pull/683
-
-## Allowing dynamically typed parameters
-
-There might be some scenarios where dynamic typing is desired, so a `dynamic_typing` field was added to the [parameter descriptor](https://github.com/ros2/rcl_interfaces/blob/09b5ed93a733adb9deddc47f9a4a8c6e9f584667/rcl_interfaces/msg/ParameterDescriptor.msg#L25).
-It defaults to `false`.
-
-For example:
-
-```cpp
-rcl_interfaces::msg::ParameterDescriptor descriptor;
-descriptor.dynamic_typing = true;
-
-node->declare_parameter("dynamically_typed_parameter", rclcpp::ParameterValue{}, descriptor);
-```
-
-```py
-rcl_interfaces.msg.ParameterDescriptor descriptor;
-descriptor.dynamic_typing = True;
-
-node.declare_parameter("dynamically_typed_parameter", None, descriptor);
-```
-
-## How is the parameter type specified?
-
-The parameter type will be inferred from the default value provided when declaring it.
-
-## Statically typed parameters when allowing undeclared parameters
-
-When undeclared parameters are allowed and a parameter is set without a previous declaration, the parameter will be dynamically typed.
-This is consistent with other allowed behaviors when undeclared parameters are allowed, e.g. trying to get an undeclared parameter returns "NOT_SET".
-Parameter declarations will remain special and dynamic or static typing will be used based on the parameter descriptor (default to static).
-
-## Declaring a parameter without a default value
-
-There might be cases were a default value does not make sense and the user must always provide an override.
-In those cases, the parameter type can be specified explicitly:
-
-```cpp
-// method signature
-template<typename T>
-Node::declare_parameter<T>(std::string name, rcl_interfaces::msg::ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor{});
-// or alternatively
-Node::declare_parameter(std::string name, rclcpp::ParameterType type, rcl_interfaces::msg::ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor{});
-
-// examples
-node->declare_parameter<int64_t>("my_integer_parameter");  // declare an integer parameter
-node->declare_parameter("another_integer_parameter", rclcpp::ParameterType::PARAMETER_INTEGER);  // another way to do the same
-```
-
-```py
-# method signature
-Node.declare_parameter(name: str, param_type: rclpy.Parameter.Type, descriptor: rcl_interfaces.msg.ParameterDescriptor = rcl_interfaces.msg.ParameterDescriptor())
-
-# example
-node.declare_parameter('my_integer_parameter', rclpy.Parameter.Type.INTEGER);  # declare an integer parameter
-```
-
-If the parameter may be unused, but when used requires a parameter override, then you could conditionally declare it:
-
-```cpp
-auto mode = node->declare_parameter("mode", "modeA");  // "mode" parameter is an string
-if (mode == "modeB") {
-    node->declare_parameter<int64_t>("param_needed_when_mode_b");  // when "modeB", the user must provide "param_needed_when_mode_b"
-}
-```
-
-## Other migration notes
-
-Declaring a parameter with only a name is deprecated:
-
-```cpp
-node->declare_parameter("my_param");  // this generates a build warning
-```
-
-```py
-node.declare_parameter("my_param");  # this generates a python user warning
-```
-
-Before, you could initialize a parameter with the "NOT SET" value (in cpp `rclcpp::ParameterValue{}`, in python `None`).
-Now this will throw an exception in both cases:
-
-```cpp
-node->declare_parameter("my_param", rclcpp::ParameterValue{});  // not valid, will throw exception
-```
-
-```py
-node.declare_parameter("my_param", None);  # not valid, will raise error
-```
-
-## Possible improvements
-
-### Easier way to declare dynamically typed parameters
-
-Declaring a dynamically typed parameter in `rclcpp` could be considered to be a bit verbose:
-
-```cpp
-rcl_interfaces::msg::ParameterDescriptor descriptor;
-descriptor.dynamic_typing = true;
-
-node->declare_parameter(name, rclcpp::ParameterValue{}, descriptor);
-```
-
-the following ways could be supported to make it simpler:
-
-```cpp
-node->declare_parameter(name, rclcpp::PARAMETER_DYNAMIC);
-node->declare_parameter(name, default_value, rclcpp::PARAMETER_DYNAMIC);
-```
-
-or alternatively:
-
-```cpp
-node->declare_parameter(name, default_value, rclcpp::ParameterDescriptor{}.dynamic_typing());
-```
-
-For `rclpy`, there's already a short way to do it:
-
-```py
-node.declare_parameter(name, default_value, rclpy.ParameterDescriptor(dynamic_typing=true));
-```

rclcpp/include/rclcpp/allocator/allocator_common.hpp

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__ALLOCATOR__ALLOCATOR_COMMON_HPP_
 #define RCLCPP__ALLOCATOR__ALLOCATOR_COMMON_HPP_
 
-#include <cstring>
 #include <memory>
 
 #include "rcl/allocator.h"
@@ -40,22 +39,6 @@ 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)
 {
@@ -90,7 +73,6 @@ 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>
-  explicit AllocatorDeleter(const AllocatorDeleter<T> & a)
+  AllocatorDeleter(const AllocatorDeleter<T> & a)
   {
     allocator_ = a.get_allocator();
   }
@@ -95,7 +95,7 @@ void set_allocator_for_deleter(AllocatorDeleter<T> * deleter, Alloc * alloc)
 template<typename Alloc, typename T>
 using Deleter = typename std::conditional<
   std::is_same<typename std::allocator_traits<Alloc>::template rebind_alloc<T>,
-  std::allocator<T>>::value,
+  typename std::allocator<void>::template rebind<T>::other>::value,
   std::default_delete<T>,
   AllocatorDeleter<Alloc>
   >::type;

rclcpp/include/rclcpp/any_executable.hpp

@@ -47,9 +47,14 @@ struct AnyExecutable
   // These are used to keep the scope on the containing items
   rclcpp::CallbackGroup::SharedPtr callback_group;
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
-  std::shared_ptr<void> data;
 };
 
+namespace executor
+{
+
+using AnyExecutable [[deprecated("use rclcpp::AnyExecutable instead")]] = AnyExecutable;
+
+}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__ANY_EXECUTABLE_HPP_

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -15,12 +15,10 @@
 #ifndef RCLCPP__ANY_SERVICE_CALLBACK_HPP_
 #define RCLCPP__ANY_SERVICE_CALLBACK_HPP_
 
-#include <variant>
 #include <functional>
 #include <memory>
 #include <stdexcept>
 #include <type_traits>
-#include <utility>
 
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -31,204 +29,93 @@
 namespace rclcpp
 {
 
-namespace detail
-{
-template<typename T, typename = void>
-struct can_be_nullptr : std::false_type {};
-
-// Some lambdas define a comparison with nullptr,
-// but we see a warning that they can never be null when using it.
-// We also test if `T &` can be assigned to `nullptr` to avoid the issue.
-template<typename T>
-#ifdef __QNXNTO__
-struct can_be_nullptr<T, std::void_t<
-    decltype(std::declval<T>() == nullptr)>>: std::true_type {};
-#else
-struct can_be_nullptr<T, std::void_t<
-    decltype(std::declval<T>() == nullptr), decltype(std::declval<T &>() = nullptr)>>
-  : std::true_type {};
-#endif
-}  // namespace detail
-
-// Forward declare
-template<typename ServiceT>
-class Service;
-
 template<typename ServiceT>
 class AnyServiceCallback
 {
+private:
+  using SharedPtrCallback = std::function<
+    void (
+      const std::shared_ptr<typename ServiceT::Request>,
+      std::shared_ptr<typename ServiceT::Response>
+    )>;
+  using SharedPtrWithRequestHeaderCallback = std::function<
+    void (
+      const std::shared_ptr<rmw_request_id_t>,
+      const std::shared_ptr<typename ServiceT::Request>,
+      std::shared_ptr<typename ServiceT::Response>
+    )>;
+
+  SharedPtrCallback shared_ptr_callback_;
+  SharedPtrWithRequestHeaderCallback shared_ptr_with_request_header_callback_;
+
 public:
   AnyServiceCallback()
-  : callback_(std::monostate{})
+  : shared_ptr_callback_(nullptr), shared_ptr_with_request_header_callback_(nullptr)
   {}
 
+  AnyServiceCallback(const AnyServiceCallback &) = default;
+
   template<
     typename CallbackT,
-    typename std::enable_if_t<!detail::can_be_nullptr<CallbackT>::value, int> = 0>
-  void
-  set(CallbackT && callback)
-  {
-    // Workaround Windows issue with std::bind
-    if constexpr (
+    typename std::enable_if<
       rclcpp::function_traits::same_arguments<
         CallbackT,
         SharedPtrCallback
-      >::value)
-    {
-      callback_.template emplace<SharedPtrCallback>(callback);
-    } else if constexpr (  // NOLINT, can't satisfy both cpplint and uncrustify
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        SharedPtrWithRequestHeaderCallback
-      >::value)
-    {
-      callback_.template emplace<SharedPtrWithRequestHeaderCallback>(callback);
-    } else if constexpr (  // NOLINT
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        SharedPtrDeferResponseCallback
-      >::value)
-    {
-      callback_.template emplace<SharedPtrDeferResponseCallback>(callback);
-    } else if constexpr (  // NOLINT
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        SharedPtrDeferResponseCallbackWithServiceHandle
-      >::value)
-    {
-      callback_.template emplace<SharedPtrDeferResponseCallbackWithServiceHandle>(callback);
-    } else {
-      // the else clause is not needed, but anyways we should only be doing this instead
-      // of all the above workaround ...
-      callback_ = std::forward<CallbackT>(callback);
-    }
+      >::value
+    >::type * = nullptr
+  >
+  void set(CallbackT callback)
+  {
+    shared_ptr_callback_ = callback;
   }
 
   template<
     typename CallbackT,
-    typename std::enable_if_t<detail::can_be_nullptr<CallbackT>::value, int> = 0>
-  void
-  set(CallbackT && callback)
-  {
-    if (!callback) {
-      throw std::invalid_argument("AnyServiceCallback::set(): callback cannot be nullptr");
-    }
-    // Workaround Windows issue with std::bind
-    if constexpr (
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        SharedPtrCallback
-      >::value)
-    {
-      callback_.template emplace<SharedPtrCallback>(callback);
-    } else if constexpr (  // NOLINT
+    typename std::enable_if<
       rclcpp::function_traits::same_arguments<
         CallbackT,
         SharedPtrWithRequestHeaderCallback
-      >::value)
-    {
-      callback_.template emplace<SharedPtrWithRequestHeaderCallback>(callback);
-    } else if constexpr (  // NOLINT
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        SharedPtrDeferResponseCallback
-      >::value)
-    {
-      callback_.template emplace<SharedPtrDeferResponseCallback>(callback);
-    } else if constexpr (  // NOLINT
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        SharedPtrDeferResponseCallbackWithServiceHandle
-      >::value)
-    {
-      callback_.template emplace<SharedPtrDeferResponseCallbackWithServiceHandle>(callback);
-    } else {
-      // the else clause is not needed, but anyways we should only be doing this instead
-      // of all the above workaround ...
-      callback_ = std::forward<CallbackT>(callback);
-    }
+      >::value
+    >::type * = nullptr
+  >
+  void set(CallbackT callback)
+  {
+    shared_ptr_with_request_header_callback_ = callback;
   }
 
-  // template<typename Allocator = std::allocator<typename ServiceT::Response>>
-  std::shared_ptr<typename ServiceT::Response>
-  dispatch(
-    const std::shared_ptr<rclcpp::Service<ServiceT>> & service_handle,
-    const std::shared_ptr<rmw_request_id_t> & request_header,
-    std::shared_ptr<typename ServiceT::Request> request)
+  void dispatch(
+    std::shared_ptr<rmw_request_id_t> request_header,
+    std::shared_ptr<typename ServiceT::Request> request,
+    std::shared_ptr<typename ServiceT::Response> response)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
-    if (std::holds_alternative<std::monostate>(callback_)) {
-      // TODO(ivanpauno): Remove the set method, and force the users of this class
-      // to pass a callback at construnciton.
-      throw std::runtime_error{"unexpected request without any callback set"};
-    }
-    if (std::holds_alternative<SharedPtrDeferResponseCallback>(callback_)) {
-      const auto & cb = std::get<SharedPtrDeferResponseCallback>(callback_);
-      cb(request_header, std::move(request));
-      return nullptr;
-    }
-    if (std::holds_alternative<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_)) {
-      const auto & cb = std::get<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_);
-      cb(service_handle, request_header, std::move(request));
-      return nullptr;
-    }
-    // auto response = allocate_shared<typename ServiceT::Response, Allocator>();
-    auto response = std::make_shared<typename ServiceT::Response>();
-    if (std::holds_alternative<SharedPtrCallback>(callback_)) {
+    TRACEPOINT(callback_start, (const void *)this, false);
+    if (shared_ptr_callback_ != nullptr) {
       (void)request_header;
-      const auto & cb = std::get<SharedPtrCallback>(callback_);
-      cb(std::move(request), response);
-    } else if (std::holds_alternative<SharedPtrWithRequestHeaderCallback>(callback_)) {
-      const auto & cb = std::get<SharedPtrWithRequestHeaderCallback>(callback_);
-      cb(request_header, std::move(request), response);
+      shared_ptr_callback_(request, response);
+    } else if (shared_ptr_with_request_header_callback_ != nullptr) {
+      shared_ptr_with_request_header_callback_(request_header, request, response);
+    } else {
+      throw std::runtime_error("unexpected request without any callback set");
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
-    return response;
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
   void register_callback_for_tracing()
   {
 #ifndef TRACETOOLS_DISABLED
-    std::visit(
-      [this](auto && arg) {
-        TRACEPOINT(
-          rclcpp_callback_register,
-          static_cast<const void *>(this),
-          tracetools::get_symbol(arg));
-      }, callback_);
+    if (shared_ptr_callback_) {
+      TRACEPOINT(
+        rclcpp_callback_register,
+        (const void *)this,
+        get_symbol(shared_ptr_callback_));
+    } else if (shared_ptr_with_request_header_callback_) {
+      TRACEPOINT(
+        rclcpp_callback_register,
+        (const void *)this,
+        get_symbol(shared_ptr_with_request_header_callback_));
+    }
 #endif  // TRACETOOLS_DISABLED
   }
-
-private:
-  using SharedPtrCallback = std::function<
-    void (
-      std::shared_ptr<typename ServiceT::Request>,
-      std::shared_ptr<typename ServiceT::Response>
-    )>;
-  using SharedPtrWithRequestHeaderCallback = std::function<
-    void (
-      std::shared_ptr<rmw_request_id_t>,
-      std::shared_ptr<typename ServiceT::Request>,
-      std::shared_ptr<typename ServiceT::Response>
-    )>;
-  using SharedPtrDeferResponseCallback = std::function<
-    void (
-      std::shared_ptr<rmw_request_id_t>,
-      std::shared_ptr<typename ServiceT::Request>
-    )>;
-  using SharedPtrDeferResponseCallbackWithServiceHandle = std::function<
-    void (
-      std::shared_ptr<rclcpp::Service<ServiceT>>,
-      std::shared_ptr<rmw_request_id_t>,
-      std::shared_ptr<typename ServiceT::Request>
-    )>;
-
-  std::variant<
-    std::monostate,
-    SharedPtrCallback,
-    SharedPtrWithRequestHeaderCallback,
-    SharedPtrDeferResponseCallback,
-    SharedPtrDeferResponseCallbackWithServiceHandle> callback_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/callback_group.hpp

@@ -56,44 +56,8 @@ class CallbackGroup
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup)
 
-  /// Constructor for CallbackGroup.
-  /**
-   * Callback Groups have a type, either 'Mutually Exclusive' or 'Reentrant'
-   * and when creating one the type must be specified.
-   *
-   * Callbacks in Reentrant Callback Groups must be able to:
-   *   - run at the same time as themselves (reentrant)
-   *   - run at the same time as other callbacks in their group
-   *   - run at the same time as other callbacks in other groups
-   *
-   * Callbacks in Mutually Exclusive Callback Groups:
-   *   - will not be run multiple times simultaneously (non-reentrant)
-   *   - will not be run at the same time as other callbacks in their group
-   *   - but must run at the same time as callbacks in other groups
-   *
-   * Additionally, callback groups have a property which determines whether or
-   * not they are added to an executor with their associated node automatically.
-   * When creating a callback group the automatically_add_to_executor_with_node
-   * argument determines this behavior, and if true it will cause the newly
-   * created callback group to be added to an executor with the node when the
-   * Executor::add_node method is used.
-   * If false, this callback group will not be added automatically and would
-   * have to be added to an executor manually using the
-   * Executor::add_callback_group method.
-   *
-   * Whether the node was added to the executor before creating the callback
-   * group, or after, is irrelevant; the callback group will be automatically
-   * added to the executor in either case.
-   *
-   * \param[in] group_type The type of the callback group.
-   * \param[in] automatically_add_to_executor_with_node A boolean that
-   *   determines whether a callback group is automatically added to an executor
-   *   with the node with which it is associated.
-   */
   RCLCPP_PUBLIC
-  explicit CallbackGroup(
-    CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true);
+  explicit CallbackGroup(CallbackGroupType group_type);
 
   template<typename Function>
   rclcpp::SubscriptionBase::SharedPtr
@@ -138,39 +102,6 @@ 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
-   * to ensure it has not already been added to another executor.
-   * If it has not been, then this boolean is set to true to indicate it is
-   * now associated with an executor.
-   *
-   * When the callback group is removed from the executor, this atomic boolean
-   * is set back to false.
-   *
-   * \return the 'associated with executor' atomic boolean
-   */
-  RCLCPP_PUBLIC
-  std::atomic_bool &
-  get_associated_with_executor_atomic();
-
-  /// Return true if this callback group should be automatically added to an executor by the node.
-  /**
-   * \return boolean true if this callback group should be automatically added
-   *   to an executor when the associated node is added, otherwise false.
-   */
-  RCLCPP_PUBLIC
-  bool
-  automatically_add_to_executor_with_node() const;
-
 protected:
   RCLCPP_DISABLE_COPY(CallbackGroup)
 
@@ -205,14 +136,12 @@ protected:
   CallbackGroupType type_;
   // Mutex to protect the subsequent vectors of pointers.
   mutable std::mutex mutex_;
-  std::atomic_bool associated_with_executor_;
   std::vector<rclcpp::SubscriptionBase::WeakPtr> subscription_ptrs_;
   std::vector<rclcpp::TimerBase::WeakPtr> timer_ptrs_;
   std::vector<rclcpp::ServiceBase::WeakPtr> service_ptrs_;
   std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
   std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
   std::atomic_bool can_be_taken_from_;
-  const bool automatically_add_to_executor_with_node_;
 
 private:
   template<typename TypeT, typename Function>
@@ -230,6 +159,13 @@ private:
   }
 };
 
+namespace callback_group
+{
+
+using CallbackGroupType [[deprecated("use rclcpp::CallbackGroupType instead")]] = CallbackGroupType;
+using CallbackGroup [[deprecated("use rclcpp::CallbackGroup instead")]] = CallbackGroup;
+
+}  // namespace callback_group
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CALLBACK_GROUP_HPP_

rclcpp/include/rclcpp/client.hpp

@@ -17,103 +17,34 @@
 
 #include <atomic>
 #include <future>
-#include <unordered_map>
+#include <map>
 #include <memory>
-#include <mutex>
-#include <optional>  // NOLINT, cpplint doesn't think this is a cpp std header
 #include <sstream>
 #include <string>
 #include <tuple>
 #include <utility>
-#include <variant>  // NOLINT
-#include <vector>
 
 #include "rcl/client.h"
 #include "rcl/error_handling.h"
-#include "rcl/event_callback.h"
 #include "rcl/wait.h"
 
-#include "rclcpp/detail/cpp_callback_trampoline.hpp"
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/function_traits.hpp"
-#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/expand_topic_or_service_name.hpp"
 #include "rclcpp/visibility_control.hpp"
 
+#include "rcutils/logging_macros.h"
+
 #include "rmw/error_handling.h"
-#include "rmw/impl/cpp/demangle.hpp"
 #include "rmw/rmw.h"
 
 namespace rclcpp
 {
 
-namespace detail
-{
-template<typename FutureT>
-struct FutureAndRequestId
-{
-  FutureT future;
-  int64_t request_id;
-
-  FutureAndRequestId(FutureT impl, int64_t req_id)
-  : future(std::move(impl)), request_id(req_id)
-  {}
-
-  /// Allow implicit conversions to `std::future` by reference.
-  operator FutureT &() {return this->future;}
-
-  /// Deprecated, use the `future` member variable instead.
-  /**
-   * Allow implicit conversions to `std::future` by value.
-   * \deprecated
-   */
-  [[deprecated("FutureAndRequestId: use .future instead of an implicit conversion")]]
-  operator FutureT() {return this->future;}
-
-  // delegate future like methods in the std::future impl_
-
-  /// See std::future::get().
-  auto get() {return this->future.get();}
-  /// See std::future::valid().
-  bool valid() const noexcept {return this->future.valid();}
-  /// See std::future::wait().
-  void wait() const {return this->future.wait();}
-  /// See std::future::wait_for().
-  template<class Rep, class Period>
-  std::future_status wait_for(
-    const std::chrono::duration<Rep, Period> & timeout_duration) const
-  {
-    return this->future.wait_for(timeout_duration);
-  }
-  /// See std::future::wait_until().
-  template<class Clock, class Duration>
-  std::future_status wait_until(
-    const std::chrono::time_point<Clock, Duration> & timeout_time) const
-  {
-    return this->future.wait_until(timeout_time);
-  }
-
-  // Rule of five, we could use the rule of zero here, but better be explicit as some of the
-  // methods are deleted.
-
-  /// Move constructor.
-  FutureAndRequestId(FutureAndRequestId && other) noexcept = default;
-  /// Deleted copy constructor, each instance is a unique owner of the future.
-  FutureAndRequestId(const FutureAndRequestId & other) = delete;
-  /// Move assignment.
-  FutureAndRequestId & operator=(FutureAndRequestId && other) noexcept = default;
-  /// Deleted copy assignment, each instance is a unique owner of the future.
-  FutureAndRequestId & operator=(const FutureAndRequestId & other) = delete;
-  /// Destructor.
-  ~FutureAndRequestId() = default;
-};
-}  // namespace detail
-
 namespace node_interfaces
 {
 class NodeBaseInterface;
@@ -219,122 +150,6 @@ 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
-   * since the last time this callback was called.
-   * Normally this is 1, but can be > 1 if responses were received before any
-   * callback was set.
-   *
-   * Since this callback is called from the middleware, you should aim to make
-   * it fast and not blocking.
-   * If you need to do a lot of work or wait for some other event, you should
-   * spin it off to another thread, otherwise you risk blocking the middleware.
-   *
-   * Calling it again will clear any previously set callback.
-   *
-   * An exception will be thrown if the callback is not callable.
-   *
-   * This function is thread-safe.
-   *
-   * If you want more information available in the callback, like the client
-   * or other information, you may use a lambda with captures or std::bind.
-   *
-   * \sa rmw_client_set_on_new_response_callback
-   * \sa rcl_client_set_on_new_response_callback
-   *
-   * \param[in] callback functor to be called when a new response is received
-   */
-  void
-  set_on_new_response_callback(std::function<void(size_t)> callback)
-  {
-    if (!callback) {
-      throw std::invalid_argument(
-              "The callback passed to set_on_new_response_callback "
-              "is not callable.");
-    }
-
-    auto new_callback =
-      [callback, this](size_t number_of_responses) {
-        try {
-          callback(number_of_responses);
-        } catch (const std::exception & exception) {
-          RCLCPP_ERROR_STREAM(
-            node_logger_,
-            "rclcpp::ClientBase@" << this <<
-              " caught " << rmw::impl::cpp::demangle(exception) <<
-              " exception in user-provided callback for the 'on new response' callback: " <<
-              exception.what());
-        } catch (...) {
-          RCLCPP_ERROR_STREAM(
-            node_logger_,
-            "rclcpp::ClientBase@" << this <<
-              " caught unhandled exception in user-provided callback " <<
-              "for the 'on new response' callback");
-        }
-      };
-
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-
-    // Set it temporarily to the new callback, while we replace the old one.
-    // This two-step setting, prevents a gap where the old std::function has
-    // been replaced but the middleware hasn't been told about the new one yet.
-    set_on_new_response_callback(
-      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
-      static_cast<const void *>(&new_callback));
-
-    // Store the std::function to keep it in scope, also overwrites the existing one.
-    on_new_response_callback_ = new_callback;
-
-    // Set it again, now using the permanent storage.
-    set_on_new_response_callback(
-      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
-      static_cast<const void *>(&on_new_response_callback_));
-  }
-
-  /// Unset the callback registered for new responses, if any.
-  void
-  clear_on_new_response_callback()
-  {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-    if (on_new_response_callback_) {
-      set_on_new_response_callback(nullptr, nullptr);
-      on_new_response_callback_ = nullptr;
-    }
-  }
-
 protected:
   RCLCPP_DISABLE_COPY(ClientBase)
 
@@ -350,30 +165,19 @@ protected:
   const rcl_node_t *
   get_rcl_node_handle() const;
 
-  RCLCPP_PUBLIC
-  void
-  set_on_new_response_callback(rcl_event_callback_t callback, const void * user_data);
-
   rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
   std::shared_ptr<rcl_node_t> node_handle_;
   std::shared_ptr<rclcpp::Context> context_;
-  rclcpp::Logger node_logger_;
 
   std::shared_ptr<rcl_client_t> client_handle_;
 
   std::atomic<bool> in_use_by_wait_set_{false};
-
-  std::recursive_mutex callback_mutex_;
-  std::function<void(size_t)> on_new_response_callback_{nullptr};
 };
 
 template<typename ServiceT>
 class Client : public ClientBase
 {
 public:
-  using Request = typename ServiceT::Request;
-  using Response = typename ServiceT::Response;
-
   using SharedRequest = typename ServiceT::Request::SharedPtr;
   using SharedResponse = typename ServiceT::Response::SharedPtr;
 
@@ -383,7 +187,6 @@ public:
   using SharedPromise = std::shared_ptr<Promise>;
   using SharedPromiseWithRequest = std::shared_ptr<PromiseWithRequest>;
 
-  using Future = std::future<SharedResponse>;
   using SharedFuture = std::shared_future<SharedResponse>;
   using SharedFutureWithRequest = std::shared_future<std::pair<SharedRequest, SharedResponse>>;
 
@@ -392,64 +195,6 @@ public:
 
   RCLCPP_SMART_PTR_DEFINITIONS(Client)
 
-  /// A convenient Client::Future and request id pair.
-  /**
-   * Public members:
-   * - future: a std::future<SharedResponse>.
-   * - request_id: the request id associated with the future.
-   *
-   * All the other methods are equivalent to the ones std::future provides.
-   */
-  struct FutureAndRequestId
-    : detail::FutureAndRequestId<std::future<SharedResponse>>
-  {
-    using detail::FutureAndRequestId<std::future<SharedResponse>>::FutureAndRequestId;
-
-    /// Deprecated, use `.future.share()` instead.
-    /**
-     * Allow implicit conversions to `std::shared_future` by value.
-     * \deprecated
-     */
-    [[deprecated(
-      "FutureAndRequestId: use .future.share() instead of an implicit conversion")]]
-    operator SharedFuture() {return this->future.share();}
-
-    // delegate future like methods in the std::future impl_
-
-    /// See std::future::share().
-    SharedFuture share() noexcept {return this->future.share();}
-  };
-
-  /// A convenient Client::SharedFuture and request id pair.
-  /**
-   * Public members:
-   * - future: a std::shared_future<SharedResponse>.
-   * - request_id: the request id associated with the future.
-   *
-   * All the other methods are equivalent to the ones std::shared_future provides.
-   */
-  struct SharedFutureAndRequestId
-    : detail::FutureAndRequestId<std::shared_future<SharedResponse>>
-  {
-    using detail::FutureAndRequestId<std::shared_future<SharedResponse>>::FutureAndRequestId;
-  };
-
-  /// A convenient Client::SharedFutureWithRequest and request id pair.
-  /**
-   * Public members:
-   * - future: a std::shared_future<SharedResponse>.
-   * - request_id: the request id associated with the future.
-   *
-   * All the other methods are equivalent to the ones std::shared_future provides.
-   */
-  struct SharedFutureWithRequestAndRequestId
-    : detail::FutureAndRequestId<std::shared_future<std::pair<SharedRequest, SharedResponse>>>
-  {
-    using detail::FutureAndRequestId<
-      std::shared_future<std::pair<SharedRequest, SharedResponse>>
-    >::FutureAndRequestId;
-  };
-
   /// Default constructor.
   /**
    * The constructor for a Client is almost never called directly.
@@ -547,89 +292,34 @@ public:
     std::shared_ptr<rmw_request_id_t> request_header,
     std::shared_ptr<void> response) override
   {
-    std::optional<CallbackInfoVariant>
-    optional_pending_request = this->get_and_erase_pending_request(request_header->sequence_number);
-    if (!optional_pending_request) {
+    std::unique_lock<std::mutex> lock(pending_requests_mutex_);
+    auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(response);
+    int64_t sequence_number = request_header->sequence_number;
+    // TODO(esteve) this should throw instead since it is not expected to happen in the first place
+    if (this->pending_requests_.count(sequence_number) == 0) {
+      RCUTILS_LOG_ERROR_NAMED(
+        "rclcpp",
+        "Received invalid sequence number. Ignoring...");
       return;
     }
-    auto & value = *optional_pending_request;
-    auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(
-      std::move(response));
-    if (std::holds_alternative<Promise>(value)) {
-      auto & promise = std::get<Promise>(value);
-      promise.set_value(std::move(typed_response));
-    } else if (std::holds_alternative<CallbackTypeValueVariant>(value)) {
-      auto & inner = std::get<CallbackTypeValueVariant>(value);
-      const auto & callback = std::get<CallbackType>(inner);
-      auto & promise = std::get<Promise>(inner);
-      auto & future = std::get<SharedFuture>(inner);
-      promise.set_value(std::move(typed_response));
-      callback(std::move(future));
-    } else if (std::holds_alternative<CallbackWithRequestTypeValueVariant>(value)) {
-      auto & inner = std::get<CallbackWithRequestTypeValueVariant>(value);
-      const auto & callback = std::get<CallbackWithRequestType>(inner);
-      auto & promise = std::get<PromiseWithRequest>(inner);
-      auto & future = std::get<SharedFutureWithRequest>(inner);
-      auto & request = std::get<SharedRequest>(inner);
-      promise.set_value(std::make_pair(std::move(request), std::move(typed_response)));
-      callback(std::move(future));
-    }
+    auto tuple = this->pending_requests_[sequence_number];
+    auto call_promise = std::get<0>(tuple);
+    auto callback = std::get<1>(tuple);
+    auto future = std::get<2>(tuple);
+    this->pending_requests_.erase(sequence_number);
+    // Unlock here to allow the service to be called recursively from one of its callbacks.
+    lock.unlock();
+
+    call_promise->set_value(typed_response);
+    callback(future);
   }
 
-  /// Send a request to the service server.
-  /**
-   * This method returns a `FutureAndRequestId` instance
-   * that can be passed to Executor::spin_until_future_complete() to
-   * wait until it has been completed.
-   *
-   * If the future never completes,
-   * e.g. the call to Executor::spin_until_future_complete() times out,
-   * Client::remove_pending_request() must be called to clean the client internal state.
-   * Not doing so will make the `Client` instance to use more memory each time a response is not
-   * received from the service server.
-   *
-   * ```cpp
-   * auto future = client->async_send_request(my_request);
-   * if (
-   *   rclcpp::FutureReturnCode::TIMEOUT ==
-   *   executor->spin_until_future_complete(future, timeout))
-   * {
-   *   client->remove_pending_request(future);
-   *   // handle timeout
-   * } else {
-   *   handle_response(future.get());
-   * }
-   * ```
-   *
-   * \param[in] request request to be send.
-   * \return a FutureAndRequestId instance.
-   */
-  FutureAndRequestId
+  SharedFuture
   async_send_request(SharedRequest request)
   {
-    Promise promise;
-    auto future = promise.get_future();
-    auto req_id = async_send_request_impl(
-      *request,
-      std::move(promise));
-    return FutureAndRequestId(std::move(future), req_id);
+    return async_send_request(request, [](SharedFuture) {});
   }
 
-  /// Send a request to the service server and schedule a callback in the executor.
-  /**
-   * Similar to the previous overload, but a callback will automatically be called when a response is received.
-   *
-   * If the callback is never called, because we never got a reply for the service server, remove_pending_request()
-   * has to be called with the returned request id or prune_pending_requests().
-   * Not doing so will make the `Client` instance use more memory each time a response is not
-   * received from the service server.
-   * In this case, it's convenient to setup a timer to cleanup the pending requests.
-   * See for example the `examples_rclcpp_async_client` package in https://github.com/ros2/examples.
-   *
-   * \param[in] request request to be send.
-   * \param[in] cb callback that will be called when we get a response for this request.
-   * \return the request id representing the request just sent.
-   */
   template<
     typename CallbackT,
     typename std::enable_if<
@@ -639,28 +329,23 @@ public:
       >::value
     >::type * = nullptr
   >
-  SharedFutureAndRequestId
+  SharedFuture
   async_send_request(SharedRequest request, CallbackT && cb)
   {
-    Promise promise;
-    auto shared_future = promise.get_future().share();
-    auto req_id = async_send_request_impl(
-      *request,
-      std::make_tuple(
-        CallbackType{std::forward<CallbackT>(cb)},
-        shared_future,
-        std::move(promise)));
-    return SharedFutureAndRequestId{std::move(shared_future), req_id};
+    std::lock_guard<std::mutex> lock(pending_requests_mutex_);
+    int64_t sequence_number;
+    rcl_ret_t ret = rcl_send_request(get_client_handle().get(), request.get(), &sequence_number);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send request");
+    }
+
+    SharedPromise call_promise = std::make_shared<Promise>();
+    SharedFuture f(call_promise->get_future());
+    pending_requests_[sequence_number] =
+      std::make_tuple(call_promise, std::forward<CallbackType>(cb), f);
+    return f;
   }
 
-  /// Send a request to the service server and schedule a callback in the executor.
-  /**
-   * Similar to the previous method, but you can get both the request and response in the callback.
-   *
-   * \param[in] request request to be send.
-   * \param[in] cb callback that will be called when we get a response for this request.
-   * \return the request id representing the request just sent.
-   */
   template<
     typename CallbackT,
     typename std::enable_if<
@@ -670,165 +355,27 @@ public:
       >::value
     >::type * = nullptr
   >
-  SharedFutureWithRequestAndRequestId
+  SharedFutureWithRequest
   async_send_request(SharedRequest request, CallbackT && cb)
   {
-    PromiseWithRequest promise;
-    auto shared_future = promise.get_future().share();
-    auto req_id = async_send_request_impl(
-      *request,
-      std::make_tuple(
-        CallbackWithRequestType{std::forward<CallbackT>(cb)},
-        request,
-        shared_future,
-        std::move(promise)));
-    return SharedFutureWithRequestAndRequestId{std::move(shared_future), req_id};
-  }
-
-  /// Cleanup a pending request.
-  /**
-   * This notifies the client that we have waited long enough for a response from the server
-   * to come, we have given up and we are not waiting for a response anymore.
-   *
-   * Not calling this will make the client start using more memory for each request
-   * that never got a reply from the server.
-   *
-   * \param[in] request_id request id returned by async_send_request().
-   * \return true when a pending request was removed, false if not (e.g. a response was received).
-   */
-  bool
-  remove_pending_request(int64_t request_id)
-  {
-    std::lock_guard guard(pending_requests_mutex_);
-    return pending_requests_.erase(request_id) != 0u;
-  }
-
-  /// Cleanup a pending request.
-  /**
-   * Convenient overload, same as:
-   *
-   * `Client::remove_pending_request(this, future.request_id)`.
-   */
-  bool
-  remove_pending_request(const FutureAndRequestId & future)
-  {
-    return this->remove_pending_request(future.request_id);
-  }
-
-  /// Cleanup a pending request.
-  /**
-   * Convenient overload, same as:
-   *
-   * `Client::remove_pending_request(this, future.request_id)`.
-   */
-  bool
-  remove_pending_request(const SharedFutureAndRequestId & future)
-  {
-    return this->remove_pending_request(future.request_id);
-  }
-
-  /// Cleanup a pending request.
-  /**
-   * Convenient overload, same as:
-   *
-   * `Client::remove_pending_request(this, future.request_id)`.
-   */
-  bool
-  remove_pending_request(const SharedFutureWithRequestAndRequestId & future)
-  {
-    return this->remove_pending_request(future.request_id);
-  }
-
-  /// Clean all pending requests.
-  /**
-   * \return number of pending requests that were removed.
-   */
-  size_t
-  prune_pending_requests()
-  {
-    std::lock_guard guard(pending_requests_mutex_);
-    auto ret = pending_requests_.size();
-    pending_requests_.clear();
-    return ret;
-  }
-
-  /// Clean all pending requests older than a time_point.
-  /**
-   * \param[in] time_point Requests that were sent before this point are going to be removed.
-   * \param[inout] pruned_requests Removed requests id will be pushed to the vector
-   *  if a pointer is provided.
-   * \return number of pending requests that were removed.
-   */
-  template<typename AllocatorT = std::allocator<int64_t>>
-  size_t
-  prune_requests_older_than(
-    std::chrono::time_point<std::chrono::system_clock> time_point,
-    std::vector<int64_t, AllocatorT> * pruned_requests = nullptr)
-  {
-    std::lock_guard guard(pending_requests_mutex_);
-    auto old_size = pending_requests_.size();
-    for (auto it = pending_requests_.begin(), last = pending_requests_.end(); it != last; ) {
-      if (it->second.first < time_point) {
-        pruned_requests->push_back(it->first);
-        it = pending_requests_.erase(it);
-      } else {
-        ++it;
-      }
-    }
-    return old_size - pending_requests_.size();
-  }
-
-protected:
-  using CallbackTypeValueVariant = std::tuple<CallbackType, SharedFuture, Promise>;
-  using CallbackWithRequestTypeValueVariant = std::tuple<
-    CallbackWithRequestType, SharedRequest, SharedFutureWithRequest, PromiseWithRequest>;
-
-  using CallbackInfoVariant = std::variant<
-    std::promise<SharedResponse>,
-    CallbackTypeValueVariant,
-    CallbackWithRequestTypeValueVariant>;
-
-  int64_t
-  async_send_request_impl(const Request & request, CallbackInfoVariant value)
-  {
-    int64_t sequence_number;
-    rcl_ret_t ret = rcl_send_request(get_client_handle().get(), &request, &sequence_number);
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send request");
-    }
-    {
-      std::lock_guard<std::mutex> lock(pending_requests_mutex_);
-      pending_requests_.try_emplace(
-        sequence_number,
-        std::make_pair(std::chrono::system_clock::now(), std::move(value)));
-    }
-    return sequence_number;
-  }
-
-  std::optional<CallbackInfoVariant>
-  get_and_erase_pending_request(int64_t request_number)
-  {
-    std::unique_lock<std::mutex> lock(pending_requests_mutex_);
-    auto it = this->pending_requests_.find(request_number);
-    if (it == this->pending_requests_.end()) {
-      RCUTILS_LOG_DEBUG_NAMED(
-        "rclcpp",
-        "Received invalid sequence number. Ignoring...");
-      return std::nullopt;
-    }
-    auto value = std::move(it->second.second);
-    this->pending_requests_.erase(request_number);
-    return value;
+    SharedPromiseWithRequest promise = std::make_shared<PromiseWithRequest>();
+    SharedFutureWithRequest future_with_request(promise->get_future());
+
+    auto wrapping_cb = [future_with_request, promise, request, &cb](SharedFuture future) {
+        auto response = future.get();
+        promise->set_value(std::make_pair(request, response));
+        cb(future_with_request);
+      };
+
+    async_send_request(request, wrapping_cb);
+
+    return future_with_request;
   }
 
+private:
   RCLCPP_DISABLE_COPY(Client)
 
-  std::unordered_map<
-    int64_t,
-    std::pair<
-      std::chrono::time_point<std::chrono::system_clock>,
-      CallbackInfoVariant>>
-  pending_requests_;
+  std::map<int64_t, std::tuple<SharedPromise, CallbackType, SharedFuture>> pending_requests_;
   std::mutex pending_requests_mutex_;
 };
 

rclcpp/include/rclcpp/clock.hpp

@@ -19,7 +19,6 @@
 #include <memory>
 #include <mutex>
 
-#include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -79,64 +78,6 @@ public:
   Time
   now();
 
-  /**
-   * Sleep until a specified Time, according to clock type.
-   *
-   * Notes for RCL_ROS_TIME clock type:
-   *   - Can sleep forever if ros time is active and received clock never reaches `until`
-   *   - If ROS time enabled state changes during the sleep, this method will immediately return
-   *     false. There is not a consistent choice of sleeping time when the time source changes,
-   *     so this is up to the caller to call again if needed.
-   *
-   * \warning When using gcc < 10 or when using gcc >= 10 and pthreads lacks the function
-   *    `pthread_cond_clockwait`, steady clocks may sleep using the system clock.
-   *    If so, steady clock sleep times can be affected by system clock time jumps.
-   *    Depending on the steady clock's epoch and resolution in comparison to the system clock's,
-   *    an overflow when converting steady clock durations to system clock times may cause
-   *    undefined behavior.
-   *    For more info see these issues:
-   *    https://gcc.gnu.org/bugzilla/show_bug.cgi?id=41861
-   *    https://gcc.gnu.org/bugzilla/show_bug.cgi?id=58931
-   *
-   * \param until absolute time according to current clock type to sleep until.
-   * \param context the rclcpp context the clock should use to check that ROS is still initialized.
-   * \return true immediately if `until` is in the past
-   * \return true when the time `until` is reached
-   * \return false if time cannot be reached reliably, for example from shutdown or a change
-   *    of time source.
-   * \throws std::runtime_error if the context is invalid
-   * \throws std::runtime_error if `until` has a different clock type from this clock
-   */
-  RCLCPP_PUBLIC
-  bool
-  sleep_until(
-    Time until,
-    Context::SharedPtr context = contexts::get_global_default_context());
-
-  /**
-   * Sleep for a specified Duration.
-   *
-   * Equivalent to
-   *
-   * ```cpp
-   * clock->sleep_until(clock->now() + rel_time, context)
-   * ```
-   *
-   * The function will return immediately if `rel_time` is zero or negative.
-   *
-   * \param rel_time the length of time to sleep for.
-   * \param context the rclcpp context the clock should use to check that ROS is still initialized.
-   * \return true when the end time is reached
-   * \return false if time cannot be reached reliably, for example from shutdown or a change
-   *    of time source.
-   * \throws std::runtime_error if the context is invalid
-   */
-  RCLCPP_PUBLIC
-  bool
-  sleep_for(
-    Duration rel_time,
-    Context::SharedPtr context = contexts::get_global_default_context());
-
   /**
    * Returns the clock of the type `RCL_ROS_TIME` is active.
    *
@@ -195,7 +136,7 @@ private:
   RCLCPP_PUBLIC
   static void
   on_time_jump(
-    const rcl_time_jump_t * time_jump,
+    const struct rcl_time_jump_t * time_jump,
     bool before_jump,
     void * user_data);
 

rclcpp/include/rclcpp/context.hpp

@@ -23,7 +23,6 @@
 #include <typeindex>
 #include <typeinfo>
 #include <unordered_map>
-#include <unordered_set>
 #include <utility>
 #include <vector>
 
@@ -48,20 +47,6 @@ public:
 /// Forward declare WeakContextsWrapper
 class WeakContextsWrapper;
 
-class ShutdownCallbackHandle
-{
-  friend class Context;
-
-public:
-  using ShutdownCallbackType = std::function<void ()>;
-
-private:
-  std::weak_ptr<ShutdownCallbackType> callback;
-};
-
-using OnShutdownCallbackHandle = ShutdownCallbackHandle;
-using PreShutdownCallbackHandle = ShutdownCallbackHandle;
-
 /// Context which encapsulates shared state between nodes and other similar entities.
 /**
  * A context also represents the lifecycle between init and shutdown of rclcpp.
@@ -78,7 +63,7 @@ public:
    * Every context which is constructed is added to a global vector of contexts,
    * which is used by the signal handler to conditionally shutdown each context
    * on SIGINT.
-   * See the shutdown_on_signal option in the InitOptions class.
+   * See the shutdown_on_sigint option in the InitOptions class.
    */
   RCLCPP_PUBLIC
   Context();
@@ -95,8 +80,8 @@ public:
    *
    * Note that this function does not setup any signal handlers, so if you want
    * it to be shutdown by the signal handler, then you need to either install
-   * them manually with rclcpp::install_signal_handlers() or use rclcpp::init().
-   * In addition to installing the signal handlers, the shutdown_on_signal
+   * them manually with rclcpp::install_signal_handers() or use rclcpp::init().
+   * In addition to installing the signal handlers, the shutdown_on_sigint
    * of the InitOptions needs to be `true` for this context to be shutdown by
    * the signal handler, otherwise it will be passed over.
    *
@@ -127,7 +112,7 @@ public:
   void
   init(
     int argc,
-    char const * const * argv,
+    char const * const argv[],
     const rclcpp::InitOptions & init_options = rclcpp::InitOptions());
 
   /// Return true if the context is valid, otherwise false.
@@ -154,18 +139,13 @@ public:
   rclcpp::InitOptions
   get_init_options();
 
-  /// Return actual domain id.
-  RCLCPP_PUBLIC
-  size_t
-  get_domain_id() const;
-
   /// Return the shutdown reason, or empty string if not shutdown.
   /**
    * This function is thread-safe.
    */
   RCLCPP_PUBLIC
   std::string
-  shutdown_reason() const;
+  shutdown_reason();
 
   /// Shutdown the context, making it uninitialized and therefore invalid for derived entities.
   /**
@@ -192,7 +172,7 @@ public:
   bool
   shutdown(const std::string & reason);
 
-  using OnShutdownCallback = OnShutdownCallbackHandle::ShutdownCallbackType;
+  using OnShutdownCallback = std::function<void ()>;
 
   /// Add a on_shutdown callback to be called when shutdown is called for this context.
   /**
@@ -200,7 +180,7 @@ public:
    * to last step in shutdown().
    *
    * When shutdown occurs due to the signal handler, these callbacks are run
-   * asynchronously in the dedicated singal handling thread.
+   * asynchronoulsy in the dedicated singal handling thread.
    *
    * Also, shutdown() may be called from the destructor of this function.
    * Therefore, it is not safe to throw exceptions from these callbacks.
@@ -218,82 +198,23 @@ public:
   OnShutdownCallback
   on_shutdown(OnShutdownCallback callback);
 
-  /// Add a on_shutdown callback to be called when shutdown is called for this context.
+  /// Return the shutdown callbacks as const.
   /**
-   * These callbacks will be called in the order they are added as the second
-   * to last step in shutdown().
-   *
-   * When shutdown occurs due to the signal handler, these callbacks are run
-   * asynchronously in the dedicated signal handling thread.
-   *
-   * Also, shutdown() may be called from the destructor of this function.
-   * Therefore, it is not safe to throw exceptions from these callbacks.
-   * Instead, log errors or use some other mechanism to indicate an error has
-   * occurred.
-   *
-   * On shutdown callbacks may be registered before init and after shutdown,
-   * and persist on repeated init's.
-   *
-   * \param[in] callback the on_shutdown callback to be registered
-   * \return the created callback handle
+   * Using the returned reference is not thread-safe with calls that modify
+   * the list of "on shutdown" callbacks, i.e. on_shutdown().
    */
   RCLCPP_PUBLIC
-  virtual
-  OnShutdownCallbackHandle
-  add_on_shutdown_callback(OnShutdownCallback callback);
-
-  /// Remove an registered on_shutdown callbacks.
-  /**
-   * \param[in] callback_handle the on_shutdown callback handle to be removed.
-   * \return true if the callback is found and removed, otherwise false.
-   */
-  RCLCPP_PUBLIC
-  virtual
-  bool
-  remove_on_shutdown_callback(const OnShutdownCallbackHandle & callback_handle);
-
-  using PreShutdownCallback = PreShutdownCallbackHandle::ShutdownCallbackType;
-
-  /// Add a pre_shutdown callback to be called before shutdown is called for this context.
-  /**
-   * These callbacks will be called in the order they are added.
-   *
-   * When shutdown occurs due to the signal handler, these callbacks are run
-   * asynchronously in the dedicated signal handling thread.
-   *
-   * \param[in] callback the pre_shutdown callback to be registered
-   * \return the created callback handle
-   */
-  RCLCPP_PUBLIC
-  virtual
-  PreShutdownCallbackHandle
-  add_pre_shutdown_callback(PreShutdownCallback callback);
-
-  /// Remove an registered pre_shutdown callback.
-  /**
-   * \param[in] callback_handle the pre_shutdown callback handle to be removed.
-   * \return true if the callback is found and removed, otherwise false.
-   */
-  RCLCPP_PUBLIC
-  virtual
-  bool
-  remove_pre_shutdown_callback(const PreShutdownCallbackHandle & callback_handle);
+  const std::vector<OnShutdownCallback> &
+  get_on_shutdown_callbacks() const;
 
   /// Return the shutdown callbacks.
   /**
-   * Returned callbacks are a copy of the registered callbacks.
+   * Using the returned reference is not thread-safe with calls that modify
+   * the list of "on shutdown" callbacks, i.e. on_shutdown().
    */
   RCLCPP_PUBLIC
-  std::vector<OnShutdownCallback>
-  get_on_shutdown_callbacks() const;
-
-  /// Return the pre-shutdown callbacks.
-  /**
-   * Returned callbacks are a copy of the registered callbacks.
-   */
-  RCLCPP_PUBLIC
-  std::vector<PreShutdownCallback>
-  get_pre_shutdown_callbacks() const;
+  std::vector<OnShutdownCallback> &
+  get_on_shutdown_callbacks();
 
   /// Return the internal rcl context.
   RCLCPP_PUBLIC
@@ -306,7 +227,7 @@ public:
    *
    *   - this context is shutdown()
    *   - this context is destructed (resulting in shutdown)
-   *   - this context has shutdown_on_signal=true and SIGINT/SIGTERM occurs (resulting in shutdown)
+   *   - this context has shutdown_on_sigint=true and SIGINT occurs (resulting in shutdown)
    *   - interrupt_all_sleep_for() is called
    *
    * \param[in] nanoseconds A std::chrono::duration representing how long to sleep for.
@@ -322,6 +243,67 @@ public:
   void
   interrupt_all_sleep_for();
 
+  /// Get a handle to the guard condition which is triggered when interrupted.
+  /**
+   * This guard condition is triggered any time interrupt_all_wait_sets() is
+   * called, which may be called by the user, or shutdown().
+   * And in turn, shutdown() may be called by the user, the destructor of this
+   * context, or the signal handler if installed and shutdown_on_sigint is true
+   * for this context.
+   *
+   * The first time that this function is called for a given wait set a new guard
+   * condition will be created and returned; thereafter the same guard condition
+   * will be returned for the same wait set.
+   * This mechanism is designed to ensure that the same guard condition is not
+   * reused across wait sets (e.g., when using multiple executors in the same
+   * process).
+   * This method will throw an exception if initialization of the guard
+   * condition fails.
+   *
+   * The returned guard condition needs to be released with the
+   * release_interrupt_guard_condition() method in order to reclaim resources.
+   *
+   * \param[in] wait_set Pointer to the rcl_wait_set_t that will be using the
+   *   resulting guard condition.
+   * \return Pointer to the guard condition.
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
+   */
+  RCLCPP_PUBLIC
+  rcl_guard_condition_t *
+  get_interrupt_guard_condition(rcl_wait_set_t * wait_set);
+
+  /// Release the previously allocated guard condition which is triggered when interrupted.
+  /**
+   * If you previously called get_interrupt_guard_condition() for a given wait
+   * set to get a interrupt guard condition, then you should call
+   * release_interrupt_guard_condition() when you're done, to free that
+   * condition.
+   * Will throw an exception if get_interrupt_guard_condition() wasn't
+   * previously called for the given wait set.
+   *
+   * After calling this, the pointer returned by get_interrupt_guard_condition()
+   * for the given wait_set is invalid.
+   *
+   * \param[in] wait_set Pointer to the rcl_wait_set_t that was using the
+   *   resulting guard condition.
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
+   * \throws std::runtime_error if a nonexistent wait set is trying to release sigint guard condition.
+   */
+  RCLCPP_PUBLIC
+  void
+  release_interrupt_guard_condition(rcl_wait_set_t * wait_set);
+
+  /// Nothrow version of release_interrupt_guard_condition(), logs to RCLCPP_ERROR instead.
+  RCLCPP_PUBLIC
+  void
+  release_interrupt_guard_condition(rcl_wait_set_t * wait_set, const std::nothrow_t &) noexcept;
+
+  /// Interrupt any blocking executors, or wait sets associated with this context.
+  RCLCPP_PUBLIC
+  virtual
+  void
+  interrupt_all_wait_sets();
+
   /// Return a singleton instance for the SubContext type, constructing one if necessary.
   template<typename SubContext, typename ... Args>
   std::shared_ptr<SubContext>
@@ -360,7 +342,7 @@ private:
 
   // This mutex is recursive so that the destructor can ensure atomicity
   // between is_initialized and shutdown.
-  mutable std::recursive_mutex init_mutex_;
+  std::recursive_mutex init_mutex_;
   std::shared_ptr<rcl_context_t> rcl_context_;
   rclcpp::InitOptions init_options_;
   std::string shutdown_reason_;
@@ -373,42 +355,21 @@ private:
   // attempt to acquire another sub context.
   std::recursive_mutex sub_contexts_mutex_;
 
-  std::unordered_set<std::shared_ptr<OnShutdownCallback>> on_shutdown_callbacks_;
-  mutable std::mutex on_shutdown_callbacks_mutex_;
-
-  std::unordered_set<std::shared_ptr<PreShutdownCallback>> pre_shutdown_callbacks_;
-  mutable std::mutex pre_shutdown_callbacks_mutex_;
+  std::vector<OnShutdownCallback> on_shutdown_callbacks_;
+  std::mutex on_shutdown_callbacks_mutex_;
 
   /// Condition variable for timed sleep (see sleep_for).
   std::condition_variable interrupt_condition_variable_;
   /// Mutex for protecting the global condition variable.
   std::mutex interrupt_mutex_;
 
+  /// Mutex to protect sigint_guard_cond_handles_.
+  std::mutex interrupt_guard_cond_handles_mutex_;
+  /// Guard conditions for interrupting of associated wait sets on interrupt_all_wait_sets().
+  std::unordered_map<rcl_wait_set_t *, rcl_guard_condition_t> interrupt_guard_cond_handles_;
+
   /// Keep shared ownership of global vector of weak contexts
   std::shared_ptr<WeakContextsWrapper> weak_contexts_;
-
-  enum class ShutdownType
-  {
-    pre_shutdown,
-    on_shutdown
-  };
-
-  using ShutdownCallback = ShutdownCallbackHandle::ShutdownCallbackType;
-
-  RCLCPP_LOCAL
-  ShutdownCallbackHandle
-  add_shutdown_callback(
-    ShutdownType shutdown_type,
-    ShutdownCallback callback);
-
-  RCLCPP_LOCAL
-  bool
-  remove_shutdown_callback(
-    ShutdownType shutdown_type,
-    const ShutdownCallbackHandle & callback_handle);
-
-  std::vector<rclcpp::Context::ShutdownCallback>
-  get_shutdown_callback(ShutdownType shutdown_type) const;
 };
 
 /// Return a copy of the list of context shared pointers.

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -36,6 +36,22 @@ RCLCPP_PUBLIC
 DefaultContext::SharedPtr
 get_global_default_context();
 
+namespace default_context
+{
+
+using DefaultContext
+[[deprecated("use rclcpp::contexts::DefaultContext instead")]] = DefaultContext;
+
+[[deprecated("use rclcpp::contexts::get_global_default_context() instead")]]
+RCLCPP_PUBLIC
+inline
+DefaultContext::SharedPtr
+get_global_default_context()
+{
+  return rclcpp::contexts::get_global_default_context();
+}
+
+}  // namespace default_context
 }  // namespace contexts
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/create_generic_publisher.hpp

@@ -1,69 +0,0 @@
-// Copyright 2020, Apex.AI Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__CREATE_GENERIC_PUBLISHER_HPP_
-#define RCLCPP__CREATE_GENERIC_PUBLISHER_HPP_
-
-#include <memory>
-#include <string>
-#include <utility>
-
-#include "rclcpp/generic_publisher.hpp"
-#include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/publisher_options.hpp"
-#include "rclcpp/qos.hpp"
-#include "rclcpp/typesupport_helpers.hpp"
-
-namespace rclcpp
-{
-
-/// Create and return a GenericPublisher.
-/**
- * The returned pointer will never be empty, but this function can throw various exceptions, for
- * instance when the message's package can not be found on the AMENT_PREFIX_PATH.
- *
- * \param topics_interface NodeTopicsInterface pointer used in parts of the setup
- * \param topic_name Topic name
- * \param topic_type Topic type
- * \param qos %QoS settings
- * \param options %Publisher options.
- * Not all publisher options are currently respected, the only relevant options for this
- * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
- */
-template<typename AllocatorT = std::allocator<void>>
-std::shared_ptr<GenericPublisher> create_generic_publisher(
-  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
-  const std::string & topic_name,
-  const std::string & topic_type,
-  const rclcpp::QoS & qos,
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-  )
-)
-{
-  auto ts_lib = rclcpp::get_typesupport_library(topic_type, "rosidl_typesupport_cpp");
-  auto pub = std::make_shared<GenericPublisher>(
-    topics_interface->get_node_base_interface(),
-    std::move(ts_lib),
-    topic_name,
-    topic_type,
-    qos,
-    options);
-  topics_interface->add_publisher(pub, options.callback_group);
-  return pub;
-}
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__CREATE_GENERIC_PUBLISHER_HPP_

rclcpp/include/rclcpp/create_generic_subscription.hpp

@@ -1,79 +0,0 @@
-// Copyright 2020, Apex.AI Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_
-#define RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_
-
-#include <functional>
-#include <memory>
-#include <string>
-#include <utility>
-
-#include "rcl/subscription.h"
-#include "rclcpp/generic_subscription.hpp"
-#include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/qos.hpp"
-#include "rclcpp/serialized_message.hpp"
-#include "rclcpp/subscription_options.hpp"
-#include "rclcpp/typesupport_helpers.hpp"
-
-namespace rclcpp
-{
-
-/// Create and return a GenericSubscription.
-/**
- * The returned pointer will never be empty, but this function can throw various exceptions, for
- * instance when the message's package can not be found on the AMENT_PREFIX_PATH.
- *
- * \param topics_interface NodeTopicsInterface pointer used in parts of the setup.
- * \param topic_name Topic name
- * \param topic_type Topic type
- * \param qos %QoS settings
- * \param callback Callback for new messages of serialized form
- * \param options %Publisher options.
- * Not all publisher options are currently respected, the only relevant options for this
- * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
- */
-template<typename AllocatorT = std::allocator<void>>
-std::shared_ptr<GenericSubscription> create_generic_subscription(
-  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
-  const std::string & topic_name,
-  const std::string & topic_type,
-  const rclcpp::QoS & qos,
-  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
-  )
-)
-{
-  auto ts_lib = rclcpp::get_typesupport_library(
-    topic_type, "rosidl_typesupport_cpp");
-
-  auto subscription = std::make_shared<GenericSubscription>(
-    topics_interface->get_node_base_interface(),
-    std::move(ts_lib),
-    topic_name,
-    topic_type,
-    qos,
-    callback,
-    options);
-
-  topics_interface->add_subscription(subscription, options.callback_group);
-
-  return subscription;
-}
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_

rclcpp/include/rclcpp/create_publisher.hpp

@@ -17,7 +17,6 @@
 
 #include <memory>
 #include <string>
-#include <utility>
 
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
@@ -25,65 +24,15 @@
 #include "rclcpp/publisher_factory.hpp"
 #include "rclcpp/publisher_options.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/qos_overriding_options.hpp"
-#include "rclcpp/detail/qos_parameters.hpp"
-
 #include "rmw/qos_profiles.h"
 
 namespace rclcpp
 {
 
-namespace detail
-{
-/// Create and return a publisher of the given MessageT type.
-template<
-  typename MessageT,
-  typename AllocatorT = std::allocator<void>,
-  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
-  typename NodeParametersT,
-  typename NodeTopicsT>
-std::shared_ptr<PublisherT>
-create_publisher(
-  NodeParametersT & node_parameters,
-  NodeTopicsT & node_topics,
-  const std::string & topic_name,
-  const rclcpp::QoS & qos,
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-  )
-)
-{
-  auto node_topics_interface = rclcpp::node_interfaces::get_node_topics_interface(node_topics);
-  const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
-    rclcpp::detail::declare_qos_parameters(
-    options.qos_overriding_options, node_parameters,
-    node_topics_interface->resolve_topic_name(topic_name),
-    qos, rclcpp::detail::PublisherQosParametersTraits{}) :
-    qos;
-
-  // Create the publisher.
-  auto pub = node_topics_interface->create_publisher(
-    topic_name,
-    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options),
-    actual_qos
-  );
-
-  // Add the publisher to the node topics interface.
-  node_topics_interface->add_publisher(pub, options.callback_group);
-
-  return std::dynamic_pointer_cast<PublisherT>(pub);
-}
-}  // namespace detail
-
-
 /// Create and return a publisher of the given MessageT type.
 /**
  * The NodeT type only needs to have a method called get_node_topics_interface()
  * which returns a shared_ptr to a NodeTopicsInterface.
- *
- * In case `options.qos_overriding_options` is enabling qos parameter overrides,
- * NodeT must also have a method called get_node_parameters_interface()
- * which returns a shared_ptr to a NodeParametersInterface.
  */
 template<
   typename MessageT,
@@ -92,7 +41,7 @@ template<
   typename NodeT>
 std::shared_ptr<PublisherT>
 create_publisher(
-  NodeT && node,
+  NodeT & node,
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
@@ -100,28 +49,21 @@ create_publisher(
   )
 )
 {
-  return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
-    node, node, topic_name, qos, options);
-}
+  // Extract the NodeTopicsInterface from the NodeT.
+  using rclcpp::node_interfaces::get_node_topics_interface;
+  auto node_topics = get_node_topics_interface(node);
 
-/// Create and return a publisher of the given MessageT type.
-template<
-  typename MessageT,
-  typename AllocatorT = std::allocator<void>,
-  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
-std::shared_ptr<PublisherT>
-create_publisher(
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters,
-  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics,
-  const std::string & topic_name,
-  const rclcpp::QoS & qos,
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-  )
-)
-{
-  return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
-    node_parameters, node_topics, topic_name, qos, options);
+  // Create the publisher.
+  auto pub = node_topics->create_publisher(
+    topic_name,
+    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options),
+    qos
+  );
+
+  // Add the publisher to the node topics interface.
+  node_topics->add_publisher(pub, options.callback_group);
+
+  return std::dynamic_pointer_cast<PublisherT>(pub);
 }
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/create_subscription.hpp

@@ -41,118 +41,16 @@
 namespace rclcpp
 {
 
-namespace detail
-{
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename AllocatorT,
-  typename SubscriptionT,
-  typename MessageMemoryStrategyT,
-  typename NodeParametersT,
-  typename NodeTopicsT,
-  typename ROSMessageType = typename SubscriptionT::ROSMessageType>
-typename std::shared_ptr<SubscriptionT>
-create_subscription(
-  NodeParametersT & node_parameters,
-  NodeTopicsT & node_topics,
-  const std::string & topic_name,
-  const rclcpp::QoS & qos,
-  CallbackT && callback,
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
-  ),
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-    MessageMemoryStrategyT::create_default()
-  )
-)
-{
-  using rclcpp::node_interfaces::get_node_topics_interface;
-  auto node_topics_interface = get_node_topics_interface(node_topics);
-
-  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>
-  subscription_topic_stats = nullptr;
-
-  if (rclcpp::detail::resolve_enable_topic_statistics(
-      options,
-      *node_topics_interface->get_node_base_interface()))
-  {
-    if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
-      throw std::invalid_argument(
-              "topic_stats_options.publish_period must be greater than 0, specified value of " +
-              std::to_string(options.topic_stats_options.publish_period.count()) +
-              " ms");
-    }
-
-    std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>>
-    publisher = rclcpp::detail::create_publisher<statistics_msgs::msg::MetricsMessage>(
-      node_parameters,
-      node_topics_interface,
-      options.topic_stats_options.publish_topic,
-      qos);
-
-    subscription_topic_stats = std::make_shared<
-      rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>
-      >(node_topics_interface->get_node_base_interface()->get_name(), publisher);
-
-    std::weak_ptr<
-      rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>
-    > weak_subscription_topic_stats(subscription_topic_stats);
-    auto sub_call_back = [weak_subscription_topic_stats]() {
-        auto subscription_topic_stats = weak_subscription_topic_stats.lock();
-        if (subscription_topic_stats) {
-          subscription_topic_stats->publish_message_and_reset_measurements();
-        }
-      };
-
-    auto node_timer_interface = node_topics_interface->get_node_timers_interface();
-
-    auto timer = create_wall_timer(
-      std::chrono::duration_cast<std::chrono::nanoseconds>(
-        options.topic_stats_options.publish_period),
-      sub_call_back,
-      options.callback_group,
-      node_topics_interface->get_node_base_interface(),
-      node_timer_interface
-    );
-
-    subscription_topic_stats->set_publisher_timer(timer);
-  }
-
-  auto factory = rclcpp::create_subscription_factory<MessageT>(
-    std::forward<CallbackT>(callback),
-    options,
-    msg_mem_strat,
-    subscription_topic_stats
-  );
-
-  const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
-    rclcpp::detail::declare_qos_parameters(
-    options.qos_overriding_options, node_parameters,
-    node_topics_interface->resolve_topic_name(topic_name),
-    qos, rclcpp::detail::SubscriptionQosParametersTraits{}) :
-    qos;
-
-  auto sub = node_topics_interface->create_subscription(topic_name, factory, actual_qos);
-  node_topics_interface->add_subscription(sub, options.callback_group);
-
-  return std::dynamic_pointer_cast<SubscriptionT>(sub);
-}
-}  // namespace detail
-
 /// Create and return a subscription of the given MessageT type.
 /**
  * The NodeT type only needs to have a method called get_node_topics_interface()
  * which returns a shared_ptr to a NodeTopicsInterface, or be a
  * NodeTopicsInterface pointer itself.
  *
- * In case `options.qos_overriding_options` is enabling qos parameter overrides,
- * NodeT must also have a method called get_node_parameters_interface()
- * which returns a shared_ptr to a NodeParametersInterface.
- *
  * \tparam MessageT
  * \tparam CallbackT
  * \tparam AllocatorT
+ * \tparam CallbackMessageT
  * \tparam SubscriptionT
  * \tparam MessageMemoryStrategyT
  * \tparam NodeT
@@ -170,12 +68,17 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT = std::allocator<void>,
-  typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType,
+  typename CallbackMessageT =
+  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >,
   typename NodeT>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
-  NodeT & node,
+  NodeT && node,
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   CallbackT && callback,
@@ -187,40 +90,68 @@ create_subscription(
   )
 )
 {
-  return rclcpp::detail::create_subscription<
-    MessageT, CallbackT, AllocatorT, SubscriptionT, MessageMemoryStrategyT>(
-    node, node, topic_name, qos, std::forward<CallbackT>(callback), options, msg_mem_strat);
-}
+  using rclcpp::node_interfaces::get_node_topics_interface;
+  auto node_topics = get_node_topics_interface(std::forward<NodeT>(node));
 
-/// Create and return a subscription of the given MessageT type.
-/**
- * See \ref create_subscription().
- */
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename AllocatorT = std::allocator<void>,
-  typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
-typename std::shared_ptr<SubscriptionT>
-create_subscription(
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters,
-  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics,
-  const std::string & topic_name,
-  const rclcpp::QoS & qos,
-  CallbackT && callback,
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
-  ),
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-    MessageMemoryStrategyT::create_default()
-  )
-)
-{
-  return rclcpp::detail::create_subscription<
-    MessageT, CallbackT, AllocatorT, SubscriptionT, MessageMemoryStrategyT>(
-    node_parameters, node_topics, topic_name, qos,
-    std::forward<CallbackT>(callback), options, msg_mem_strat);
+  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
+  subscription_topic_stats = nullptr;
+
+  if (rclcpp::detail::resolve_enable_topic_statistics(
+      options,
+      *node_topics->get_node_base_interface()))
+  {
+    if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
+      throw std::invalid_argument(
+              "topic_stats_options.publish_period must be greater than 0, specified value of " +
+              std::to_string(options.topic_stats_options.publish_period.count()) +
+              " ms");
+    }
+
+    std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>> publisher =
+      create_publisher<statistics_msgs::msg::MetricsMessage>(
+      node,
+      options.topic_stats_options.publish_topic,
+      qos);
+
+    subscription_topic_stats = std::make_shared<
+      rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
+      >(node_topics->get_node_base_interface()->get_name(), publisher);
+
+    std::weak_ptr<
+      rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
+    > weak_subscription_topic_stats(subscription_topic_stats);
+    auto sub_call_back = [weak_subscription_topic_stats]() {
+        auto subscription_topic_stats = weak_subscription_topic_stats.lock();
+        if (subscription_topic_stats) {
+          subscription_topic_stats->publish_message();
+        }
+      };
+
+    auto node_timer_interface = node_topics->get_node_timers_interface();
+
+    auto timer = create_wall_timer(
+      std::chrono::duration_cast<std::chrono::nanoseconds>(
+        options.topic_stats_options.publish_period),
+      sub_call_back,
+      options.callback_group,
+      node_topics->get_node_base_interface(),
+      node_timer_interface
+    );
+
+    subscription_topic_stats->set_publisher_timer(timer);
+  }
+
+  auto factory = rclcpp::create_subscription_factory<MessageT>(
+    std::forward<CallbackT>(callback),
+    options,
+    msg_mem_strat,
+    subscription_topic_stats
+  );
+
+  auto sub = node_topics->create_subscription(topic_name, factory, qos);
+  node_topics->add_subscription(sub, options.callback_group);
+
+  return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp

@@ -1,39 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__ADD_GUARD_CONDITION_TO_RCL_WAIT_SET_HPP_
-#define RCLCPP__DETAIL__ADD_GUARD_CONDITION_TO_RCL_WAIT_SET_HPP_
-
-#include "rclcpp/guard_condition.hpp"
-
-namespace rclcpp
-{
-namespace detail
-{
-
-/// Adds the guard condition to a waitset
-/**
- * \param[in] wait_set reference to a wait set where to add the guard condition
- * \param[in] guard_condition reference to the guard_condition to be added
- */
-RCLCPP_PUBLIC
-void
-add_guard_condition_to_rcl_wait_set(
-  rcl_wait_set_t & wait_set,
-  const rclcpp::GuardCondition & guard_condition);
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__ADD_GUARD_CONDITION_TO_RCL_WAIT_SET_HPP_

rclcpp/include/rclcpp/detail/cpp_callback_trampoline.hpp

@@ -1,68 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__CPP_CALLBACK_TRAMPOLINE_HPP_
-#define RCLCPP__DETAIL__CPP_CALLBACK_TRAMPOLINE_HPP_
-
-#include <functional>
-
-namespace rclcpp
-{
-
-namespace detail
-{
-
-/// Trampoline pattern for wrapping std::function into C-style callbacks.
-/**
- * A common pattern in C is for a function to take a function pointer and a
- * void pointer for "user data" which is passed to the function pointer when it
- * is called from within C.
- *
- * It works by using the user data pointer to store a pointer to a
- * std::function instance.
- * So when called from C, this function will cast the user data to the right
- * std::function type and call it.
- *
- * This should allow you to use free functions, lambdas with and without
- * captures, and various kinds of std::bind instances.
- *
- * The interior of this function is likely to be executed within a C runtime,
- * so no exceptions should be thrown at this point, and doing so results in
- * undefined behavior.
- *
- * \tparam UserDataT Deduced type based on what is passed for user data,
- *   usually this type is either `void *` or `const void *`.
- * \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<
-  typename UserDataT,
-  typename ... Args,
-  typename ReturnT = void
->
-ReturnT
-cpp_callback_trampoline(UserDataT user_data, Args ... args) noexcept
-{
-  auto & actual_callback = *reinterpret_cast<const std::function<ReturnT(Args...)> *>(user_data);
-  return actual_callback(args ...);
-}
-
-}  // namespace detail
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__CPP_CALLBACK_TRAMPOLINE_HPP_

rclcpp/include/rclcpp/detail/mutex_two_priorities.hpp

@@ -0,0 +1,76 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DETAIL__MUTEX_TWO_PRIORITIES_HPP_
+#define RCLCPP__DETAIL__MUTEX_TWO_PRIORITIES_HPP_
+
+#include <condition_variable>
+#include <mutex>
+
+namespace rclcpp
+{
+namespace detail
+{
+/// \internal A mutex that has two locking mechanism, one with higher priority than the other.
+/**
+ * After the current mutex owner release the lock, a thread that used the high
+ * priority mechanism will have priority over threads that used the low priority mechanism.
+ */
+class MutexTwoPriorities
+{
+public:
+  class HighPriorityLockable
+  {
+public:
+    explicit HighPriorityLockable(MutexTwoPriorities & parent);
+
+    void lock();
+
+    void unlock();
+
+private:
+    MutexTwoPriorities & parent_;
+  };
+
+  class LowPriorityLockable
+  {
+public:
+    explicit LowPriorityLockable(MutexTwoPriorities & parent);
+
+    void lock();
+
+    void unlock();
+
+private:
+    MutexTwoPriorities & parent_;
+  };
+
+  HighPriorityLockable
+  get_high_priority_lockable();
+
+  LowPriorityLockable
+  get_low_priority_lockable();
+
+private:
+  std::condition_variable hp_cv_;
+  std::condition_variable lp_cv_;
+  std::mutex cv_mutex_;
+  size_t hp_waiting_count_{0u};
+  bool data_taken_{false};
+};
+
+}  // namespace detail
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DETAIL__MUTEX_TWO_PRIORITIES_HPP_

rclcpp/include/rclcpp/detail/qos_parameters.hpp

@@ -1,340 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__QOS_PARAMETERS_HPP_
-#define RCLCPP__DETAIL__QOS_PARAMETERS_HPP_
-
-#include <algorithm>
-#include <array>
-#include <functional>
-#include <initializer_list>
-#include <map>
-#include <string>
-#include <type_traits>
-#include <vector>
-
-#include "rcl_interfaces/msg/parameter_descriptor.hpp"
-#include "rcpputils/pointer_traits.hpp"
-#include "rmw/qos_string_conversions.h"
-
-#include "rclcpp/duration.hpp"
-#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
-#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
-#include "rclcpp/qos_overriding_options.hpp"
-
-namespace rclcpp
-{
-namespace detail
-{
-
-/// \internal Trait used to specialize `declare_qos_parameters()` for publishers.
-struct PublisherQosParametersTraits
-{
-  static constexpr const char * entity_type() {return "publisher";}
-  static constexpr auto allowed_policies()
-  {
-    return std::array<::rclcpp::QosPolicyKind, 9> {
-      QosPolicyKind::AvoidRosNamespaceConventions,
-      QosPolicyKind::Deadline,
-      QosPolicyKind::Durability,
-      QosPolicyKind::History,
-      QosPolicyKind::Depth,
-      QosPolicyKind::Lifespan,
-      QosPolicyKind::Liveliness,
-      QosPolicyKind::LivelinessLeaseDuration,
-      QosPolicyKind::Reliability,
-    };
-  }
-};
-
-/// \internal Trait used to specialize `declare_qos_parameters()` for subscriptions.
-struct SubscriptionQosParametersTraits
-{
-  static constexpr const char * entity_type() {return "subscription";}
-  static constexpr auto allowed_policies()
-  {
-    return std::array<::rclcpp::QosPolicyKind, 8> {
-      QosPolicyKind::AvoidRosNamespaceConventions,
-      QosPolicyKind::Deadline,
-      QosPolicyKind::Durability,
-      QosPolicyKind::History,
-      QosPolicyKind::Depth,
-      QosPolicyKind::Liveliness,
-      QosPolicyKind::LivelinessLeaseDuration,
-      QosPolicyKind::Reliability,
-    };
-  }
-};
-
-/// \internal Returns the given `policy` of the profile `qos` converted to a parameter value.
-inline
-::rclcpp::ParameterValue
-get_default_qos_param_value(rclcpp::QosPolicyKind policy, const rclcpp::QoS & qos);
-
-/// \internal Modify the given `policy` in `qos` to be `value`.
-inline
-void
-apply_qos_override(
-  rclcpp::QosPolicyKind policy, rclcpp::ParameterValue value, rclcpp::QoS & qos);
-
-inline
-rclcpp::ParameterValue
-declare_parameter_or_get(
-  rclcpp::node_interfaces::NodeParametersInterface & parameters_interface,
-  const std::string & param_name,
-  rclcpp::ParameterValue param_value,
-  rcl_interfaces::msg::ParameterDescriptor descriptor)
-{
-  try {
-    return parameters_interface.declare_parameter(
-      param_name, param_value, descriptor);
-  } catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
-    return parameters_interface.get_parameter(param_name).get_parameter_value();
-  }
-}
-
-#ifdef DOXYGEN_ONLY
-/// \internal Declare QoS parameters for the given entity.
-/**
- * \tparam NodeT Node pointer or reference type.
- * \tparam EntityQosParametersTraits A class with two static methods: `entity_type()` and
- *  `allowed_policies()`. See `PublisherQosParametersTraits` and `SubscriptionQosParametersTraits`.
- * \param options User provided options that indicate if QoS parameter overrides should be
- *  declared or not, which policy can have overrides, and optionally a callback to validate the profile.
- * \param node Parameters will be declared using this node.
- * \param topic_name Name of the topic of the entity.
- * \param default_qos User provided qos. It will be used as a default for the parameters declared.
- * \return qos profile based on the user provided parameter overrides.
- */
-template<typename NodeT, typename EntityQosParametersTraits>
-rclcpp::QoS
-  declare_qos_parameters(
-  const ::rclcpp::QosOverridingOptions & options,
-  NodeT & node,
-  const std::string & topic_name,
-  const ::rclcpp::QoS & default_qos,
-  EntityQosParametersTraits);
-
-#else
-
-template<typename NodeT, typename EntityQosParametersTraits>
-std::enable_if_t<
-  (rclcpp::node_interfaces::has_node_parameters_interface<
-    decltype(std::declval<typename rcpputils::remove_pointer<NodeT>::type>())>::value ||
-  std::is_same<typename std::decay_t<NodeT>,
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr>::value),
-  rclcpp::QoS>
-declare_qos_parameters(
-  const ::rclcpp::QosOverridingOptions & options,
-  NodeT & node,
-  const std::string & topic_name,
-  const ::rclcpp::QoS & default_qos,
-  EntityQosParametersTraits)
-{
-  auto & parameters_interface = *rclcpp::node_interfaces::get_node_parameters_interface(node);
-  std::string param_prefix;
-  const auto & id = options.get_id();
-  {
-    std::ostringstream oss{"qos_overrides.", std::ios::ate};
-    oss << topic_name << "." << EntityQosParametersTraits::entity_type();
-    if (!id.empty()) {
-      oss << "_" << id;
-    }
-    oss << ".";
-    param_prefix = oss.str();
-  }
-  std::string param_description_suffix;
-  {
-    std::ostringstream oss{"} for ", std::ios::ate};
-    oss << EntityQosParametersTraits::entity_type() << " {" << topic_name << "}";
-    if (!id.empty()) {
-      oss << " with id {" << id << "}";
-    }
-    param_description_suffix = oss.str();
-  }
-  rclcpp::QoS qos = default_qos;
-  for (auto policy : EntityQosParametersTraits::allowed_policies()) {
-    if (
-      std::count(options.get_policy_kinds().begin(), options.get_policy_kinds().end(), policy))
-    {
-      std::ostringstream param_name{param_prefix, std::ios::ate};
-      param_name << qos_policy_kind_to_cstr(policy);
-      std::ostringstream param_desciption{"qos policy {", std::ios::ate};
-      param_desciption << qos_policy_kind_to_cstr(policy) << param_description_suffix;
-      rcl_interfaces::msg::ParameterDescriptor descriptor{};
-      descriptor.description = param_desciption.str();
-      descriptor.read_only = true;
-      auto value = declare_parameter_or_get(
-        parameters_interface, param_name.str(),
-        get_default_qos_param_value(policy, qos), descriptor);
-      ::rclcpp::detail::apply_qos_override(policy, value, qos);
-    }
-  }
-  const auto & validation_callback = options.get_validation_callback();
-  if (validation_callback) {
-    auto result = validation_callback(qos);
-    if (!result.successful) {
-      throw rclcpp::exceptions::InvalidQosOverridesException{
-              "validation callback failed: " + result.reason};
-    }
-  }
-  return qos;
-}
-
-// TODO(ivanpauno): This overload cannot declare the QoS parameters, as a node parameters interface
-// was not provided.
-template<typename NodeT, typename EntityQosParametersTraits>
-std::enable_if_t<
-  !(rclcpp::node_interfaces::has_node_parameters_interface<
-    decltype(std::declval<typename rcpputils::remove_pointer<NodeT>::type>())>::value ||
-  std::is_same<typename std::decay_t<NodeT>,
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr>::value),
-  rclcpp::QoS>
-declare_qos_parameters(
-  const ::rclcpp::QosOverridingOptions & options,
-  NodeT &,
-  const std::string &,
-  const ::rclcpp::QoS & default_qos,
-  EntityQosParametersTraits)
-{
-  if (options.get_policy_kinds().size()) {
-    std::runtime_error exc{
-      "passed non-default qos overriding options without providing a parameters interface"};
-    throw exc;
-  }
-  return default_qos;
-}
-
-#endif
-
-/// \internal Helper function to get a rmw qos policy value from a string.
-#define RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING( \
-    kind_lower, kind_upper, parameter_value, rclcpp_qos) \
-  do { \
-    auto policy_string = (parameter_value).get<std::string>(); \
-    auto policy_value = rmw_qos_ ## kind_lower ## _policy_from_str(policy_string.c_str()); \
-    if (RMW_QOS_POLICY_ ## kind_upper ## _UNKNOWN == policy_value) { \
-      throw std::invalid_argument{"unknown QoS policy " #kind_lower " value: " + policy_string}; \
-    } \
-    ((rclcpp_qos).kind_lower)(policy_value); \
-  } while (0)
-
-inline
-void
-apply_qos_override(
-  rclcpp::QosPolicyKind policy, rclcpp::ParameterValue value, rclcpp::QoS & qos)
-{
-  switch (policy) {
-    case QosPolicyKind::AvoidRosNamespaceConventions:
-      qos.avoid_ros_namespace_conventions(value.get<bool>());
-      break;
-    case QosPolicyKind::Deadline:
-      qos.deadline(::rclcpp::Duration::from_nanoseconds(value.get<int64_t>()));
-      break;
-    case QosPolicyKind::Durability:
-      RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING(
-        durability, DURABILITY, value, qos);
-      break;
-    case QosPolicyKind::History:
-      RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING(
-        history, HISTORY, value, qos);
-      break;
-    case QosPolicyKind::Depth:
-      qos.get_rmw_qos_profile().depth = static_cast<size_t>(value.get<int64_t>());
-      break;
-    case QosPolicyKind::Lifespan:
-      qos.lifespan(::rclcpp::Duration::from_nanoseconds(value.get<int64_t>()));
-      break;
-    case QosPolicyKind::Liveliness:
-      RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING(
-        liveliness, LIVELINESS, value, qos);
-      break;
-    case QosPolicyKind::LivelinessLeaseDuration:
-      qos.liveliness_lease_duration(::rclcpp::Duration::from_nanoseconds(value.get<int64_t>()));
-      break;
-    case QosPolicyKind::Reliability:
-      RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING(
-        reliability, RELIABILITY, value, qos);
-      break;
-    default:
-      throw std::invalid_argument{"unknown QosPolicyKind"};
-  }
-}
-
-/// Convert `rmw_time_t` to `int64_t` that can be used as a parameter value.
-inline
-int64_t
-rmw_duration_to_int64_t(rmw_time_t rmw_duration)
-{
-  return ::rclcpp::Duration(
-    static_cast<int32_t>(rmw_duration.sec),
-    static_cast<uint32_t>(rmw_duration.nsec)
-  ).nanoseconds();
-}
-
-/// \internal Throw an exception if `policy_value_stringified` is NULL.
-inline
-const char *
-check_if_stringified_policy_is_null(const char * policy_value_stringified, QosPolicyKind kind)
-{
-  if (!policy_value_stringified) {
-    std::ostringstream oss{"unknown value for policy kind {", std::ios::ate};
-    oss << kind << "}";
-    throw std::invalid_argument{oss.str()};
-  }
-  return policy_value_stringified;
-}
-
-inline
-::rclcpp::ParameterValue
-get_default_qos_param_value(rclcpp::QosPolicyKind kind, const rclcpp::QoS & qos)
-{
-  using ParameterValue = ::rclcpp::ParameterValue;
-  const auto & rmw_qos = qos.get_rmw_qos_profile();
-  switch (kind) {
-    case QosPolicyKind::AvoidRosNamespaceConventions:
-      return ParameterValue(rmw_qos.avoid_ros_namespace_conventions);
-    case QosPolicyKind::Deadline:
-      return ParameterValue(rmw_duration_to_int64_t(rmw_qos.deadline));
-    case QosPolicyKind::Durability:
-      return ParameterValue(
-        check_if_stringified_policy_is_null(
-          rmw_qos_durability_policy_to_str(rmw_qos.durability), kind));
-    case QosPolicyKind::History:
-      return ParameterValue(
-        check_if_stringified_policy_is_null(
-          rmw_qos_history_policy_to_str(rmw_qos.history), kind));
-    case QosPolicyKind::Depth:
-      return ParameterValue(static_cast<int64_t>(rmw_qos.depth));
-    case QosPolicyKind::Lifespan:
-      return ParameterValue(rmw_duration_to_int64_t(rmw_qos.lifespan));
-    case QosPolicyKind::Liveliness:
-      return ParameterValue(
-        check_if_stringified_policy_is_null(
-          rmw_qos_liveliness_policy_to_str(rmw_qos.liveliness), kind));
-    case QosPolicyKind::LivelinessLeaseDuration:
-      return ParameterValue(rmw_duration_to_int64_t(rmw_qos.liveliness_lease_duration));
-    case QosPolicyKind::Reliability:
-      return ParameterValue(
-        check_if_stringified_policy_is_null(
-          rmw_qos_reliability_policy_to_str(rmw_qos.reliability), kind));
-    default:
-      throw std::invalid_argument{"unknown QoS policy kind"};
-  }
-}
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__QOS_PARAMETERS_HPP_

rclcpp/include/rclcpp/detail/subscription_callback_type_helper.hpp

@@ -1,166 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__SUBSCRIPTION_CALLBACK_TYPE_HELPER_HPP_
-#define RCLCPP__DETAIL__SUBSCRIPTION_CALLBACK_TYPE_HELPER_HPP_
-
-#include <memory>
-#include <type_traits>
-
-#include "rclcpp/function_traits.hpp"
-#include "rclcpp/message_info.hpp"
-
-namespace rclcpp
-{
-namespace detail
-{
-
-/// Template metaprogramming helper used to resolve the callback argument into a std::function.
-/**
- * Sometimes the CallbackT is a std::function already, but it could also be a
- * function pointer, lambda, bind, or some variant of those.
- * In some cases, like a lambda where the arguments can be converted between one
- * another, e.g. std::function<void (shared_ptr<...>)> and
- * std::function<void (unique_ptr<...>)>, you need to make that not ambiguous
- * by checking the arguments independently using function traits rather than
- * rely on overloading the two std::function types.
- *
- * This issue, with the lambda's, can be demonstrated with this minimal program:
- *
- * \code{.cpp}
- *   #include <functional>
- *   #include <memory>
- *
- *   void f(std::function<void (std::shared_ptr<int>)>) {}
- *   void f(std::function<void (std::unique_ptr<int>)>) {}
- *
- *   int main() {
- *     // Fails to compile with an "ambiguous call" error.
- *     f([](std::shared_ptr<int>){});
- *
- *     // Works.
- *     std::function<void (std::shared_ptr<int>)> cb = [](std::shared_ptr<int>){};
- *     f(cb);
- *   }
- * \endcode
- *
- * If this program ever starts working in a future version of C++, this class
- * may become redundant.
- *
- * This helper works by using SFINAE with rclcpp::function_traits::same_arguments<>
- * to narrow down the exact std::function<> type for the given CallbackT.
- */
-template<typename MessageT, typename CallbackT, typename Enable = void>
-struct SubscriptionCallbackTypeHelper
-{
-  using callback_type = typename rclcpp::function_traits::as_std_function<CallbackT>::type;
-};
-
-template<typename MessageT, typename CallbackT>
-struct SubscriptionCallbackTypeHelper<
-  MessageT,
-  CallbackT,
-  typename std::enable_if_t<
-    rclcpp::function_traits::same_arguments<
-      CallbackT,
-      std::function<void(std::shared_ptr<const MessageT>)>
-    >::value
-  >
->
-{
-  using callback_type = std::function<void (std::shared_ptr<const MessageT>)>;
-};
-
-template<typename MessageT, typename CallbackT>
-struct SubscriptionCallbackTypeHelper<
-  MessageT,
-  CallbackT,
-  typename std::enable_if_t<
-    rclcpp::function_traits::same_arguments<
-      CallbackT,
-      std::function<void(std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>
-    >::value
-  >
->
-{
-  using callback_type =
-    std::function<void (std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>;
-};
-
-template<typename MessageT, typename CallbackT>
-struct SubscriptionCallbackTypeHelper<
-  MessageT,
-  CallbackT,
-  typename std::enable_if_t<
-    rclcpp::function_traits::same_arguments<
-      CallbackT,
-      std::function<void(const std::shared_ptr<const MessageT> &)>
-    >::value
-  >
->
-{
-  using callback_type = std::function<void (const std::shared_ptr<const MessageT> &)>;
-};
-
-template<typename MessageT, typename CallbackT>
-struct SubscriptionCallbackTypeHelper<
-  MessageT,
-  CallbackT,
-  typename std::enable_if_t<
-    rclcpp::function_traits::same_arguments<
-      CallbackT,
-      std::function<void(const std::shared_ptr<const MessageT> &, const rclcpp::MessageInfo &)>
-    >::value
-  >
->
-{
-  using callback_type =
-    std::function<void (const std::shared_ptr<const MessageT> &, const rclcpp::MessageInfo &)>;
-};
-
-template<typename MessageT, typename CallbackT>
-struct SubscriptionCallbackTypeHelper<
-  MessageT,
-  CallbackT,
-  typename std::enable_if_t<
-    rclcpp::function_traits::same_arguments<
-      CallbackT,
-      std::function<void(std::shared_ptr<MessageT>)>
-    >::value
-  >
->
-{
-  using callback_type = std::function<void (std::shared_ptr<MessageT>)>;
-};
-
-template<typename MessageT, typename CallbackT>
-struct SubscriptionCallbackTypeHelper<
-  MessageT,
-  CallbackT,
-  typename std::enable_if_t<
-    rclcpp::function_traits::same_arguments<
-      CallbackT,
-      std::function<void(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>
-    >::value
-  >
->
-{
-  using callback_type =
-    std::function<void (std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>;
-};
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__SUBSCRIPTION_CALLBACK_TYPE_HELPER_HPP_

rclcpp/include/rclcpp/detail/utilities.hpp

@@ -30,7 +30,7 @@ namespace detail
 
 std::vector<std::string>
 get_unparsed_ros_arguments(
-  int argc, char const * const * argv,
+  int argc, char const * const argv[],
   rcl_arguments_t * arguments,
   rcl_allocator_t allocator);
 

rclcpp/include/rclcpp/duration.hpp

@@ -38,7 +38,10 @@ public:
    */
   Duration(int32_t seconds, uint32_t nanoseconds);
 
-  /// Construct duration from the specified std::chrono::nanoseconds.
+  // This constructor matches any numeric value - ints or floats.
+  explicit Duration(rcl_duration_value_t nanoseconds);
+
+  // This constructor matches std::chrono::nanoseconds.
   explicit Duration(std::chrono::nanoseconds nanoseconds);
 
   // This constructor matches any std::chrono value other than nanoseconds
@@ -126,13 +129,6 @@ public:
   static Duration
   from_seconds(double seconds);
 
-  /// Create a duration object from an integer number representing nanoseconds
-  static Duration
-  from_nanoseconds(rcl_duration_value_t nanoseconds);
-
-  static Duration
-  from_rmw_time(rmw_time_t duration);
-
   /// Convert Duration into a std::chrono::Duration.
   template<class DurationT>
   DurationT
@@ -147,8 +143,6 @@ public:
 
 private:
   rcl_duration_t rcl_duration_;
-
-  Duration() = default;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -109,8 +109,6 @@ public:
   : std::runtime_error(msg) {}
 };
 
-typedef void (* reset_error_function_t)();
-
 /// Throw a C++ std::exception which was created based on an rcl error.
 /**
  * Passing nullptr for reset_error is safe and will avoid calling any function
@@ -131,7 +129,7 @@ throw_from_rcl_error [[noreturn]] (
   rcl_ret_t ret,
   const std::string & prefix = "",
   const rcl_error_state_t * error_state = nullptr,
-  reset_error_function_t reset_error = rcl_reset_error);
+  void (* reset_error)() = rcl_reset_error);
 /* *INDENT-ON* */
 
 class RCLErrorBase
@@ -256,23 +254,6 @@ public:
   {}
 };
 
-/// Thrown if user attempts to create an uninitialized statically typed parameter
-/**
- * (see https://github.com/ros2/rclcpp/issues/1691)
- */
-class UninitializedStaticallyTypedParameterException : public std::runtime_error
-{
-public:
-  /// Construct an instance.
-  /**
-   * \param[in] name the name of the parameter.
-   */
-  RCLCPP_PUBLIC
-  explicit UninitializedStaticallyTypedParameterException(const std::string & name)
-  : std::runtime_error("Statically typed parameter '" + name + "' must be initialized.")
-  {}
-};
-
 /// Thrown if parameter is already declared.
 class ParameterAlreadyDeclaredException : public std::runtime_error
 {
@@ -301,33 +282,6 @@ class ParameterModifiedInCallbackException : public std::runtime_error
   using std::runtime_error::runtime_error;
 };
 
-/// Thrown when an uninitialized parameter is accessed.
-class ParameterUninitializedException : public std::runtime_error
-{
-public:
-  /// Construct an instance.
-  /**
-   * \param[in] name the name of the parameter.
-   */
-  explicit ParameterUninitializedException(const std::string & name)
-  : std::runtime_error("parameter '" + name + "' is not initialized")
-  {}
-};
-
-/// Thrown if the QoS overrides provided aren't valid.
-class InvalidQosOverridesException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if a QoS compatibility check fails.
-class QoSCheckCompatibleException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
 }  // namespace exceptions
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/executor.hpp

@@ -21,7 +21,6 @@
 #include <cstdlib>
 #include <iostream>
 #include <list>
-#include <map>
 #include <memory>
 #include <mutex>
 #include <string>
@@ -29,11 +28,8 @@
 
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
-#include "rcpputils/scope_exit.hpp"
 
-#include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/executor_options.hpp"
 #include "rclcpp/future_return_code.hpp"
 #include "rclcpp/memory_strategies.hpp"
@@ -41,14 +37,11 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
 
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
-
 // Forward declaration is used in convenience method signature.
 class Node;
 
@@ -83,118 +76,13 @@ public:
   virtual void
   spin() = 0;
 
-  /// Add a callback group to an executor.
-  /**
-   * An executor can have zero or more callback groups which provide work during `spin` functions.
-   * When an executor attempts to add a callback group, the executor checks to see if it is already
-   * associated with another executor, and if it has been, then an exception is thrown.
-   * Otherwise, the callback group is added to the executor.
-   *
-   * Adding a callback group with this method does not associate its node with this executor
-   * in any way
-   *
-   * \param[in] group_ptr a shared ptr that points to a callback group
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \param[in] notify True to trigger the interrupt guard condition during this function. If
-   * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
-   * callback group was added, it will wake up.
-   * \throw std::runtime_error if the callback group is associated to an executor
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true);
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * associated with the executor.
-   * The callback groups associated with this executor may have been added with
-   * `add_callback_group`, or added when a node was added to the executor with `add_node`, or
-   * automatically added when it created by a node already associated with this executor and the
-   * automatically_add_to_executor_with_node parameter was true.
-   *
-   * \return a vector of weak pointers that point to callback groups that are associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * associated with the executor.
-   * The callback groups associated with this executor have been added with
-   * `add_callback_group`.
-   *
-   * \return a vector of weak pointers that point to callback groups that are associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * added from a node that is associated with the executor.
-   * The callback groups are added when a node is added to the executor with `add_node`, or
-   * automatically if they are created in the future by that node and have the
-   * automatically_add_to_executor_with_node argument set to true.
-   *
-   * \return a vector of weak pointers that point to callback groups from a node associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes();
-
-  /// Remove a callback group from the executor.
-  /**
-   * The callback group is removed from and disassociated with the executor.
-   * If the callback group removed was the last callback group from the node
-   * that is associated with the executor, the interrupt guard condition
-   * is triggered and node's guard condition is removed from the executor.
-   *
-   * This function only removes a callback group that was manually added with
-   * rclcpp::Executor::add_callback_group.
-   * To remove callback groups that were added from a node using
-   * rclcpp::Executor::add_node, use rclcpp::Executor::remove_node instead.
-   *
-   * \param[in] group_ptr Shared pointer to the callback group to be added.
-   * \param[in] notify True to trigger the interrupt guard condition during this function. If
-   * the executor is blocked at the rmw layer while waiting for work and it is notified that a
-   * callback group was removed, it will wake up.
-   * \throw std::runtime_error if node is deleted before callback group
-   * \throw std::runtime_error if the callback group is not associated with the executor
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    bool notify = true);
-
   /// Add a node to the executor.
   /**
-   * Nodes have associated callback groups, and this method adds any of those callback groups
-   * to this executor which have their automatically_add_to_executor_with_node parameter true.
-   * The node is also associated with the executor so that future callback groups which are
-   * created on the node with the automatically_add_to_executor_with_node parameter set to true
-   * are also automatically associated with this executor.
-   *
-   * Callback groups with the automatically_add_to_executor_with_node parameter set to false must
-   * be manually added to an executor using the rclcpp::Executor::add_callback_group method.
-   *
-   * If a node is already associated with an executor, this method throws an exception.
-   *
+   * An executor can have zero or more nodes which provide work during `spin` functions.
    * \param[in] node_ptr Shared pointer to the node to be added.
    * \param[in] notify True to trigger the interrupt guard condition during this function. If
    * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
    * node was added, it will wake up.
-   * \throw std::runtime_error if a node is already associated to an executor
    */
   RCLCPP_PUBLIC
   virtual void
@@ -210,19 +98,10 @@ public:
 
   /// Remove a node from the executor.
   /**
-   * Any callback groups automatically added when this node was added with
-   * rclcpp::Executor::add_node are automatically removed, and the node is no longer associated
-   * with this executor.
-   *
-   * This also means that future callback groups created by the given node are no longer
-   * automatically added to this executor.
-   *
    * \param[in] node_ptr Shared pointer to the node to remove.
    * \param[in] notify True to trigger the interrupt guard condition and wake up the executor.
    * This is useful if the last node was removed from the executor while the executor was blocked
    * waiting for work in another thread, because otherwise the executor would never be notified.
-   * \throw std::runtime_error if the node is not associated with an executor.
-   * \throw std::runtime_error if the node is not associated with this executor.
    */
   RCLCPP_PUBLIC
   virtual void
@@ -281,7 +160,7 @@ public:
   void
   spin_node_some(std::shared_ptr<rclcpp::Node> node);
 
-  /// Collect work once and execute all available work, optionally within a duration.
+  /// Complete all available queued work without blocking.
   /**
    * This function can be overridden. The default implementation is suitable for a
    * single-threaded model of execution.
@@ -296,25 +175,6 @@ public:
   virtual void
   spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
 
-  /// Collect and execute work repeatedly within a duration or until no more work is available.
-  /**
-   * This function can be overridden. The default implementation is suitable for a
-   * single-threaded model of execution.
-   * Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function
-   * to block (which may have unintended consequences).
-   * If the time that waitables take to be executed is longer than the period on which new waitables
-   * become ready, this method will execute work repeatedly until `max_duration` has elapsed.
-   *
-   * \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 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.
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  spin_all(std::chrono::nanoseconds max_duration);
-
   RCLCPP_PUBLIC
   virtual void
   spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
@@ -329,10 +189,10 @@ public:
    *   code.
    * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
    */
-  template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   FutureReturnCode
   spin_until_future_complete(
-    const FutureT & future,
+    const std::shared_future<ResponseT> & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete
@@ -356,7 +216,7 @@ public:
     if (spinning.exchange(true)) {
       throw std::runtime_error("spin_until_future_complete() called while already spinning");
     }
-    RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
+    RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
     while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
       spin_once_impl(timeout_left);
@@ -403,15 +263,6 @@ public:
   void
   set_memory_strategy(memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
 
-  /// Returns true if the executor is currently spinning.
-  /**
-   * This function can be called asynchronously from any thread.
-   * \return True if the executor is currently spinning.
-   */
-  RCLCPP_PUBLIC
-  bool
-  is_spinning();
-
 protected:
   RCLCPP_PUBLIC
   void
@@ -419,10 +270,6 @@ protected:
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
     std::chrono::nanoseconds timeout);
 
-  RCLCPP_PUBLIC
-  void
-  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
-
   /// Find the next available executable and do the work associated with it.
   /**
    * \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
@@ -459,136 +306,57 @@ protected:
 
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-  get_node_by_group(
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    rclcpp::CallbackGroup::SharedPtr group);
-
-  /// Return true if the node has been added to this executor.
-  /**
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \param[in] weak_groups_to_nodes map to nodes to lookup
-   * \return true if the node is associated with the executor, otherwise false
-   */
-  RCLCPP_PUBLIC
-  bool
-  has_node(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
+  get_node_by_group(rclcpp::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
-  /// Add a callback group to an executor
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_group_to_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  remove_callback_group_from_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
-
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
 
-  RCLCPP_PUBLIC
-  bool
-  get_next_ready_executable_from_map(
-    AnyExecutable & any_executable,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
   RCLCPP_PUBLIC
   bool
   get_next_executable(
     AnyExecutable & any_executable,
     std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  /// Add all callback groups that can be automatically added from associated nodes.
-  /**
-   * The executor, before collecting entities, verifies if any callback group from
-   * nodes associated with the executor, which is not already associated to an executor,
-   * can be automatically added to this executor.
-   * This takes care of any callback group that has been added to a node but not explicitly added
-   * to the executor.
-   * It is important to note that in order for the callback groups to be automatically added to an
-   * executor through this function, the node of the callback groups needs to have been added
-   * through the `add_node` method.
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_groups_from_nodes_associated_to_executor() RCPPUTILS_TSA_REQUIRES(mutex_);
-
   /// Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.
   std::atomic_bool spinning;
 
   /// Guard condition for signaling the rmw layer to wake up for special events.
-  rclcpp::GuardCondition interrupt_guard_condition_;
-
-  std::shared_ptr<rclcpp::GuardCondition> shutdown_guard_condition_;
+  rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
 
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 
   // Mutex to protect the subsequent memory_strategy_.
-  mutable std::mutex mutex_;
+  std::mutex memory_strategy_mutex_;
 
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
-  memory_strategy::MemoryStrategy::SharedPtr
-  memory_strategy_ RCPPUTILS_TSA_PT_GUARDED_BY(mutex_);
+  memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 
   /// The context associated with this executor.
   std::shared_ptr<rclcpp::Context> context_;
 
   RCLCPP_DISABLE_COPY(Executor)
 
+  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
+
+private:
   RCLCPP_PUBLIC
-  virtual void
+  void
   spin_once_impl(std::chrono::nanoseconds timeout);
-
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-
-  /// maps nodes to guard conditions
-  WeakNodesToGuardConditionsMap
-  weak_nodes_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// maps callback groups associated to nodes
-  WeakCallbackGroupsToNodesMap
-  weak_groups_associated_with_executor_to_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// maps callback groups to nodes associated with executor
-  WeakCallbackGroupsToNodesMap
-  weak_groups_to_nodes_associated_with_executor_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// maps all callback groups to nodes
-  WeakCallbackGroupsToNodesMap
-  weak_groups_to_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// nodes that are associated with the executor
-  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>
-  weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// shutdown callback handle registered to Context
-  rclcpp::OnShutdownCallbackHandle shutdown_callback_handle_;
 };
 
+namespace executor
+{
+
+using Executor [[deprecated("use rclcpp::Executor instead")]] = rclcpp::Executor;
+
+}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__EXECUTOR_HPP_

rclcpp/include/rclcpp/executor_options.hpp

@@ -38,6 +38,20 @@ struct ExecutorOptions
   size_t max_conditions;
 };
 
+namespace executor
+{
+
+using ExecutorArgs [[deprecated("use rclcpp::ExecutorOptions instead")]] = ExecutorOptions;
+
+[[deprecated("use rclcpp::ExecutorOptions() instead")]]
+inline
+rclcpp::ExecutorOptions
+create_default_executor_arguments()
+{
+  return rclcpp::ExecutorOptions();
+}
+
+}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__EXECUTOR_OPTIONS_HPP_

rclcpp/include/rclcpp/executors.hpp

@@ -66,12 +66,12 @@ using rclcpp::executors::SingleThreadedExecutor;
  *   If the time spent inside the blocking loop exceeds this timeout, return a `TIMEOUT` return code.
  * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
  */
-template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const FutureT & future,
+  const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete
@@ -82,13 +82,13 @@ spin_node_until_future_complete(
   return retcode;
 }
 
-template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = int64_t,
+template<typename NodeT = rclcpp::Node, typename ResponseT, typename TimeRepT = int64_t,
   typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
   std::shared_ptr<NodeT> node_ptr,
-  const FutureT & future,
+  const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   return rclcpp::executors::spin_node_until_future_complete(
@@ -104,7 +104,7 @@ template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::mi
 rclcpp::FutureReturnCode
 spin_until_future_complete(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const FutureT & future,
+  const std::shared_future<FutureT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   rclcpp::executors::SingleThreadedExecutor executor;
@@ -116,7 +116,7 @@ template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = in
 rclcpp::FutureReturnCode
 spin_until_future_complete(
   std::shared_ptr<NodeT> node_ptr,
-  const FutureT & future,
+  const std::shared_future<FutureT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   return rclcpp::spin_until_future_complete(node_ptr->get_node_base_interface(), future, timeout);

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -22,6 +22,7 @@
 #include <thread>
 #include <unordered_map>
 
+#include "rclcpp/detail/mutex_two_priorities.hpp"
 #include "rclcpp/executor.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/memory_strategies.hpp"
@@ -52,7 +53,7 @@ public:
    * \param timeout maximum time to wait
    */
   RCLCPP_PUBLIC
-  explicit MultiThreadedExecutor(
+  MultiThreadedExecutor(
     const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions(),
     size_t number_of_threads = 0,
     bool yield_before_execute = false,
@@ -81,10 +82,17 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(MultiThreadedExecutor)
 
-  std::mutex wait_mutex_;
+  std::mutex wait_mutex_;  // Unused. Leave it for ABI compatibility.
   size_t number_of_threads_;
   bool yield_before_execute_;
   std::chrono::nanoseconds next_exec_timeout_;
+
+  std::set<TimerBase::SharedPtr> scheduled_timers_;
+  static std::unordered_map<MultiThreadedExecutor *,
+    std::shared_ptr<detail::MutexTwoPriorities>> wait_mutex_set_;
+  static std::mutex shared_wait_mutex_;
+  // These variables are declared as static variables for ABI-compatibiliity.
+  // And they mimic member variables needed to backport from master.
 };
 
 }  // namespace executors

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -17,9 +17,7 @@
 
 #include <chrono>
 #include <list>
-#include <map>
 #include <memory>
-#include <vector>
 
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
@@ -34,9 +32,6 @@ namespace rclcpp
 {
 namespace executors
 {
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
 
 class StaticExecutorEntitiesCollector final
   : public rclcpp::Waitable,
@@ -57,42 +52,46 @@ public:
   /**
    * \param p_wait_set A reference to the wait set to be used in the executor
    * \param memory_strategy Shared pointer to the memory strategy to set.
+   * \param executor_guard_condition executor's guard condition
    * \throws std::runtime_error if memory strategy is null
    */
   RCLCPP_PUBLIC
   void
   init(
     rcl_wait_set_t * p_wait_set,
-    rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
+    rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
+    rcl_guard_condition_t * executor_guard_condition);
 
   /// Finalize StaticExecutorEntitiesCollector to clear resources
-  RCLCPP_PUBLIC
-  bool
-  is_init() {return initialized_;}
-
   RCLCPP_PUBLIC
   void
   fini();
 
-  /// Execute the waitable.
   RCLCPP_PUBLIC
   void
-  execute(std::shared_ptr<void> & data) override;
+  execute() override;
 
-  /// Take the data so that it can be consumed with `execute`.
+  RCLCPP_PUBLIC
+  void
+  fill_memory_strategy();
+
+  RCLCPP_PUBLIC
+  void
+  fill_executable_list();
+
+  /// Function to reallocate space for entities in the wait set.
   /**
-   * For `StaticExecutorEntitiesCollector`, this always return `nullptr`.
-   * \sa rclcpp::Waitable::take_data()
+   * \throws std::runtime_error if wait set couldn't be cleared or resized.
    */
   RCLCPP_PUBLIC
-  std::shared_ptr<void>
-  take_data() override;
+  void
+  prepare_wait_set();
 
   /// Function to add_handles_to_wait_set and wait for work and
   /**
    * block until the wait set is ready or until the timeout has been exceeded.
    * \throws std::runtime_error if wait set couldn't be cleared or filled.
-   * \throws any rcl errors from rcl_wait, \see rclcpp::exceptions::throw_from_rcl_error()
+   * \throws any rcl errors from rcl_wait, \sa rclcpp::exceptions::throw_from_rcl_error()
    */
   RCLCPP_PUBLIC
   void
@@ -102,65 +101,24 @@ public:
    * \throws std::runtime_error if it couldn't add guard condition to wait set
    */
   RCLCPP_PUBLIC
-  void
+  bool
   add_to_wait_set(rcl_wait_set_t * wait_set) override;
 
   RCLCPP_PUBLIC
   size_t
   get_number_of_ready_guard_conditions() override;
 
-  /// Add a callback group to an executor.
   /**
-   * \see rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  /// Add a callback group to an executor.
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   * \return boolean whether the node from the callback group is new
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group_from_map
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_callback_group_from_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /**
-   * \see rclcpp::Executor::add_node()
+   * \sa rclcpp::Executor::add_node()
    * \throw std::runtime_error if node was already added
    */
   RCLCPP_PUBLIC
-  bool
+  void
   add_node(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
 
   /**
-   * \see rclcpp::Executor::remove_node()
+   * \sa rclcpp::Executor::remove_node()
    * \throw std::runtime_error if no guard condition is associated with node.
    */
   RCLCPP_PUBLIC
@@ -168,26 +126,6 @@ public:
   remove_node(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
 
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \see rclcpp::Executor::get_manually_added_callback_groups()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \see rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes();
-
   /// Complete all available queued work without blocking.
   /**
    * This function checks if after the guard condition was triggered
@@ -284,71 +222,20 @@ public:
   get_waitable(size_t i) {return exec_list_.waitable[i];}
 
 private:
-  /// Function to reallocate space for entities in the wait set.
-  /**
-   * \throws std::runtime_error if wait set couldn't be cleared or resized.
-   */
-  void
-  prepare_wait_set();
-
-  void
-  fill_executable_list();
-
-  void
-  fill_memory_strategy();
-
-  /// Return true if the node belongs to the collector
-  /**
-   * \param[in] node_ptr a node base interface shared pointer
-   * \param[in] weak_groups_to_nodes map to nodes to lookup
-   * \return boolean whether a node belongs the collector
-   */
-  bool
-  has_node(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
-
-  /// Add all callback groups that can be automatically added by any executor
-  /// and is not already associated with an executor from nodes
-  /// that are associated with executor
-  /**
-   * \see rclcpp::Executor::add_callback_groups_from_nodes_associated_to_executor()
-   */
-  void
-  add_callback_groups_from_nodes_associated_to_executor();
-
-  void
-  fill_executable_list_from_map(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+  /// Nodes guard conditions which trigger this waitable
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
 
   /// Memory strategy: an interface for handling user-defined memory allocation strategies.
   rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 
-  // maps callback groups to nodes.
-  WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_;
-  // maps callback groups to nodes.
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_;
-
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-  WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_;
-
   /// List of weak nodes registered in the static executor
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
 
-  // Mutex to protect vector of new nodes.
-  std::mutex new_nodes_mutex_;
-  std::vector<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> new_nodes_;
-
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t * p_wait_set_ = nullptr;
 
   /// Executable list: timers, subscribers, clients, services and waitables
   rclcpp::experimental::ExecutableList exec_list_;
-
-  /// Bool to check if the entities collector has been initialized
-  bool initialized_ = false;
 };
 
 }  // namespace executors

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
 #define RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
 
-#include <chrono>
 #include <cassert>
 #include <cstdlib>
 #include <memory>
@@ -79,67 +78,15 @@ public:
   void
   spin() override;
 
-  /// Static executor implementation of spin some
-  /**
-   * This non-blocking function will execute entities that
-   * were ready when this API was called, until timeout or no
-   * more work available. Entities that got ready while
-   * executing work, won't be taken into account here.
-   *
-   * Example:
-   *   while(condition) {
-   *     spin_some();
-   *     sleep(); // User should have some sync work or
-   *              // sleep to avoid a 100% CPU usage
-   *   }
-   */
-  RCLCPP_PUBLIC
-  void
-  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)) override;
-
-  /// Static executor implementation of spin all
-  /**
-   * This non-blocking function will execute entities until timeout (must be >= 0)
-   * or no more work available.
-   * If timeout is `0`, potentially it blocks forever until no more work is available.
-   * If new entities get ready while executing work available, they will be executed
-   * as long as the timeout hasn't expired.
-   *
-   * Example:
-   *   while(condition) {
-   *     spin_all();
-   *     sleep(); // User should have some sync work or
-   *              // sleep to avoid a 100% CPU usage
-   *   }
-   */
-  RCLCPP_PUBLIC
-  void
-  spin_all(std::chrono::nanoseconds max_duration) override;
-
-  /// Add a callback group to an executor.
-  /**
-   * \sa rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  void
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Remove callback group from the executor
-  /**
-   * \sa rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    bool notify = true) override;
-
   /// Add a node to the executor.
   /**
-   * \sa rclcpp::Executor::add_node
+   * An executor can have zero or more nodes which provide work during `spin` functions.
+   * \param[in] node_ptr Shared pointer to the node to be added.
+   * \param[in] notify True to trigger the interrupt guard condition during this function. If
+   * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
+   * node was added, it will wake up.
+   * \throw std::runtime_error if node was already added or if rcl_trigger_guard_condition
+   * return an error
    */
   RCLCPP_PUBLIC
   void
@@ -149,7 +96,8 @@ public:
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
-   * \sa rclcpp::StaticSingleThreadedExecutor::add_node
+   * \throw std::runtime_error if node was already added or if rcl_trigger_guard_condition
+   * returns an error
    */
   RCLCPP_PUBLIC
   void
@@ -157,7 +105,11 @@ public:
 
   /// Remove a node from the executor.
   /**
-   * \sa rclcpp::Executor::remove_node
+   * \param[in] node_ptr Shared pointer to the node to remove.
+   * \param[in] notify True to trigger the interrupt guard condition and wake up the executor.
+   * This is useful if the last node was removed from the executor while the executor was blocked
+   * waiting for work in another thread, because otherwise the executor would never be notified.
+   * \throw std::runtime_error if rcl_trigger_guard_condition returns an error
    */
   RCLCPP_PUBLIC
   void
@@ -167,49 +119,87 @@ public:
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
-   * \sa rclcpp::Executor::remove_node
+   * \throw std::runtime_error if rcl_trigger_guard_condition returns an error
    */
   RCLCPP_PUBLIC
   void
   remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
 
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups() override;
-
-  /// Get callback groups that belong to executor.
+  /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
   /**
-   * \sa rclcpp::Executor::get_manually_added_callback_groups()
+   * \param[in] future The future to wait on. If this function returns SUCCESS, the future can be
+   *   accessed without blocking (though it may still throw an exception).
+   * \param[in] timeout Optional timeout parameter, which gets passed to
+   *    Executor::execute_ready_executables.
+   *   `-1` is block forever, `0` is non-blocking.
+   *   If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return
+   *   code.
+   * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
+   *
+   *  Example usage:
+   *  rclcpp::executors::StaticSingleThreadedExecutor exec;
+   *  // ... other part of code like creating node
+   *  // define future
+   *  exec.add_node(node);
+   *  exec.spin_until_future_complete(future);
    */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups() override;
+  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+  rclcpp::FutureReturnCode
+  spin_until_future_complete(
+    std::shared_future<ResponseT> & future,
+    std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
+  {
+    std::future_status status = future.wait_for(std::chrono::seconds(0));
+    if (status == std::future_status::ready) {
+      return rclcpp::FutureReturnCode::SUCCESS;
+    }
 
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes() override;
+    auto end_time = std::chrono::steady_clock::now();
+    std::chrono::nanoseconds timeout_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
+      timeout);
+    if (timeout_ns > std::chrono::nanoseconds::zero()) {
+      end_time += timeout_ns;
+    }
+    std::chrono::nanoseconds timeout_left = timeout_ns;
+
+    entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
+    RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+
+    while (rclcpp::ok(this->context_)) {
+      // Do one set of work.
+      entities_collector_->refresh_wait_set(timeout_left);
+      execute_ready_executables();
+      // Check if the future is set, return SUCCESS if it is.
+      status = future.wait_for(std::chrono::seconds(0));
+      if (status == std::future_status::ready) {
+        return rclcpp::FutureReturnCode::SUCCESS;
+      }
+      // If the original timeout is < 0, then this is blocking, never TIMEOUT.
+      if (timeout_ns < std::chrono::nanoseconds::zero()) {
+        continue;
+      }
+      // Otherwise check if we still have time to wait, return TIMEOUT if not.
+      auto now = std::chrono::steady_clock::now();
+      if (now >= end_time) {
+        return rclcpp::FutureReturnCode::TIMEOUT;
+      }
+      // Subtract the elapsed time from the original timeout.
+      timeout_left = std::chrono::duration_cast<std::chrono::nanoseconds>(end_time - now);
+    }
+
+    // The future did not complete before ok() returned false, return INTERRUPTED.
+    return rclcpp::FutureReturnCode::INTERRUPTED;
+  }
 
 protected:
+  /// Check which executables in ExecutableList struct are ready from wait_set and execute them.
   /**
-   * @brief Executes ready executables from wait set.
-   * @param spin_once if true executes only the first ready executable.
-   * @return true if any executable was ready.
+   * \param[in] exec_list Structure that can hold subscriptionbases, timerbases, etc
+   * \param[in] timeout Optional timeout parameter.
    */
-  RCLCPP_PUBLIC
-  bool
-  execute_ready_executables(bool spin_once = false);
-
   RCLCPP_PUBLIC
   void
-  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
-
-  RCLCPP_PUBLIC
-  void
-  spin_once_impl(std::chrono::nanoseconds timeout) override;
+  execute_ready_executables();
 
 private:
   RCLCPP_DISABLE_COPY(StaticSingleThreadedExecutor)

rclcpp/include/rclcpp/experimental/buffers/intra_process_buffer.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__EXPERIMENTAL__BUFFERS__INTRA_PROCESS_BUFFER_HPP_
 
 #include <memory>
-#include <stdexcept>
 #include <type_traits>
 #include <utility>
 

rclcpp/include/rclcpp/experimental/buffers/ring_buffer_implementation.hpp

@@ -15,6 +15,10 @@
 #ifndef RCLCPP__EXPERIMENTAL__BUFFERS__RING_BUFFER_IMPLEMENTATION_HPP_
 #define RCLCPP__EXPERIMENTAL__BUFFERS__RING_BUFFER_IMPLEMENTATION_HPP_
 
+#include <algorithm>
+#include <cstddef>
+#include <cstdint>
+#include <memory>
 #include <mutex>
 #include <stdexcept>
 #include <utility>
@@ -33,10 +37,6 @@ namespace experimental
 namespace buffers
 {
 
-/// Store elements in a fixed-size, FIFO buffer
-/**
- * All public member functions are thread-safe.
- */
 template<typename BufferT>
 class RingBufferImplementation : public BufferImplementationBase<BufferT>
 {
@@ -55,125 +55,55 @@ public:
 
   virtual ~RingBufferImplementation() {}
 
-  /// Add a new element to store in the ring buffer
-  /**
-   * This member function is thread-safe.
-   *
-   * \param request the element to be stored in the ring buffer
-   */
   void enqueue(BufferT request)
   {
     std::lock_guard<std::mutex> lock(mutex_);
 
-    write_index_ = next_(write_index_);
+    write_index_ = next(write_index_);
     ring_buffer_[write_index_] = std::move(request);
 
-    if (is_full_()) {
-      read_index_ = next_(read_index_);
+    if (is_full()) {
+      read_index_ = next(read_index_);
     } else {
       size_++;
     }
   }
 
-  /// Remove the oldest element from ring buffer
-  /**
-   * This member function is thread-safe.
-   *
-   * \return the element that is being removed from the ring buffer
-   */
   BufferT dequeue()
   {
     std::lock_guard<std::mutex> lock(mutex_);
 
-    if (!has_data_()) {
+    if (!has_data()) {
       RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Calling dequeue on empty intra-process buffer");
       throw std::runtime_error("Calling dequeue on empty intra-process buffer");
     }
 
     auto request = std::move(ring_buffer_[read_index_]);
-    read_index_ = next_(read_index_);
+    read_index_ = next(read_index_);
 
     size_--;
 
     return request;
   }
 
-  /// Get the next index value for the ring buffer
-  /**
-   * This member function is thread-safe.
-   *
-   * \param val the current index value
-   * \return the next index value
-   */
   inline size_t next(size_t val)
   {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return next_(val);
+    return (val + 1) % capacity_;
   }
 
-  /// Get if the ring buffer has at least one element stored
-  /**
-   * This member function is thread-safe.
-   *
-   * \return `true` if there is data and `false` otherwise
-   */
   inline bool has_data() const
   {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return has_data_();
+    return size_ != 0;
   }
 
-  /// Get if the size of the buffer is equal to its capacity
-  /**
-   * This member function is thread-safe.
-   *
-   * \return `true` if the size of the buffer is equal is capacity
-   * and `false` otherwise
-   */
-  inline bool is_full() const
+  inline bool is_full()
   {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return is_full_();
+    return size_ == capacity_;
   }
 
   void clear() {}
 
 private:
-  /// Get the next index value for the ring buffer
-  /**
-   * This member function is not thread-safe.
-   *
-   * \param val the current index value
-   * \return the next index value
-   */
-  inline size_t next_(size_t val)
-  {
-    return (val + 1) % capacity_;
-  }
-
-  /// Get if the ring buffer has at least one element stored
-  /**
-   * This member function is not thread-safe.
-   *
-   * \return `true` if there is data and `false` otherwise
-   */
-  inline bool has_data_() const
-  {
-    return size_ != 0;
-  }
-
-  /// Get if the size of the buffer is equal to its capacity
-  /**
-   * This member function is not thread-safe.
-   *
-   * \return `true` if the size of the buffer is equal is capacity
-   * and `false` otherwise
-   */
-  inline bool is_full_() const
-  {
-    return size_ == capacity_;
-  }
-
   size_t capacity_;
 
   std::vector<BufferT> ring_buffer_;
@@ -182,7 +112,7 @@ private:
   size_t read_index_;
   size_t size_;
 
-  mutable std::mutex mutex_;
+  std::mutex mutex_;
 };
 
 }  // namespace buffers

rclcpp/include/rclcpp/experimental/create_intra_process_buffer.hpp

@@ -16,13 +16,14 @@
 #define RCLCPP__EXPERIMENTAL__CREATE_INTRA_PROCESS_BUFFER_HPP_
 
 #include <memory>
-#include <stdexcept>
+#include <type_traits>
 #include <utility>
 
+#include "rcl/subscription.h"
+
 #include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
 #include "rclcpp/experimental/buffers/ring_buffer_implementation.hpp"
 #include "rclcpp/intra_process_buffer_type.hpp"
-#include "rclcpp/qos.hpp"
 
 namespace rclcpp
 {
@@ -36,13 +37,13 @@ template<
 typename rclcpp::experimental::buffers::IntraProcessBuffer<MessageT, Alloc, Deleter>::UniquePtr
 create_intra_process_buffer(
   IntraProcessBufferType buffer_type,
-  const rclcpp::QoS & qos,
+  rmw_qos_profile_t qos,
   std::shared_ptr<Alloc> allocator)
 {
   using MessageSharedPtr = std::shared_ptr<const MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
 
-  size_t buffer_size = qos.depth();
+  size_t buffer_size = qos.depth;
 
   using rclcpp::experimental::buffers::IntraProcessBuffer;
   typename IntraProcessBuffer<MessageT, Alloc, Deleter>::UniquePtr buffer;

rclcpp/include/rclcpp/experimental/executable_list.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_
 #define RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_
 
+#include <memory>
 #include <vector>
 
 #include "rclcpp/client.hpp"

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -19,24 +19,24 @@
 
 #include <shared_mutex>
 
-#include <iterator>
+#include <algorithm>
+#include <atomic>
+#include <cstdint>
+#include <exception>
+#include <map>
 #include <memory>
-#include <stdexcept>
+#include <string>
 #include <unordered_map>
 #include <utility>
 #include <vector>
-#include <typeinfo>
 
 #include "rclcpp/allocator/allocator_deleter.hpp"
-#include "rclcpp/experimental/ros_message_intra_process_buffer.hpp"
 #include "rclcpp/experimental/subscription_intra_process.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
-#include "rclcpp/experimental/subscription_intra_process_buffer.hpp"
 #include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/publisher_base.hpp"
-#include "rclcpp/type_adapter.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -172,19 +172,16 @@ public:
    *
    * \param intra_process_publisher_id the id of the publisher of this message.
    * \param message the message that is being stored.
-   * \param allocator for allocations when buffering messages.
    */
   template<
     typename MessageT,
-    typename ROSMessageType,
-    typename Alloc,
-    typename Deleter = std::default_delete<MessageT>
-  >
+    typename Alloc = std::allocator<void>,
+    typename Deleter = std::default_delete<MessageT>>
   void
   do_intra_process_publish(
     uint64_t intra_process_publisher_id,
     std::unique_ptr<MessageT, Deleter> message,
-    typename allocator::AllocRebind<MessageT, Alloc>::allocator_type & allocator)
+    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
   {
     using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
     using MessageAllocatorT = typename MessageAllocTraits::allocator_type;
@@ -205,13 +202,13 @@ public:
       // None of the buffers require ownership, so we promote the pointer
       std::shared_ptr<MessageT> msg = std::move(message);
 
-      this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(
+      this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
         msg, sub_ids.take_shared_subscriptions);
     } else if (!sub_ids.take_ownership_subscriptions.empty() && // NOLINT
       sub_ids.take_shared_subscriptions.size() <= 1)
     {
       // There is at maximum 1 buffer that does not require ownership.
-      // So this case is equivalent to all the buffers requiring ownership
+      // So we this case is equivalent to all the buffers requiring ownership
 
       // Merge the two vector of ids into a unique one
       std::vector<uint64_t> concatenated_vector(sub_ids.take_shared_subscriptions);
@@ -219,7 +216,8 @@ public:
         concatenated_vector.end(),
         sub_ids.take_ownership_subscriptions.begin(),
         sub_ids.take_ownership_subscriptions.end());
-      this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(
+
+      this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
         std::move(message),
         concatenated_vector,
         allocator);
@@ -228,26 +226,24 @@ public:
     {
       // Construct a new shared pointer from the message
       // for the buffers that do not require ownership
-      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(allocator, *message);
+      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
 
-      this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(
+      this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
         shared_msg, sub_ids.take_shared_subscriptions);
-      this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(
+      this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
         std::move(message), sub_ids.take_ownership_subscriptions, allocator);
     }
   }
 
   template<
     typename MessageT,
-    typename ROSMessageType,
-    typename Alloc,
-    typename Deleter = std::default_delete<MessageT>
-  >
+    typename Alloc = std::allocator<void>,
+    typename Deleter = std::default_delete<MessageT>>
   std::shared_ptr<const MessageT>
   do_intra_process_publish_and_return_shared(
     uint64_t intra_process_publisher_id,
     std::unique_ptr<MessageT, Deleter> message,
-    typename allocator::AllocRebind<MessageT, Alloc>::allocator_type & allocator)
+    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
   {
     using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
     using MessageAllocatorT = typename MessageAllocTraits::allocator_type;
@@ -268,26 +264,27 @@ public:
       // If there are no owning, just convert to shared.
       std::shared_ptr<MessageT> shared_msg = std::move(message);
       if (!sub_ids.take_shared_subscriptions.empty()) {
-        this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(
+        this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
           shared_msg, sub_ids.take_shared_subscriptions);
       }
       return shared_msg;
     } else {
       // Construct a new shared pointer from the message for the buffers that
       // do not require ownership and to return.
-      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(allocator, *message);
+      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
 
       if (!sub_ids.take_shared_subscriptions.empty()) {
-        this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(
+        this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
           shared_msg,
           sub_ids.take_shared_subscriptions);
       }
       if (!sub_ids.take_ownership_subscriptions.empty()) {
-        this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(
+        this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
           std::move(message),
           sub_ids.take_ownership_subscriptions,
           allocator);
       }
+
       return shared_msg;
     }
   }
@@ -307,6 +304,25 @@ public:
   get_subscription_intra_process(uint64_t intra_process_subscription_id);
 
 private:
+  struct SubscriptionInfo
+  {
+    SubscriptionInfo() = default;
+
+    rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription;
+    rmw_qos_profile_t qos;
+    const char * topic_name;
+    bool use_take_shared_method;
+  };
+
+  struct PublisherInfo
+  {
+    PublisherInfo() = default;
+
+    rclcpp::PublisherBase::WeakPtr publisher;
+    rmw_qos_profile_t qos;
+    const char * topic_name;
+  };
+
   struct SplittedSubscriptions
   {
     std::vector<uint64_t> take_shared_subscriptions;
@@ -314,10 +330,10 @@ private:
   };
 
   using SubscriptionMap =
-    std::unordered_map<uint64_t, rclcpp::experimental::SubscriptionIntraProcessBase::WeakPtr>;
+    std::unordered_map<uint64_t, SubscriptionInfo>;
 
   using PublisherMap =
-    std::unordered_map<uint64_t, rclcpp::PublisherBase::WeakPtr>;
+    std::unordered_map<uint64_t, PublisherInfo>;
 
   using PublisherToSubscriptionIdsMap =
     std::unordered_map<uint64_t, SplittedSubscriptions>;
@@ -333,177 +349,81 @@ private:
 
   RCLCPP_PUBLIC
   bool
-  can_communicate(
-    rclcpp::PublisherBase::SharedPtr pub,
-    rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr sub) const;
+  can_communicate(PublisherInfo pub_info, SubscriptionInfo sub_info) const;
 
   template<
     typename MessageT,
     typename Alloc,
-    typename Deleter,
-    typename ROSMessageType>
+    typename Deleter>
   void
   add_shared_msg_to_buffers(
     std::shared_ptr<const MessageT> message,
     std::vector<uint64_t> subscription_ids)
   {
-    using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, Alloc>;
-    using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
-    using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
-
-    using PublishedType = typename rclcpp::TypeAdapter<MessageT>::custom_type;
-    using PublishedTypeAllocatorTraits = allocator::AllocRebind<PublishedType, Alloc>;
-    using PublishedTypeAllocator = typename PublishedTypeAllocatorTraits::allocator_type;
-    using PublishedTypeDeleter = allocator::Deleter<PublishedTypeAllocator, PublishedType>;
-
     for (auto id : subscription_ids) {
       auto subscription_it = subscriptions_.find(id);
       if (subscription_it == subscriptions_.end()) {
         throw std::runtime_error("subscription has unexpectedly gone out of scope");
       }
-      auto subscription_base = subscription_it->second.lock();
-      if (subscription_base == nullptr) {
-        subscriptions_.erase(id);
-        continue;
-      }
+      auto subscription_base = subscription_it->second.subscription;
 
       auto subscription = std::dynamic_pointer_cast<
-        rclcpp::experimental::SubscriptionIntraProcessBuffer<PublishedType,
-        PublishedTypeAllocator, PublishedTypeDeleter, ROSMessageType>
+        rclcpp::experimental::SubscriptionIntraProcess<MessageT, Alloc, Deleter>
         >(subscription_base);
-      if (subscription != nullptr) {
-        subscription->provide_intra_process_data(message);
-        continue;
-      }
-
-      auto ros_message_subscription = std::dynamic_pointer_cast<
-        rclcpp::experimental::SubscriptionROSMsgIntraProcessBuffer<ROSMessageType,
-        ROSMessageTypeAllocator, ROSMessageTypeDeleter>
-        >(subscription_base);
-      if (nullptr == ros_message_subscription) {
+      if (nullptr == subscription) {
         throw std::runtime_error(
                 "failed to dynamic cast SubscriptionIntraProcessBase to "
-                "SubscriptionIntraProcessBuffer<MessageT, Alloc, Deleter>, or to "
-                "SubscriptionROSMsgIntraProcessBuffer<ROSMessageType,ROSMessageTypeAllocator,"
-                "ROSMessageTypeDeleter> which can happen when the publisher and "
-                "subscription use different allocator types, which is not supported");
-      }
-
-      if constexpr (rclcpp::TypeAdapter<MessageT>::is_specialized::value) {
-        ROSMessageType ros_msg;
-        rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*message, ros_msg);
-        ros_message_subscription->provide_intra_process_message(
-          std::make_shared<ROSMessageType>(ros_msg));
-      } else {
-        if constexpr (std::is_same<MessageT, ROSMessageType>::value) {
-          ros_message_subscription->provide_intra_process_message(message);
-        } else {
-          if constexpr (std::is_same<typename rclcpp::TypeAdapter<MessageT,
-            ROSMessageType>::ros_message_type, ROSMessageType>::value)
-          {
-            ROSMessageType ros_msg;
-            rclcpp::TypeAdapter<MessageT, ROSMessageType>::convert_to_ros_message(
-              *message, ros_msg);
-            ros_message_subscription->provide_intra_process_message(
-              std::make_shared<ROSMessageType>(ros_msg));
-          }
-        }
+                "SubscriptionIntraProcess<MessageT, Alloc, Deleter>, which "
+                "can happen when the publisher and subscription use different "
+                "allocator types, which is not supported");
       }
+      subscription->provide_intra_process_message(message);
     }
   }
 
   template<
     typename MessageT,
-    typename Alloc,
-    typename Deleter,
-    typename ROSMessageType>
+    typename Alloc = std::allocator<void>,
+    typename Deleter = std::default_delete<MessageT>>
   void
   add_owned_msg_to_buffers(
     std::unique_ptr<MessageT, Deleter> message,
     std::vector<uint64_t> subscription_ids,
-    typename allocator::AllocRebind<MessageT, Alloc>::allocator_type & allocator)
+    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
   {
     using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
     using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
 
-    using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, Alloc>;
-    using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
-    using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
-
-    using PublishedType = typename rclcpp::TypeAdapter<MessageT>::custom_type;
-    using PublishedTypeAllocatorTraits = allocator::AllocRebind<PublishedType, Alloc>;
-    using PublishedTypeAllocator = typename PublishedTypeAllocatorTraits::allocator_type;
-    using PublishedTypeDeleter = allocator::Deleter<PublishedTypeAllocator, PublishedType>;
-
     for (auto it = subscription_ids.begin(); it != subscription_ids.end(); it++) {
       auto subscription_it = subscriptions_.find(*it);
       if (subscription_it == subscriptions_.end()) {
         throw std::runtime_error("subscription has unexpectedly gone out of scope");
       }
-      auto subscription_base = subscription_it->second.lock();
-      if (subscription_base == nullptr) {
-        subscriptions_.erase(subscription_it);
-        continue;
-      }
+      auto subscription_base = subscription_it->second.subscription;
 
       auto subscription = std::dynamic_pointer_cast<
-        rclcpp::experimental::SubscriptionIntraProcessBuffer<PublishedType,
-        PublishedTypeAllocator, PublishedTypeDeleter, ROSMessageType>
+        rclcpp::experimental::SubscriptionIntraProcess<MessageT, Alloc, Deleter>
         >(subscription_base);
-      if (subscription != nullptr) {
-        if (std::next(it) == subscription_ids.end()) {
-          // If this is the last subscription, give up ownership
-          subscription->provide_intra_process_data(std::move(message));
-        } else {
-          // Copy the message since we have additional subscriptions to serve
-          Deleter deleter = message.get_deleter();
-          auto ptr = MessageAllocTraits::allocate(allocator, 1);
-          MessageAllocTraits::construct(allocator, ptr, *message);
-
-          subscription->provide_intra_process_data(std::move(MessageUniquePtr(ptr, deleter)));
-        }
-
-        continue;
-      }
-
-      auto ros_message_subscription = std::dynamic_pointer_cast<
-        rclcpp::experimental::SubscriptionROSMsgIntraProcessBuffer<ROSMessageType,
-        ROSMessageTypeAllocator, ROSMessageTypeDeleter>
-        >(subscription_base);
-      if (nullptr == ros_message_subscription) {
+      if (nullptr == subscription) {
         throw std::runtime_error(
                 "failed to dynamic cast SubscriptionIntraProcessBase to "
-                "SubscriptionIntraProcessBuffer<MessageT, Alloc, Deleter>, or to "
-                "SubscriptionROSMsgIntraProcessBuffer<ROSMessageType,ROSMessageTypeAllocator,"
-                "ROSMessageTypeDeleter> which can happen when the publisher and "
-                "subscription use different allocator types, which is not supported");
+                "SubscriptionIntraProcess<MessageT, Alloc, Deleter>, which "
+                "can happen when the publisher and subscription use different "
+                "allocator types, which is not supported");
       }
 
-      if constexpr (rclcpp::TypeAdapter<MessageT>::is_specialized::value) {
-        ROSMessageTypeAllocator ros_message_alloc(allocator);
-        auto ptr = ros_message_alloc.allocate(1);
-        ros_message_alloc.construct(ptr);
-        ROSMessageTypeDeleter deleter;
-        allocator::set_allocator_for_deleter(&deleter, &allocator);
-        rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*message, *ptr);
-        auto ros_msg = std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>(ptr, deleter);
-        ros_message_subscription->provide_intra_process_message(std::move(ros_msg));
+      if (std::next(it) == subscription_ids.end()) {
+        // If this is the last subscription, give up ownership
+        subscription->provide_intra_process_message(std::move(message));
       } else {
-        if constexpr (std::is_same<MessageT, ROSMessageType>::value) {
-          if (std::next(it) == subscription_ids.end()) {
-            // If this is the last subscription, give up ownership
-            ros_message_subscription->provide_intra_process_message(std::move(message));
-          } else {
-            // Copy the message since we have additional subscriptions to serve
-            Deleter deleter = message.get_deleter();
-            allocator::set_allocator_for_deleter(&deleter, &allocator);
-            auto ptr = MessageAllocTraits::allocate(allocator, 1);
-            MessageAllocTraits::construct(allocator, ptr, *message);
+        // Copy the message since we have additional subscriptions to serve
+        MessageUniquePtr copy_message;
+        Deleter deleter = message.get_deleter();
+        auto ptr = MessageAllocTraits::allocate(*allocator.get(), 1);
+        MessageAllocTraits::construct(*allocator.get(), ptr, *message);
+        copy_message = MessageUniquePtr(ptr, deleter);
 
-            ros_message_subscription->provide_intra_process_message(
-              std::move(MessageUniquePtr(ptr, deleter)));
-          }
-        }
+        subscription->provide_intra_process_message(std::move(copy_message));
       }
     }
   }

rclcpp/include/rclcpp/experimental/ros_message_intra_process_buffer.hpp

@@ -1,68 +0,0 @@
-// Copyright 2021 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__EXPERIMENTAL__ROS_MESSAGE_INTRA_PROCESS_BUFFER_HPP_
-#define RCLCPP__EXPERIMENTAL__ROS_MESSAGE_INTRA_PROCESS_BUFFER_HPP_
-
-#include <memory>
-#include <string>
-
-#include "rcl/error_handling.h"
-
-#include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/context.hpp"
-#include "rclcpp/experimental/subscription_intra_process_base.hpp"
-#include "tracetools/tracetools.h"
-
-namespace rclcpp
-{
-namespace experimental
-{
-
-template<
-  typename RosMessageT,
-  typename Alloc = std::allocator<void>,
-  typename Deleter = std::default_delete<void>
->
-class SubscriptionROSMsgIntraProcessBuffer : public SubscriptionIntraProcessBase
-{
-public:
-  using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<RosMessageT, Alloc>;
-  using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
-  using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, RosMessageT>;
-
-  using ConstMessageSharedPtr = std::shared_ptr<const RosMessageT>;
-  using MessageUniquePtr = std::unique_ptr<RosMessageT, ROSMessageTypeDeleter>;
-
-  SubscriptionROSMsgIntraProcessBuffer(
-    rclcpp::Context::SharedPtr context,
-    const std::string & topic_name,
-    const rclcpp::QoS & qos_profile)
-  : SubscriptionIntraProcessBase(context, topic_name, qos_profile)
-  {}
-
-  virtual ~SubscriptionROSMsgIntraProcessBuffer()
-  {}
-
-  virtual void
-  provide_intra_process_message(ConstMessageSharedPtr message) = 0;
-
-  virtual void
-  provide_intra_process_message(MessageUniquePtr message) = 0;
-};
-
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__ROS_MESSAGE_INTRA_PROCESS_BUFFER_HPP_

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -15,22 +15,21 @@
 #ifndef RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_HPP_
 #define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_HPP_
 
-#include <rmw/types.h>
+#include <rmw/rmw.h>
 
+#include <functional>
 #include <memory>
-#include <stdexcept>
 #include <string>
-#include <type_traits>
 #include <utility>
 
-#include "rcl/types.h"
+#include "rcl/error_handling.h"
 
 #include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/context.hpp"
 #include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
-#include "rclcpp/experimental/subscription_intra_process_buffer.hpp"
-#include "rclcpp/qos.hpp"
+#include "rclcpp/experimental/create_intra_process_buffer.hpp"
+#include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/type_support_decl.hpp"
+#include "rclcpp/waitable.hpp"
 #include "tracetools/tracetools.h"
 
 namespace rclcpp
@@ -40,57 +39,61 @@ namespace experimental
 
 template<
   typename MessageT,
-  typename SubscribedType,
-  typename SubscribedTypeAlloc = std::allocator<SubscribedType>,
-  typename SubscribedTypeDeleter = std::default_delete<SubscribedType>,
-  typename ROSMessageType = SubscribedType,
-  typename Alloc = std::allocator<void>
->
-class SubscriptionIntraProcess
-  : public SubscriptionIntraProcessBuffer<
-    SubscribedType,
-    SubscribedTypeAlloc,
-    SubscribedTypeDeleter,
-    ROSMessageType
-  >
+  typename Alloc = std::allocator<void>,
+  typename Deleter = std::default_delete<MessageT>,
+  typename CallbackMessageT = MessageT>
+class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
 {
-  using SubscriptionIntraProcessBufferT = SubscriptionIntraProcessBuffer<
-    SubscribedType,
-    SubscribedTypeAlloc,
-    SubscribedTypeDeleter,
-    ROSMessageType
-  >;
-
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcess)
 
-  using MessageAllocTraits =
-    typename SubscriptionIntraProcessBufferT::SubscribedTypeAllocatorTraits;
-  using MessageAlloc = typename SubscriptionIntraProcessBufferT::SubscribedTypeAllocator;
-  using ConstMessageSharedPtr = typename SubscriptionIntraProcessBufferT::ConstDataSharedPtr;
-  using MessageUniquePtr = typename SubscriptionIntraProcessBufferT::SubscribedTypeUniquePtr;
-  using BufferUniquePtr = typename SubscriptionIntraProcessBufferT::BufferUniquePtr;
+  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+  using MessageAlloc = typename MessageAllocTraits::allocator_type;
+  using ConstMessageSharedPtr = std::shared_ptr<const MessageT>;
+  using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
+
+  using BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
+    MessageT,
+    Alloc,
+    Deleter
+    >::UniquePtr;
 
   SubscriptionIntraProcess(
-    AnySubscriptionCallback<MessageT, Alloc> callback,
+    AnySubscriptionCallback<CallbackMessageT, Alloc> callback,
     std::shared_ptr<Alloc> allocator,
     rclcpp::Context::SharedPtr context,
     const std::string & topic_name,
-    const rclcpp::QoS & qos_profile,
+    rmw_qos_profile_t qos_profile,
     rclcpp::IntraProcessBufferType buffer_type)
-  : SubscriptionIntraProcessBuffer<SubscribedType, SubscribedTypeAlloc,
-      SubscribedTypeDeleter, ROSMessageType>(
-      std::make_shared<SubscribedTypeAlloc>(*allocator),
-      context,
-      topic_name,
-      qos_profile,
-      buffer_type),
+  : SubscriptionIntraProcessBase(topic_name, qos_profile),
     any_callback_(callback)
   {
+    if (!std::is_same<MessageT, CallbackMessageT>::value) {
+      throw std::runtime_error("SubscriptionIntraProcess wrong callback type");
+    }
+
+    // Create the intra-process buffer.
+    buffer_ = rclcpp::experimental::create_intra_process_buffer<MessageT, Alloc, Deleter>(
+      buffer_type,
+      qos_profile,
+      allocator);
+
+    // Create the guard condition.
+    rcl_guard_condition_options_t guard_condition_options =
+      rcl_guard_condition_get_default_options();
+
+    gc_ = rcl_get_zero_initialized_guard_condition();
+    rcl_ret_t ret = rcl_guard_condition_init(
+      &gc_, context->get_rcl_context().get(), guard_condition_options);
+
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error("SubscriptionIntraProcess init error initializing guard condition");
+    }
+
     TRACEPOINT(
       rclcpp_subscription_callback_added,
-      static_cast<const void *>(this),
-      static_cast<const void *>(&any_callback_));
+      (const void *)this,
+      (const void *)&any_callback_);
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
     // in subsequent tracepoints.
@@ -99,66 +102,72 @@ public:
 #endif
   }
 
-  virtual ~SubscriptionIntraProcess() = default;
-
-  std::shared_ptr<void>
-  take_data() override
+  bool
+  is_ready(rcl_wait_set_t * wait_set)
   {
-    ConstMessageSharedPtr shared_msg;
-    MessageUniquePtr unique_msg;
-
-    if (any_callback_.use_take_shared_method()) {
-      shared_msg = this->buffer_->consume_shared();
-    } else {
-      unique_msg = this->buffer_->consume_unique();
-    }
-    return std::static_pointer_cast<void>(
-      std::make_shared<std::pair<ConstMessageSharedPtr, MessageUniquePtr>>(
-        std::pair<ConstMessageSharedPtr, MessageUniquePtr>(
-          shared_msg, std::move(unique_msg)))
-    );
+    (void)wait_set;
+    return buffer_->has_data();
   }
 
-  void execute(std::shared_ptr<void> & data) override
+  void execute()
   {
-    execute_impl<SubscribedType>(data);
+    execute_impl<CallbackMessageT>();
+  }
+
+  void
+  provide_intra_process_message(ConstMessageSharedPtr message)
+  {
+    buffer_->add_shared(std::move(message));
+    trigger_guard_condition();
+  }
+
+  void
+  provide_intra_process_message(MessageUniquePtr message)
+  {
+    buffer_->add_unique(std::move(message));
+    trigger_guard_condition();
+  }
+
+  bool
+  use_take_shared_method() const
+  {
+    return buffer_->use_take_shared_method();
+  }
+
+private:
+  void
+  trigger_guard_condition()
+  {
+    rcl_ret_t ret = rcl_trigger_guard_condition(&gc_);
+    (void)ret;
   }
 
-protected:
   template<typename T>
   typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value, void>::type
-  execute_impl(std::shared_ptr<void> & data)
+  execute_impl()
   {
-    (void)data;
     throw std::runtime_error("Subscription intra-process can't handle serialized messages");
   }
 
   template<class T>
   typename std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value, void>::type
-  execute_impl(std::shared_ptr<void> & data)
+  execute_impl()
   {
-    if (!data) {
-      throw std::runtime_error("'data' is empty");
-    }
-
     rmw_message_info_t msg_info;
     msg_info.publisher_gid = {0, {0}};
     msg_info.from_intra_process = true;
 
-    auto shared_ptr = std::static_pointer_cast<std::pair<ConstMessageSharedPtr, MessageUniquePtr>>(
-      data);
-
     if (any_callback_.use_take_shared_method()) {
-      ConstMessageSharedPtr shared_msg = shared_ptr->first;
-      any_callback_.dispatch_intra_process(shared_msg, msg_info);
+      ConstMessageSharedPtr msg = buffer_->consume_shared();
+      any_callback_.dispatch_intra_process(msg, msg_info);
     } else {
-      MessageUniquePtr unique_msg = std::move(shared_ptr->second);
-      any_callback_.dispatch_intra_process(std::move(unique_msg), msg_info);
+      MessageUniquePtr msg = buffer_->consume_unique();
+      any_callback_.dispatch_intra_process(std::move(msg), msg_info);
     }
-    shared_ptr.reset();
   }
 
-  AnySubscriptionCallback<MessageT, Alloc> any_callback_;
+  AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
+  BufferUniquePtr buffer_;
 };
 
 }  // namespace experimental

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

@@ -15,17 +15,17 @@
 #ifndef RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BASE_HPP_
 #define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BASE_HPP_
 
-#include <algorithm>
+#include <rmw/rmw.h>
+
+#include <functional>
 #include <memory>
 #include <mutex>
 #include <string>
+#include <utility>
 
-#include "rcl/wait.h"
-#include "rmw/impl/cpp/demangle.hpp"
+#include "rcl/error_handling.h"
 
-#include "rclcpp/guard_condition.hpp"
-#include "rclcpp/logging.hpp"
-#include "rclcpp/qos.hpp"
+#include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/waitable.hpp"
 
 namespace rclcpp
@@ -38,48 +38,28 @@ class SubscriptionIntraProcessBase : public rclcpp::Waitable
 public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(SubscriptionIntraProcessBase)
 
-  enum class EntityType : std::size_t
-  {
-    Subscription,
-  };
-
   RCLCPP_PUBLIC
-  SubscriptionIntraProcessBase(
-    rclcpp::Context::SharedPtr context,
-    const std::string & topic_name,
-    const rclcpp::QoS & qos_profile)
-  : gc_(context), topic_name_(topic_name), qos_profile_(qos_profile)
+  SubscriptionIntraProcessBase(const std::string & topic_name, rmw_qos_profile_t qos_profile)
+  : topic_name_(topic_name), qos_profile_(qos_profile)
   {}
 
-  RCLCPP_PUBLIC
-  virtual ~SubscriptionIntraProcessBase();
+  virtual ~SubscriptionIntraProcessBase() = default;
 
   RCLCPP_PUBLIC
   size_t
-  get_number_of_ready_guard_conditions() override {return 1;}
+  get_number_of_ready_guard_conditions() {return 1;}
 
   RCLCPP_PUBLIC
-  void
-  add_to_wait_set(rcl_wait_set_t * wait_set) override;
-
   bool
-  is_ready(rcl_wait_set_t * wait_set) override = 0;
+  add_to_wait_set(rcl_wait_set_t * wait_set);
 
-  std::shared_ptr<void>
-  take_data() override = 0;
+  virtual bool
+  is_ready(rcl_wait_set_t * wait_set) = 0;
 
-  std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override
-  {
-    (void)id;
-    return take_data();
-  }
+  virtual void
+  execute() = 0;
 
-  void
-  execute(std::shared_ptr<void> & data) override = 0;
-
-  virtual
-  bool
+  virtual bool
   use_take_shared_method() const = 0;
 
   RCLCPP_PUBLIC
@@ -87,113 +67,19 @@ public:
   get_topic_name() const;
 
   RCLCPP_PUBLIC
-  QoS
+  rmw_qos_profile_t
   get_actual_qos() const;
 
-  /// Set a callback to be called when each new message arrives.
-  /**
-   * The callback receives a size_t which is the number of messages received
-   * since the last time this callback was called.
-   * Normally this is 1, but can be > 1 if messages were received before any
-   * callback was set.
-   *
-   * The callback also receives an int identifier argument.
-   * This is needed because a Waitable may be composed of several distinct entities,
-   * such as subscriptions, services, etc.
-   * The application should provide a generic callback function that will be then
-   * forwarded by the waitable to all of its entities.
-   * Before forwarding, a different value for the identifier argument will be
-   * bound to the function.
-   * This implies that the provided callback can use the identifier to behave
-   * differently depending on which entity triggered the waitable to become ready.
-   *
-   * Calling it again will clear any previously set callback.
-   *
-   * An exception will be thrown if the callback is not callable.
-   *
-   * This function is thread-safe.
-   *
-   * If you want more information available in the callback, like the subscription
-   * or other information, you may use a lambda with captures or std::bind.
-   *
-   * \param[in] callback functor to be called when a new message is received.
-   */
-  void
-  set_on_ready_callback(std::function<void(size_t, int)> callback) override
-  {
-    if (!callback) {
-      throw std::invalid_argument(
-              "The callback passed to set_on_ready_callback "
-              "is not callable.");
-    }
-
-    // Note: we bind the int identifier argument to this waitable's entity types
-    auto new_callback =
-      [callback, this](size_t number_of_events) {
-        try {
-          callback(number_of_events, static_cast<int>(EntityType::Subscription));
-        } catch (const std::exception & exception) {
-          RCLCPP_ERROR_STREAM(
-            // TODO(wjwwood): get this class access to the node logger it is associated with
-            rclcpp::get_logger("rclcpp"),
-            "rclcpp::SubscriptionIntraProcessBase@" << this <<
-              " caught " << rmw::impl::cpp::demangle(exception) <<
-              " exception in user-provided callback for the 'on ready' callback: " <<
-              exception.what());
-        } catch (...) {
-          RCLCPP_ERROR_STREAM(
-            rclcpp::get_logger("rclcpp"),
-            "rclcpp::SubscriptionIntraProcessBase@" << this <<
-              " caught unhandled exception in user-provided callback " <<
-              "for the 'on ready' callback");
-        }
-      };
-
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-    on_new_message_callback_ = new_callback;
-
-    if (unread_count_ > 0) {
-      if (qos_profile_.history() == HistoryPolicy::KeepAll) {
-        on_new_message_callback_(unread_count_);
-      } else {
-        // Use qos profile depth as upper bound for unread_count_
-        on_new_message_callback_(std::min(unread_count_, qos_profile_.depth()));
-      }
-      unread_count_ = 0;
-    }
-  }
-
-  /// Unset the callback registered for new messages, if any.
-  void
-  clear_on_ready_callback() override
-  {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-    on_new_message_callback_ = nullptr;
-  }
-
 protected:
-  std::recursive_mutex callback_mutex_;
-  std::function<void(size_t)> on_new_message_callback_ {nullptr};
-  size_t unread_count_{0};
-  rclcpp::GuardCondition gc_;
+  std::recursive_mutex reentrant_mutex_;
+  rcl_guard_condition_t gc_;
 
+private:
   virtual void
   trigger_guard_condition() = 0;
 
-  void
-  invoke_on_new_message()
-  {
-    std::lock_guard<std::recursive_mutex> lock(this->callback_mutex_);
-    if (this->on_new_message_callback_) {
-      this->on_new_message_callback_(1);
-    } else {
-      this->unread_count_++;
-    }
-  }
-
-private:
   std::string topic_name_;
-  QoS qos_profile_;
+  rmw_qos_profile_t qos_profile_;
 };
 
 }  // namespace experimental

rclcpp/include/rclcpp/experimental/subscription_intra_process_buffer.hpp

@@ -1,181 +0,0 @@
-// Copyright 2021 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__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BUFFER_HPP_
-#define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BUFFER_HPP_
-
-#include <memory>
-#include <string>
-#include <stdexcept>
-#include <utility>
-
-#include "rcl/error_handling.h"
-#include "rcl/guard_condition.h"
-#include "rcl/wait.h"
-
-#include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
-#include "rclcpp/experimental/create_intra_process_buffer.hpp"
-#include "rclcpp/experimental/subscription_intra_process_base.hpp"
-#include "rclcpp/experimental/ros_message_intra_process_buffer.hpp"
-#include "rclcpp/qos.hpp"
-#include "rclcpp/type_support_decl.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-
-template<
-  typename SubscribedType,
-  typename Alloc = std::allocator<SubscribedType>,
-  typename Deleter = std::default_delete<SubscribedType>,
-  /// MessageT::ros_message_type if MessageT is a TypeAdapter,
-  /// otherwise just MessageT.
-  typename ROSMessageType = SubscribedType
->
-class SubscriptionIntraProcessBuffer : public SubscriptionROSMsgIntraProcessBuffer<ROSMessageType,
-    typename allocator::AllocRebind<ROSMessageType, Alloc>::allocator_type,
-    allocator::Deleter<typename allocator::AllocRebind<ROSMessageType, Alloc>::allocator_type,
-    ROSMessageType>>
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcessBuffer)
-
-  using SubscribedTypeAllocatorTraits = allocator::AllocRebind<SubscribedType, Alloc>;
-  using SubscribedTypeAllocator = typename SubscribedTypeAllocatorTraits::allocator_type;
-  using SubscribedTypeDeleter = allocator::Deleter<SubscribedTypeAllocator, SubscribedType>;
-
-  using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, Alloc>;
-  using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
-  using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
-
-  using ConstMessageSharedPtr = std::shared_ptr<const ROSMessageType>;
-  using MessageUniquePtr = std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>;
-
-  using ConstDataSharedPtr = std::shared_ptr<const SubscribedType>;
-  using SubscribedTypeUniquePtr = std::unique_ptr<SubscribedType, SubscribedTypeDeleter>;
-
-  using BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
-    SubscribedType,
-    Alloc,
-    SubscribedTypeDeleter
-    >::UniquePtr;
-
-  SubscriptionIntraProcessBuffer(
-    std::shared_ptr<Alloc> allocator,
-    rclcpp::Context::SharedPtr context,
-    const std::string & topic_name,
-    const rclcpp::QoS & qos_profile,
-    rclcpp::IntraProcessBufferType buffer_type)
-  : SubscriptionROSMsgIntraProcessBuffer<ROSMessageType, ROSMessageTypeAllocator,
-      ROSMessageTypeDeleter>(
-      context, topic_name, qos_profile),
-    subscribed_type_allocator_(*allocator)
-  {
-    allocator::set_allocator_for_deleter(&subscribed_type_deleter_, &subscribed_type_allocator_);
-
-    // Create the intra-process buffer.
-    buffer_ = rclcpp::experimental::create_intra_process_buffer<SubscribedType, Alloc,
-        SubscribedTypeDeleter>(
-      buffer_type,
-      qos_profile,
-      std::make_shared<Alloc>(subscribed_type_allocator_));
-  }
-
-  bool
-  is_ready(rcl_wait_set_t * wait_set) override
-  {
-    (void) wait_set;
-    return buffer_->has_data();
-  }
-
-  SubscribedTypeUniquePtr
-  convert_ros_message_to_subscribed_type_unique_ptr(const ROSMessageType & msg)
-  {
-    if constexpr (!std::is_same<SubscribedType, ROSMessageType>::value) {
-      auto ptr = SubscribedTypeAllocatorTraits::allocate(subscribed_type_allocator_, 1);
-      SubscribedTypeAllocatorTraits::construct(subscribed_type_allocator_, ptr);
-      rclcpp::TypeAdapter<SubscribedType, ROSMessageType>::convert_to_custom(msg, *ptr);
-      return SubscribedTypeUniquePtr(ptr, subscribed_type_deleter_);
-    } else {
-      throw std::runtime_error(
-              "convert_ros_message_to_subscribed_type_unique_ptr "
-              "unexpectedly called without TypeAdapter");
-    }
-  }
-
-  void
-  provide_intra_process_message(ConstMessageSharedPtr message) override
-  {
-    if constexpr (std::is_same<SubscribedType, ROSMessageType>::value) {
-      buffer_->add_shared(std::move(message));
-      trigger_guard_condition();
-    } else {
-      buffer_->add_shared(convert_ros_message_to_subscribed_type_unique_ptr(*message));
-      trigger_guard_condition();
-    }
-    this->invoke_on_new_message();
-  }
-
-  void
-  provide_intra_process_message(MessageUniquePtr message) override
-  {
-    if constexpr (std::is_same<SubscribedType, ROSMessageType>::value) {
-      buffer_->add_unique(std::move(message));
-      trigger_guard_condition();
-    } else {
-      buffer_->add_unique(convert_ros_message_to_subscribed_type_unique_ptr(*message));
-      trigger_guard_condition();
-    }
-    this->invoke_on_new_message();
-  }
-
-  void
-  provide_intra_process_data(ConstDataSharedPtr message)
-  {
-    buffer_->add_shared(std::move(message));
-    trigger_guard_condition();
-    this->invoke_on_new_message();
-  }
-
-  void
-  provide_intra_process_data(SubscribedTypeUniquePtr message)
-  {
-    buffer_->add_unique(std::move(message));
-    trigger_guard_condition();
-    this->invoke_on_new_message();
-  }
-
-  bool
-  use_take_shared_method() const override
-  {
-    return buffer_->use_take_shared_method();
-  }
-
-protected:
-  void
-  trigger_guard_condition() override
-  {
-    this->gc_.trigger();
-  }
-
-  BufferUniquePtr buffer_;
-  SubscribedTypeAllocator subscribed_type_allocator_;
-  SubscribedTypeDeleter subscribed_type_deleter_;
-};
-
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BUFFER_HPP_

rclcpp/include/rclcpp/function_traits.hpp

@@ -80,12 +80,10 @@ struct function_traits<ReturnTypeT (*)(Args ...)>: function_traits<ReturnTypeT(A
 
 // std::bind for object methods
 template<typename ClassT, typename ReturnTypeT, typename ... Args, typename ... FArgs>
-#if defined DOXYGEN_ONLY
-struct function_traits<std::bind<ReturnTypeT (ClassT::*)(Args ...), FArgs ...>>
-#elif defined _LIBCPP_VERSION  // libc++ (Clang)
+#if defined _LIBCPP_VERSION  // libc++ (Clang)
 struct function_traits<std::__bind<ReturnTypeT (ClassT::*)(Args ...), FArgs ...>>
 #elif defined _GLIBCXX_RELEASE  // glibc++ (GNU C++ >= 7.1)
-struct function_traits<std::_Bind<ReturnTypeT(ClassT::* (FArgs ...))(Args ...)>>
+struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...)>>
 #elif defined __GLIBCXX__  // glibc++ (GNU C++)
 struct function_traits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args ...)>(FArgs ...)>>
 #elif defined _MSC_VER  // MS Visual Studio
@@ -99,12 +97,10 @@ struct function_traits<
 
 // std::bind for object const methods
 template<typename ClassT, typename ReturnTypeT, typename ... Args, typename ... FArgs>
-#if defined DOXYGEN_ONLY
-struct function_traits<std::bind<ReturnTypeT (ClassT::*)(Args ...) const, FArgs ...>>
-#elif defined _LIBCPP_VERSION  // libc++ (Clang)
+#if defined _LIBCPP_VERSION  // libc++ (Clang)
 struct function_traits<std::__bind<ReturnTypeT (ClassT::*)(Args ...) const, FArgs ...>>
 #elif defined _GLIBCXX_RELEASE  // glibc++ (GNU C++ >= 7.1)
-struct function_traits<std::_Bind<ReturnTypeT(ClassT::* (FArgs ...))(Args ...) const>>
+struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...) const>>
 #elif defined __GLIBCXX__  // glibc++ (GNU C++)
 struct function_traits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args ...) const>(FArgs ...)>>
 #elif defined _MSC_VER  // MS Visual Studio
@@ -118,9 +114,7 @@ struct function_traits<
 
 // std::bind for free functions
 template<typename ReturnTypeT, typename ... Args, typename ... FArgs>
-#if defined DOXYGEN_ONLY
-struct function_traits<std::bind<ReturnTypeT( &)(Args ...), FArgs ...>>
-#elif defined _LIBCPP_VERSION  // libc++ (Clang)
+#if defined _LIBCPP_VERSION  // libc++ (Clang)
 struct function_traits<std::__bind<ReturnTypeT( &)(Args ...), FArgs ...>>
 #elif defined __GLIBCXX__  // glibc++ (GNU C++)
 struct function_traits<std::_Bind<ReturnTypeT(*(FArgs ...))(Args ...)>>
@@ -168,32 +162,6 @@ struct same_arguments : std::is_same<
 >
 {};
 
-namespace detail
-{
-
-template<typename ReturnTypeT, typename ... Args>
-struct as_std_function_helper;
-
-template<typename ReturnTypeT, typename ... Args>
-struct as_std_function_helper<ReturnTypeT, std::tuple<Args ...>>
-{
-  using type = std::function<ReturnTypeT(Args ...)>;
-};
-
-}  // namespace detail
-
-template<
-  typename FunctorT,
-  typename FunctionTraits = function_traits<FunctorT>
->
-struct as_std_function
-{
-  using type = typename detail::as_std_function_helper<
-    typename FunctionTraits::return_type,
-    typename FunctionTraits::arguments
-    >::type;
-};
-
 }  // namespace function_traits
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/future_return_code.hpp

@@ -42,6 +42,20 @@ RCLCPP_PUBLIC
 std::string
 to_string(const FutureReturnCode & future_return_code);
 
+namespace executor
+{
+
+using FutureReturnCode [[deprecated("use rclcpp::FutureReturnCode instead")]] = FutureReturnCode;
+
+[[deprecated("use rclcpp::to_string(const rclcpp::FutureReturnCode &) instead")]]
+inline
+std::string
+to_string(const rclcpp::FutureReturnCode & future_return_code)
+{
+  return rclcpp::to_string(future_return_code);
+}
+
+}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__FUTURE_RETURN_CODE_HPP_

rclcpp/include/rclcpp/generic_publisher.hpp

@@ -1,143 +0,0 @@
-// Copyright 2018, Bosch Software Innovations GmbH.
-// Copyright 2021, Apex.AI 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__GENERIC_PUBLISHER_HPP_
-#define RCLCPP__GENERIC_PUBLISHER_HPP_
-
-#include <memory>
-#include <string>
-
-#include "rcpputils/shared_library.hpp"
-
-#include "rclcpp/callback_group.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/publisher_base.hpp"
-#include "rclcpp/qos.hpp"
-#include "rclcpp/serialized_message.hpp"
-#include "rclcpp/typesupport_helpers.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-#include "rmw/rmw.h"
-
-namespace rclcpp
-{
-
-/// %Publisher for serialized messages whose type is not known at compile time.
-/**
- * Since the type is not known at compile time, this is not a template, and the dynamic library
- * containing type support information has to be identified and loaded based on the type name.
- *
- * It does not support intra-process handling.
- */
-class GenericPublisher : public rclcpp::PublisherBase
-{
-public:
-  // cppcheck-suppress unknownMacro
-  RCLCPP_SMART_PTR_DEFINITIONS(GenericPublisher)
-
-  /// Constructor.
-  /**
-   * In order to properly publish to a topic, this publisher needs to be added to
-   * the node_topic_interface of the node passed into this constructor.
-   *
-   * \sa rclcpp::Node::create_generic_publisher() or rclcpp::create_generic_publisher() for
-   * creating an instance of this class and adding it to the node_topic_interface.
-   *
-   * \param node_base Pointer to parent node's NodeBaseInterface
-   * \param ts_lib Type support library, needs to correspond to topic_type
-   * \param topic_name Topic name
-   * \param topic_type Topic type
-   * \param qos %QoS settings
-   * \param options %Publisher options.
-   * Not all publisher options are currently respected, the only relevant options for this
-   * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
-   */
-  template<typename AllocatorT = std::allocator<void>>
-  GenericPublisher(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    std::shared_ptr<rcpputils::SharedLibrary> ts_lib,
-    const std::string & topic_name,
-    const std::string & topic_type,
-    const rclcpp::QoS & qos,
-    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
-  : rclcpp::PublisherBase(
-      node_base,
-      topic_name,
-      *rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
-      options.template to_rcl_publisher_options<rclcpp::SerializedMessage>(qos)),
-    ts_lib_(ts_lib)
-  {
-    // This is unfortunately duplicated with the code in publisher.hpp.
-    // TODO(nnmm): Deduplicate by moving this into PublisherBase.
-    if (options.event_callbacks.deadline_callback) {
-      this->add_event_handler(
-        options.event_callbacks.deadline_callback,
-        RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
-    }
-    if (options.event_callbacks.liveliness_callback) {
-      this->add_event_handler(
-        options.event_callbacks.liveliness_callback,
-        RCL_PUBLISHER_LIVELINESS_LOST);
-    }
-    if (options.event_callbacks.incompatible_qos_callback) {
-      this->add_event_handler(
-        options.event_callbacks.incompatible_qos_callback,
-        RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
-    } else if (options.use_default_callbacks) {
-      // Register default callback when not specified
-      try {
-        this->add_event_handler(
-          [this](QOSOfferedIncompatibleQoSInfo & info) {
-            this->default_incompatible_qos_callback(info);
-          },
-          RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
-      } catch (UnsupportedEventTypeException & /*exc*/) {
-        // pass
-      }
-    }
-  }
-
-  RCLCPP_PUBLIC
-  virtual ~GenericPublisher() = default;
-
-  /// Publish a rclcpp::SerializedMessage.
-  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
-
-#endif  // RCLCPP__GENERIC_PUBLISHER_HPP_

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -1,168 +0,0 @@
-// Copyright 2018, Bosch Software Innovations GmbH.
-// Copyright 2021, Apex.AI 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__GENERIC_SUBSCRIPTION_HPP_
-#define RCLCPP__GENERIC_SUBSCRIPTION_HPP_
-
-#include <functional>
-#include <memory>
-#include <string>
-
-#include "rcpputils/shared_library.hpp"
-
-#include "rclcpp/callback_group.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/qos.hpp"
-#include "rclcpp/serialized_message.hpp"
-#include "rclcpp/subscription_base.hpp"
-#include "rclcpp/typesupport_helpers.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-
-/// %Subscription for serialized messages whose type is not known at compile time.
-/**
- * Since the type is not known at compile time, this is not a template, and the dynamic library
- * containing type support information has to be identified and loaded based on the type name.
- *
- * It does not support intra-process handling.
- */
-class GenericSubscription : public rclcpp::SubscriptionBase
-{
-public:
-  // cppcheck-suppress unknownMacro
-  RCLCPP_SMART_PTR_DEFINITIONS(GenericSubscription)
-
-  /// Constructor.
-  /**
-   * In order to properly subscribe to a topic, this subscription needs to be added to
-   * the node_topic_interface of the node passed into this constructor.
-   *
-   * \sa rclcpp::Node::create_generic_subscription() or rclcpp::create_generic_subscription() for
-   * creating an instance of this class and adding it to the node_topic_interface.
-   *
-   * \param node_base Pointer to parent node's NodeBaseInterface
-   * \param ts_lib Type support library, needs to correspond to topic_type
-   * \param topic_name Topic name
-   * \param topic_type Topic type
-   * \param qos %QoS settings
-   * \param callback Callback for new messages of serialized form
-   * \param options %Subscription options.
-   * Not all subscription options are currently respected, the only relevant options for this
-   * subscription are `event_callbacks`, `use_default_callbacks`, `ignore_local_publications`, and
-   * `%callback_group`.
-   */
-  template<typename AllocatorT = std::allocator<void>>
-  GenericSubscription(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    const std::shared_ptr<rcpputils::SharedLibrary> ts_lib,
-    const std::string & topic_name,
-    const std::string & topic_type,
-    const rclcpp::QoS & qos,
-    // TODO(nnmm): Add variant for callback with message info. See issue #1604.
-    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
-    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
-  : SubscriptionBase(
-      node_base,
-      *rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
-      topic_name,
-      options.template to_rcl_subscription_options<rclcpp::SerializedMessage>(qos),
-      true),
-    callback_(callback),
-    ts_lib_(ts_lib)
-  {
-    // This is unfortunately duplicated with the code in subscription.hpp.
-    // TODO(nnmm): Deduplicate by moving this into SubscriptionBase.
-    if (options.event_callbacks.deadline_callback) {
-      this->add_event_handler(
-        options.event_callbacks.deadline_callback,
-        RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
-    }
-    if (options.event_callbacks.liveliness_callback) {
-      this->add_event_handler(
-        options.event_callbacks.liveliness_callback,
-        RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
-    }
-    if (options.event_callbacks.incompatible_qos_callback) {
-      this->add_event_handler(
-        options.event_callbacks.incompatible_qos_callback,
-        RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
-    } else if (options.use_default_callbacks) {
-      // Register default callback when not specified
-      try {
-        this->add_event_handler(
-          [this](QOSRequestedIncompatibleQoSInfo & info) {
-            this->default_incompatible_qos_callback(info);
-          },
-          RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
-      } catch (UnsupportedEventTypeException & /*exc*/) {
-        // pass
-      }
-    }
-    if (options.event_callbacks.message_lost_callback) {
-      this->add_event_handler(
-        options.event_callbacks.message_lost_callback,
-        RCL_SUBSCRIPTION_MESSAGE_LOST);
-    }
-  }
-
-  RCLCPP_PUBLIC
-  virtual ~GenericSubscription() = default;
-
-  // Same as create_serialized_message() as the subscription is to serialized_messages only
-  RCLCPP_PUBLIC
-  std::shared_ptr<void> create_message() override;
-
-  RCLCPP_PUBLIC
-  std::shared_ptr<rclcpp::SerializedMessage> create_serialized_message() override;
-
-  /// Cast the message to a rclcpp::SerializedMessage and call the callback.
-  RCLCPP_PUBLIC
-  void handle_message(
-    std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) override;
-
-  /// Handle dispatching rclcpp::SerializedMessage to user callback.
-  RCLCPP_PUBLIC
-  void
-  handle_serialized_message(
-    const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
-    const rclcpp::MessageInfo & message_info) override;
-
-  /// This function is currently not implemented.
-  RCLCPP_PUBLIC
-  void handle_loaned_message(
-    void * loaned_message, const rclcpp::MessageInfo & message_info) override;
-
-  // Same as return_serialized_message() as the subscription is to serialized_messages only
-  RCLCPP_PUBLIC
-  void return_message(std::shared_ptr<void> & message) override;
-
-  RCLCPP_PUBLIC
-  void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
-
-private:
-  RCLCPP_DISABLE_COPY(GenericSubscription)
-
-  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback_;
-  // The type support library should stay loaded, so it is stored in the GenericSubscription
-  std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__GENERIC_SUBSCRIPTION_HPP_

rclcpp/include/rclcpp/get_message_type_support_handle.hpp

@@ -1,98 +0,0 @@
-// Copyright 2021 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__GET_MESSAGE_TYPE_SUPPORT_HANDLE_HPP_
-#define RCLCPP__GET_MESSAGE_TYPE_SUPPORT_HANDLE_HPP_
-
-#include <type_traits>
-
-#include "rosidl_runtime_cpp/traits.hpp"
-#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#include "rclcpp/type_adapter.hpp"
-
-/// Versions of rosidl_typesupport_cpp::get_message_type_support_handle that handle adapted types.
-
-namespace rclcpp
-{
-
-#ifdef DOXYGEN_ONLY
-
-/// Returns the message type support for the given `MessageT` type.
-/**
- * \tparam MessageT an actual ROS message type or an adapted type using `rclcpp::TypeAdapter`
- */
-template<typename MessageT>
-constexpr const rosidl_message_type_support_t & get_message_type_support_handle();
-
-#else
-
-template<typename MessageT>
-constexpr
-typename std::enable_if_t<
-  rosidl_generator_traits::is_message<MessageT>::value,
-  const rosidl_message_type_support_t &
->
-get_message_type_support_handle()
-{
-  auto handle = rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>();
-  if (!handle) {
-    throw std::runtime_error("Type support handle unexpectedly nullptr");
-  }
-  return *handle;
-}
-
-template<typename AdaptedType>
-constexpr
-typename std::enable_if_t<
-  !rosidl_generator_traits::is_message<AdaptedType>::value &&
-  rclcpp::TypeAdapter<AdaptedType>::is_specialized::value,
-  const rosidl_message_type_support_t &
->
-get_message_type_support_handle()
-{
-  auto handle = rosidl_typesupport_cpp::get_message_type_support_handle<
-    typename TypeAdapter<AdaptedType>::ros_message_type
-    >();
-  if (!handle) {
-    throw std::runtime_error("Type support handle unexpectedly nullptr");
-  }
-  return *handle;
-}
-
-// This specialization is a pass through runtime check, which allows a better
-// static_assert to catch this issue further down the line.
-// This should never get to be called in practice, and is purely defensive.
-template<
-  typename AdaptedType
->
-constexpr
-typename std::enable_if_t<
-  !rosidl_generator_traits::is_message<AdaptedType>::value &&
-  !TypeAdapter<AdaptedType>::is_specialized::value,
-  const rosidl_message_type_support_t &
->
-get_message_type_support_handle()
-{
-  throw std::runtime_error(
-          "this specialization of rclcpp::get_message_type_support_handle() "
-          "should never be called");
-}
-
-#endif
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__GET_MESSAGE_TYPE_SUPPORT_HANDLE_HPP_

rclcpp/include/rclcpp/graph_listener.hpp

@@ -24,7 +24,6 @@
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
 #include "rclcpp/context.hpp"
-#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -64,7 +63,7 @@ class GraphListener : public std::enable_shared_from_this<GraphListener>
 {
 public:
   RCLCPP_PUBLIC
-  explicit GraphListener(const rclcpp::Context::SharedPtr & parent_context);
+  explicit GraphListener(std::shared_ptr<rclcpp::Context> parent_context);
 
   RCLCPP_PUBLIC
   virtual ~GraphListener();
@@ -161,23 +160,14 @@ protected:
   void
   run_loop();
 
-  RCLCPP_PUBLIC
-  void
-  init_wait_set();
-
-  RCLCPP_PUBLIC
-  void
-  cleanup_wait_set();
-
 private:
   RCLCPP_DISABLE_COPY(GraphListener)
 
   /** \internal */
   void
-  __shutdown();
+  __shutdown(bool);
 
-  std::weak_ptr<rclcpp::Context> weak_parent_context_;
-  std::shared_ptr<rcl_context_t> rcl_parent_context_;
+  rclcpp::Context::WeakPtr parent_context_;
 
   std::thread listener_thread_;
   bool is_started_;
@@ -188,7 +178,8 @@ private:
   mutable std::mutex node_graph_interfaces_mutex_;
   std::vector<rclcpp::node_interfaces::NodeGraphInterface *> node_graph_interfaces_;
 
-  rclcpp::GuardCondition interrupt_guard_condition_;
+  rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
+  rcl_guard_condition_t * shutdown_guard_condition_;
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 };
 

rclcpp/include/rclcpp/guard_condition.hpp

@@ -40,8 +40,6 @@ public:
    *   Defaults to using the global default context singleton.
    *   Shared ownership of the context is held with the guard condition until
    *   destruction.
-   * \param[in] guard_condition_options Optional guard condition options to be used.
-   *   Defaults to using the default guard condition options.
    * \throws std::invalid_argument if the context is nullptr.
    * \throws rclcpp::exceptions::RCLError based exceptions when underlying
    *   rcl functions fail.
@@ -49,9 +47,7 @@ public:
   RCLCPP_PUBLIC
   explicit GuardCondition(
     rclcpp::Context::SharedPtr context =
-    rclcpp::contexts::get_global_default_context(),
-    rcl_guard_condition_options_t guard_condition_options =
-    rcl_guard_condition_get_default_options());
+    rclcpp::contexts::get_global_default_context());
 
   RCLCPP_PUBLIC
   virtual
@@ -62,11 +58,6 @@ public:
   rclcpp::Context::SharedPtr
   get_context() const;
 
-  /// Return the underlying rcl guard condition structure.
-  RCLCPP_PUBLIC
-  rcl_guard_condition_t &
-  get_rcl_guard_condition();
-
   /// Return the underlying rcl guard condition structure.
   RCLCPP_PUBLIC
   const rcl_guard_condition_t &
@@ -98,27 +89,10 @@ public:
   bool
   exchange_in_use_by_wait_set_state(bool in_use_state);
 
-  /// Adds the guard condition to a waitset
-  /**
-   * This function is thread-safe.
-   * \param[in] wait_set pointer to a wait set where to add the guard condition
-   */
-  RCLCPP_PUBLIC
-  void
-  add_to_wait_set(rcl_wait_set_t * wait_set);
-
-  RCLCPP_PUBLIC
-  void
-  set_on_trigger_callback(std::function<void(size_t)> callback);
-
 protected:
   rclcpp::Context::SharedPtr context_;
   rcl_guard_condition_t rcl_guard_condition_;
   std::atomic<bool> in_use_by_wait_set_{false};
-  std::recursive_mutex reentrant_mutex_;
-  std::function<void(size_t)> on_trigger_callback_{nullptr};
-  size_t unread_count_{0};
-  rcl_wait_set_t * wait_set_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/init_options.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__INIT_OPTIONS_HPP_
 
 #include <memory>
-#include <mutex>
 
 #include "rcl/init_options.h"
 #include "rclcpp/visibility_control.hpp"
@@ -29,7 +28,7 @@ class InitOptions
 {
 public:
   /// If true, the context will be shutdown on SIGINT by the signal handler (if it was installed).
-  bool shutdown_on_signal = true;
+  bool shutdown_on_sigint = true;
 
   /// Constructor
   /**
@@ -81,30 +80,11 @@ public:
   const rcl_init_options_t *
   get_rcl_init_options() const;
 
-  /// Retrieve default domain id and set.
-  RCLCPP_PUBLIC
-  void
-  use_default_domain_id();
-
-  /// Set the domain id.
-  RCLCPP_PUBLIC
-  void
-  set_domain_id(size_t domain_id);
-
-  /// Return domain id.
-  RCLCPP_PUBLIC
-  size_t
-  get_domain_id() const;
-
 protected:
   void
   finalize_init_options();
 
 private:
-  void
-  finalize_init_options_impl();
-
-  mutable std::mutex init_options_mutex_;
   std::unique_ptr<rcl_init_options_t> init_options_;
   bool initialize_logging_{true};
 };

rclcpp/include/rclcpp/is_ros_compatible_type.hpp

@@ -1,35 +0,0 @@
-// Copyright 2021 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__IS_ROS_COMPATIBLE_TYPE_HPP_
-#define RCLCPP__IS_ROS_COMPATIBLE_TYPE_HPP_
-
-#include "rosidl_runtime_cpp/traits.hpp"
-
-#include "rclcpp/type_adapter.hpp"
-
-namespace rclcpp
-{
-
-template<typename T>
-struct is_ros_compatible_type
-{
-  static constexpr bool value =
-    rosidl_generator_traits::is_message<T>::value ||
-    rclcpp::TypeAdapter<T>::is_specialized::value;
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__IS_ROS_COMPATIBLE_TYPE_HPP_

rclcpp/include/rclcpp/loaned_message.hpp

@@ -103,9 +103,6 @@ public:
    * \param[in] allocator Allocator instance in case middleware can not allocate messages
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    */
-  [[
-    deprecated("used the LoanedMessage constructor that does not use a shared_ptr to the allocator")
-  ]]
   LoanedMessage(
     const rclcpp::PublisherBase * pub,
     std::shared_ptr<std::allocator<MessageT>> allocator)
@@ -117,9 +114,7 @@ public:
   : pub_(std::move(other.pub_)),
     message_(std::move(other.message_)),
     message_allocator_(std::move(other.message_allocator_))
-  {
-    other.message_ = nullptr;
-  }
+  {}
 
   /// Destructor of the LoanedMessage class.
   /**
@@ -188,30 +183,14 @@ public:
   /**
    * A call to `release()` will unmanage the memory for the ROS message.
    * That means that the destructor of this class will not free the memory on scope exit.
-   * If the message is loaned from the middleware but not be published, the user needs to call
-   * `rcl_return_loaned_message_from_publisher` manually.
-   * If the memory is from the local allocator, the memory is freed when the unique pointer
-   * goes out instead.
    *
-   * \return std::unique_ptr to the message instance.
+   * \return Raw pointer to the message instance.
    */
-  std::unique_ptr<MessageT, std::function<void(MessageT *)>>
-  release()
+  MessageT * release()
   {
     auto msg = message_;
     message_ = nullptr;
-
-    if (pub_.can_loan_messages()) {
-      return std::unique_ptr<MessageT, std::function<void(MessageT *)>>(msg, [](MessageT *) {});
-    }
-
-    return std::unique_ptr<MessageT, std::function<void(MessageT *)>>(
-      msg,
-      [allocator = message_allocator_](MessageT * msg_ptr) mutable {
-        // call destructor before deallocating
-        msg_ptr->~MessageT();
-        allocator.deallocate(msg_ptr, 1);
-      });
+    return msg;
   }
 
 protected:

rclcpp/include/rclcpp/logger.hpp

@@ -21,8 +21,6 @@
 #include "rclcpp/visibility_control.hpp"
 
 #include "rcl/node.h"
-#include "rcutils/logging.h"
-#include "rcpputils/filesystem_helper.hpp"
 
 /**
  * \def RCLCPP_LOGGING_ENABLED
@@ -76,32 +74,8 @@ RCLCPP_PUBLIC
 Logger
 get_node_logger(const rcl_node_t * node);
 
-/// Get the current logging directory.
-/**
- * For more details of how the logging directory is determined,
- * see rcl_logging_get_logging_directory().
- *
- * \returns the logging directory being used.
- * \throws rclcpp::exceptions::RCLError if an unexpected error occurs.
- */
-RCLCPP_PUBLIC
-rcpputils::fs::path
-get_logging_directory();
-
 class Logger
 {
-public:
-  /// An enum for the type of logger level.
-  enum class Level
-  {
-    Unset = RCUTILS_LOG_SEVERITY_UNSET,  ///< The unset log level
-    Debug = RCUTILS_LOG_SEVERITY_DEBUG,  ///< The debug log level
-    Info = RCUTILS_LOG_SEVERITY_INFO,    ///< The info log level
-    Warn = RCUTILS_LOG_SEVERITY_WARN,    ///< The warn log level
-    Error = RCUTILS_LOG_SEVERITY_ERROR,  ///< The error log level
-    Fatal = RCUTILS_LOG_SEVERITY_FATAL,  ///< The fatal log level
-  };
-
 private:
   friend Logger rclcpp::get_logger(const std::string & name);
   friend ::rclcpp::node_interfaces::NodeLogging;
@@ -164,16 +138,6 @@ public:
     }
     return Logger(*name_ + "." + suffix);
   }
-
-  /// Set level for current logger.
-  /**
-   * \param[in] level the logger's level
-   * \throws rclcpp::exceptions::RCLInvalidArgument if level is invalid.
-   * \throws rclcpp::exceptions::RCLError if other error happens.
-   */
-  RCLCPP_PUBLIC
-  void
-  set_level(Level level);
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__MEMORY_STRATEGY_HPP_
 
 #include <list>
-#include <map>
 #include <memory>
 
 #include "rcl/allocator.h"
@@ -43,13 +42,11 @@ class RCLCPP_PUBLIC MemoryStrategy
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy)
-  using WeakCallbackGroupsToNodesMap = std::map<rclcpp::CallbackGroup::WeakPtr,
-      rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
+  using WeakNodeList = std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
 
   virtual ~MemoryStrategy() = default;
 
-  virtual bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+  virtual bool collect_entities(const WeakNodeList & weak_nodes) = 0;
 
   virtual size_t number_of_ready_subscriptions() const = 0;
   virtual size_t number_of_ready_services() const = 0;
@@ -64,89 +61,87 @@ public:
   virtual void clear_handles() = 0;
   virtual void remove_null_handles(rcl_wait_set_t * wait_set) = 0;
 
-  virtual void
-  add_guard_condition(const rclcpp::GuardCondition & guard_condition) = 0;
+  virtual void add_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
 
-  virtual void
-  remove_guard_condition(const rclcpp::GuardCondition * guard_condition) = 0;
+  virtual void remove_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
 
   virtual void
   get_next_subscription(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_service(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_client(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_timer(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_waitable(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual rcl_allocator_t
   get_allocator() = 0;
 
   static rclcpp::SubscriptionBase::SharedPtr
   get_subscription_by_handle(
-    const std::shared_ptr<const rcl_subscription_t> & subscriber_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    std::shared_ptr<const rcl_subscription_t> subscriber_handle,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::ServiceBase::SharedPtr
   get_service_by_handle(
-    const std::shared_ptr<const rcl_service_t> & service_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    std::shared_ptr<const rcl_service_t> service_handle,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::ClientBase::SharedPtr
   get_client_by_handle(
-    const std::shared_ptr<const rcl_client_t> & client_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    std::shared_ptr<const rcl_client_t> client_handle,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::TimerBase::SharedPtr
   get_timer_by_handle(
-    const std::shared_ptr<const rcl_timer_t> & timer_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    std::shared_ptr<const rcl_timer_t> timer_handle,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
-    const rclcpp::CallbackGroup::SharedPtr & group,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    rclcpp::CallbackGroup::SharedPtr group,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_subscription(
-    const rclcpp::SubscriptionBase::SharedPtr & subscription,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    rclcpp::SubscriptionBase::SharedPtr subscription,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_service(
-    const rclcpp::ServiceBase::SharedPtr & service,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    rclcpp::ServiceBase::SharedPtr service,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_client(
-    const rclcpp::ClientBase::SharedPtr & client,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    rclcpp::ClientBase::SharedPtr client,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(
-    const rclcpp::TimerBase::SharedPtr & timer,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    rclcpp::TimerBase::SharedPtr timer,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_waitable(
-    const rclcpp::Waitable::SharedPtr & waitable,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    rclcpp::Waitable::SharedPtr waitable,
+    const WeakNodeList & weak_nodes);
 };
 
 }  // namespace memory_strategy

rclcpp/include/rclcpp/network_flow_endpoint.hpp

@@ -1,115 +0,0 @@
-// Copyright 2020 Ericsson AB
-//
-// 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__NETWORK_FLOW_ENDPOINT_HPP_
-#define RCLCPP__NETWORK_FLOW_ENDPOINT_HPP_
-
-#include <cstdint>
-#include <string>
-#include <iostream>
-
-#include "rcl/network_flow_endpoints.h"
-
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-
-/// Forward declaration
-class NetworkFlowEndpoint;
-
-/// Check if two NetworkFlowEndpoint instances are equal
-RCLCPP_PUBLIC
-bool operator==(const NetworkFlowEndpoint & left, const NetworkFlowEndpoint & right);
-
-/// Check if two NetworkFlowEndpoint instances are not equal
-RCLCPP_PUBLIC
-bool operator!=(const NetworkFlowEndpoint & left, const NetworkFlowEndpoint & right);
-
-/// Streaming helper for NetworkFlowEndpoint
-RCLCPP_PUBLIC
-std::ostream & operator<<(std::ostream & os, const NetworkFlowEndpoint & network_flow_endpoint);
-
-/**
- * Class describes a network flow endpoint based on the counterpart definition
- * in the RMW layer.
- */
-class NetworkFlowEndpoint
-{
-public:
-  /// Construct from rcl_network_flow_endpoint_t
-  RCLCPP_PUBLIC
-  explicit NetworkFlowEndpoint(const rcl_network_flow_endpoint_t & network_flow_endpoint)
-  : transport_protocol_(
-      rcl_network_flow_endpoint_get_transport_protocol_string(network_flow_endpoint.
-      transport_protocol)),
-    internet_protocol_(
-      rcl_network_flow_endpoint_get_internet_protocol_string(
-        network_flow_endpoint.internet_protocol)),
-    transport_port_(network_flow_endpoint.transport_port),
-    flow_label_(network_flow_endpoint.flow_label),
-    dscp_(network_flow_endpoint.dscp),
-    internet_address_(network_flow_endpoint.internet_address)
-  {
-  }
-
-  /// Get transport protocol
-  RCLCPP_PUBLIC
-  const std::string & transport_protocol() const;
-
-  /// Get internet protocol
-  RCLCPP_PUBLIC
-  const std::string & internet_protocol() const;
-
-  /// Get transport port
-  RCLCPP_PUBLIC
-  uint16_t transport_port() const;
-
-  /// Get flow label
-  RCLCPP_PUBLIC
-  uint32_t flow_label() const;
-
-  /// Get DSCP
-  RCLCPP_PUBLIC
-  uint8_t dscp() const;
-
-  /// Get internet address
-  RCLCPP_PUBLIC
-  const std::string & internet_address() const;
-
-  /// Compare two NetworkFlowEndpoint instances
-  friend bool rclcpp::operator==(
-    const NetworkFlowEndpoint & left,
-    const NetworkFlowEndpoint & right);
-  friend bool rclcpp::operator!=(
-    const NetworkFlowEndpoint & left,
-    const NetworkFlowEndpoint & right);
-
-  /// Streaming helper
-  friend std::ostream & rclcpp::operator<<(
-    std::ostream & os,
-    const NetworkFlowEndpoint & network_flow_endpoint);
-
-private:
-  std::string transport_protocol_;
-  std::string internet_protocol_;
-  uint16_t transport_port_;
-  uint32_t flow_label_;
-  uint8_t dscp_;
-  std::string internet_address_;
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__NETWORK_FLOW_ENDPOINT_HPP_

rclcpp/include/rclcpp/node.hpp

@@ -17,7 +17,6 @@
 
 #include <atomic>
 #include <condition_variable>
-#include <functional>
 #include <list>
 #include <map>
 #include <memory>
@@ -42,8 +41,6 @@
 #include "rclcpp/clock.hpp"
 #include "rclcpp/context.hpp"
 #include "rclcpp/event.hpp"
-#include "rclcpp/generic_publisher.hpp"
-#include "rclcpp/generic_subscription.hpp"
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
@@ -144,20 +141,12 @@ public:
   /// Create and return a callback group.
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(
-    rclcpp::CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true);
+  create_callback_group(rclcpp::CallbackGroupType group_type);
 
-  /// Iterate over the callback groups in the node, calling the given function on each valid one.
-  /**
-   * This method is called in a thread-safe way, and also makes sure to only call the given
-   * function on those items that are still valid.
-   *
-   * \param[in] func The callback function to call on each valid callback group.
-   */
+  /// Return the list of callback groups in the node.
   RCLCPP_PUBLIC
-  void
-  for_each_callback_group(const node_interfaces::NodeBaseInterface::CallbackGroupFunction & func);
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
+  get_callback_groups() const;
 
   /// Create and return a Publisher.
   /**
@@ -212,8 +201,13 @@ public:
     typename MessageT,
     typename CallbackT,
     typename AllocatorT = std::allocator<void>,
-    typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
-    typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType
+    typename CallbackMessageT =
+    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+    typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+    typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      CallbackMessageT,
+      AllocatorT
+    >
   >
   std::shared_ptr<SubscriptionT>
   create_subscription(
@@ -270,55 +264,6 @@ public:
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
     rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
-  /// Create and return a GenericPublisher.
-  /**
-   * The returned pointer will never be empty, but this function can throw various exceptions, for
-   * instance when the message's package can not be found on the AMENT_PREFIX_PATH.
-   *
-   * \param[in] topic_name Topic name
-   * \param[in] topic_type Topic type
-   * \param[in] qos %QoS settings
-   * \param options %Publisher options.
-   * Not all publisher options are currently respected, the only relevant options for this
-   * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
-   * \return Shared pointer to the created generic publisher.
-   */
-  template<typename AllocatorT = std::allocator<void>>
-  std::shared_ptr<rclcpp::GenericPublisher> create_generic_publisher(
-    const std::string & topic_name,
-    const std::string & topic_type,
-    const rclcpp::QoS & qos,
-    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
-      rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-    )
-  );
-
-  /// Create and return a GenericSubscription.
-  /**
-   * The returned pointer will never be empty, but this function can throw various exceptions, for
-   * instance when the message's package can not be found on the AMENT_PREFIX_PATH.
-   *
-   * \param[in] topic_name Topic name
-   * \param[in] topic_type Topic type
-   * \param[in] qos %QoS settings
-   * \param[in] callback Callback for new messages of serialized form
-   * \param[in] options %Subscription options.
-   * Not all subscription options are currently respected, the only relevant options for this
- * subscription are `event_callbacks`, `use_default_callbacks`, `ignore_local_publications`, and
- * `%callback_group`.
-   * \return Shared pointer to the created generic subscription.
-   */
-  template<typename AllocatorT = std::allocator<void>>
-  std::shared_ptr<rclcpp::GenericSubscription> create_generic_subscription(
-    const std::string & topic_name,
-    const std::string & topic_type,
-    const rclcpp::QoS & qos,
-    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
-    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
-      rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
-    )
-  );
-
   /// Declare and initialize a parameter, return the effective value.
   /**
    * This method is used to declare that a parameter exists on this node.
@@ -358,43 +303,16 @@ public:
    *   name is invalid.
    * \throws rclcpp::exceptions::InvalidParameterValueException if initial
    *   value fails to be set.
-   * \throws rclcpp::exceptions::InvalidParameterTypeException
-   *   if the type of the default value or override is wrong.
    */
   RCLCPP_PUBLIC
   const rclcpp::ParameterValue &
   declare_parameter(
     const std::string & name,
-    const rclcpp::ParameterValue & default_value,
+    const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
     rcl_interfaces::msg::ParameterDescriptor(),
     bool ignore_override = false);
 
-  /// Declare and initialize a parameter, return the effective value.
-  /**
-   * Same as the previous one, but a default value is not provided and the user
-   * must provide a parameter override of the correct type.
-   *
-   * \param[in] name The name of the parameter.
-   * \param[in] type Desired type of the parameter, which will enforced at runtime.
-   * \param[in] parameter_descriptor An optional, custom description for
-   *   the parameter.
-   * \param[in] ignore_override When `true`, the parameter override is ignored.
-   *    Default to `false`.
-   * \return A const reference to the value of the parameter.
-   * \throws Same as the previous overload taking a default value.
-   * \throws rclcpp::exceptions::InvalidParameterTypeException
-   *   if an override is not provided or the provided override is of the wrong type.
-   */
-  RCLCPP_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(
-    const std::string & name,
-    rclcpp::ParameterType type,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor{},
-    bool ignore_override = false);
-
   /// Declare and initialize a parameter with a type.
   /**
    * See the non-templated declare_parameter() on this class for details.
@@ -425,18 +343,6 @@ public:
     rcl_interfaces::msg::ParameterDescriptor(),
     bool ignore_override = false);
 
-  /// Declare and initialize a parameter with a type.
-  /**
-   * See the non-templated declare_parameter() on this class for details.
-   */
-  template<typename ParameterT>
-  auto
-  declare_parameter(
-    const std::string & name,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false);
-
   /// Declare and initialize several parameters with the same namespace and type.
   /**
    * For each key in the map, a parameter with a name of "namespace.key"
@@ -704,24 +610,6 @@ public:
     ParameterT & parameter,
     const ParameterT & alternative_value) const;
 
-  /// Return the parameter value, or the "alternative_value" if not set.
-  /**
-   * If the parameter was not set, then the "alternative_value" argument is returned.
-   *
-   * This method will not throw the rclcpp::exceptions::ParameterNotDeclaredException exception.
-   *
-   * In all cases, the parameter is never set or declared within the node.
-   *
-   * \param[in] name The name of the parameter to get.
-   * \param[in] alternative_value Value to be stored in output if the parameter was not set.
-   * \returns The value of the parameter.
-   */
-  template<typename ParameterT>
-  ParameterT
-  get_parameter_or(
-    const std::string & name,
-    const ParameterT & alternative_value) const;
-
   /// Return the parameters by the given parameter names.
   /**
    * Like get_parameters(), this method may throw the
@@ -895,9 +783,6 @@ public:
    *
    * This allows the node developer to control which parameters may be changed.
    *
-   * It is considered bad practice to reject changes for "unknown" parameters as this prevents
-   * other parts of the node (that may be aware of these parameters) from handling them.
-   *
    * Note that the callback is called when declare_parameter() and its variants
    * are called, and so you cannot assume the parameter has been set before
    * this callback, so when checking a new value against the existing one, you
@@ -960,6 +845,26 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
 
+  /// Register a callback to be called anytime a parameter is about to be changed.
+  /**
+   * \deprecated Use add_on_set_parameters_callback instead.
+   * With this method, only one callback can be set at a time. The callback that was previously
+   * set by this method is returned or `nullptr` if no callback was previously set.
+   *
+   * The callbacks added with `add_on_set_parameters_callback` are stored in a different place.
+   * `remove_on_set_parameters_callback` can't be used with the callbacks registered with this
+   * method. For removing it, use `set_on_parameters_set_callback(nullptr)`.
+   *
+   * \param[in] callback The callback to be called when the value for a
+   *   parameter is about to be set.
+   * \return The previous callback that was registered, if there was one,
+   *   otherwise nullptr.
+   */
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
+  RCLCPP_PUBLIC
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
+
   /// Get the fully-qualified names of all available nodes.
   /**
    * The fully-qualified name includes the local namespace and name of the node.
@@ -1003,21 +908,15 @@ public:
     const std::string & node_name,
     const std::string & namespace_) const;
 
-  /// Return the number of publishers created for a given topic.
-  /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   * \return number of publishers that have been created for the given topic.
-   * \throws std::runtime_error if publishers could not be counted
-   */
   RCLCPP_PUBLIC
   size_t
   count_publishers(const std::string & topic_name) const;
 
-  /// Return the number of subscribers created for a given topic.
+  /// Return the number of subscribers who have created a subscription for a given topic.
   /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   * \return number of subscribers that have been created for the given topic.
-   * \throws std::runtime_error if subscribers could not be counted
+   * \param[in] topic_name the topic_name on which to count the subscribers.
+   * \return number of subscribers who have created a subscription for a given topic.
+   * \throws std::runtime_error if publishers could not be counted
    */
   RCLCPP_PUBLIC
   size_t
@@ -1038,7 +937,7 @@ public:
    * A relative or private topic will be expanded using this node's namespace and name.
    * The queried `topic_name` is not remapped.
    *
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
+   * \param[in] topic_name the topic_name on which to find the publishers.
    * \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
    *   otherwise it should be a valid ROS topic name. Defaults to `false`.
    * \return a list of TopicEndpointInfo representing all the publishers on this topic.
@@ -1064,7 +963,7 @@ public:
    * A relative or private topic will be expanded using this node's namespace and name.
    * The queried `topic_name` is not remapped.
    *
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
+   * \param[in] topic_name the topic_name on which to find the subscriptions.
    * \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
    *   otherwise it should be a valid ROS topic name. Defaults to `false`.
    * \return a list of TopicEndpointInfo representing all the subscriptions on this topic.
@@ -1298,6 +1197,10 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(Node)
 
+  RCLCPP_PUBLIC
+  bool
+  group_in_node(CallbackGroup::SharedPtr group);
+
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;

rclcpp/include/rclcpp/node_impl.hpp

@@ -36,12 +36,10 @@
 
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/create_client.hpp"
-#include "rclcpp/create_generic_publisher.hpp"
-#include "rclcpp/create_generic_subscription.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"
-#include "rclcpp/create_subscription.hpp"
 #include "rclcpp/create_timer.hpp"
+#include "rclcpp/create_subscription.hpp"
 #include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/qos.hpp"
@@ -86,6 +84,7 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
+  typename CallbackMessageT,
   typename SubscriptionT,
   typename MessageMemoryStrategyT>
 std::shared_ptr<SubscriptionT>
@@ -153,43 +152,6 @@ Node::create_service(
     group);
 }
 
-template<typename AllocatorT>
-std::shared_ptr<rclcpp::GenericPublisher>
-Node::create_generic_publisher(
-  const std::string & topic_name,
-  const std::string & topic_type,
-  const rclcpp::QoS & qos,
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
-{
-  return rclcpp::create_generic_publisher(
-    node_topics_,
-    extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
-    topic_type,
-    qos,
-    options
-  );
-}
-
-template<typename AllocatorT>
-std::shared_ptr<rclcpp::GenericSubscription>
-Node::create_generic_subscription(
-  const std::string & topic_name,
-  const std::string & topic_type,
-  const rclcpp::QoS & qos,
-  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
-{
-  return rclcpp::create_generic_subscription(
-    node_topics_,
-    extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
-    topic_type,
-    qos,
-    std::move(callback),
-    options
-  );
-}
-
-
 template<typename ParameterT>
 auto
 Node::declare_parameter(
@@ -210,28 +172,6 @@ Node::declare_parameter(
   }
 }
 
-template<typename ParameterT>
-auto
-Node::declare_parameter(
-  const std::string & name,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
-  bool ignore_override)
-{
-  // get advantage of parameter value template magic to get
-  // the correct rclcpp::ParameterType from ParameterT
-  rclcpp::ParameterValue value{ParameterT{}};
-  try {
-    return this->declare_parameter(
-      name,
-      value.get_type(),
-      parameter_descriptor,
-      ignore_override
-    ).get<ParameterT>();
-  } catch (const ParameterTypeException &) {
-    throw exceptions::UninitializedStaticallyTypedParameterException(name);
-  }
-}
-
 template<typename ParameterT>
 std::vector<ParameterT>
 Node::declare_parameters(
@@ -313,17 +253,6 @@ Node::get_parameter_or(
   return got_parameter;
 }
 
-template<typename ParameterT>
-ParameterT
-Node::get_parameter_or(
-  const std::string & name,
-  const ParameterT & alternative_value) const
-{
-  ParameterT parameter;
-  get_parameter_or(name, parameter, alternative_value);
-  return parameter;
-}
-
 // this is a partially-specialized version of get_parameter above,
 // where our concrete type for ParameterT is std::map, but the to-be-determined
 // type is the value in the map.

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -15,14 +15,11 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 
-#include <functional>
 #include <memory>
-#include <mutex>
 #include <string>
 #include <vector>
 
 #include "rcl/node.h"
-#include "rclcpp/callback_group.hpp"
 #include "rclcpp/context.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
@@ -34,7 +31,7 @@ namespace node_interfaces
 {
 
 /// Implementation of the NodeBase part of the Node API.
-class NodeBase : public NodeBaseInterface, public std::enable_shared_from_this<NodeBase>
+class NodeBase : public NodeBaseInterface
 {
 public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBase)
@@ -86,9 +83,7 @@ public:
 
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(
-    rclcpp::CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true) override;
+  create_callback_group(rclcpp::CallbackGroupType group_type) override;
 
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
@@ -98,25 +93,22 @@ public:
   bool
   callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) override;
 
-  /// Iterate over the stored callback groups, calling the given function on each valid one.
-  /**
-   * This method is called in a thread-safe way, and also makes sure to only call the given
-   * function on those items that are still valid.
-   *
-   * \param[in] func The callback function to call on each valid callback group.
-   */
   RCLCPP_PUBLIC
-  void
-  for_each_callback_group(const CallbackGroupFunction & func) override;
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
+  get_callback_groups() const override;
 
   RCLCPP_PUBLIC
   std::atomic_bool &
   get_associated_with_executor_atomic() override;
 
   RCLCPP_PUBLIC
-  rclcpp::GuardCondition &
+  rcl_guard_condition_t *
   get_notify_guard_condition() override;
 
+  RCLCPP_PUBLIC
+  std::unique_lock<std::recursive_mutex>
+  acquire_notify_guard_condition_lock() const override;
+
   RCLCPP_PUBLIC
   bool
   get_use_intra_process_default() const override;
@@ -124,10 +116,6 @@ public:
   bool
   get_enable_topic_statistics_default() const override;
 
-  std::string
-  resolve_topic_or_service_name(
-    const std::string & name, bool is_service, bool only_expand = false) const override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeBase)
 
@@ -138,14 +126,13 @@ private:
   std::shared_ptr<rcl_node_t> node_handle_;
 
   rclcpp::CallbackGroup::SharedPtr default_callback_group_;
-  std::mutex callback_groups_mutex_;
   std::vector<rclcpp::CallbackGroup::WeakPtr> callback_groups_;
 
   std::atomic_bool associated_with_executor_;
 
   /// Guard condition for notifying the Executor of changes to this node.
   mutable std::recursive_mutex notify_guard_condition_mutex_;
-  rclcpp::GuardCondition notify_guard_condition_;
+  rcl_guard_condition_t notify_guard_condition_ = rcl_get_zero_initialized_guard_condition();
   bool notify_guard_condition_is_valid_;
 };
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -24,7 +24,6 @@
 
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/context.hpp"
-#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -107,9 +106,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(
-    rclcpp::CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true) = 0;
+  create_callback_group(rclcpp::CallbackGroupType group_type) = 0;
 
   /// Return the default callback group.
   RCLCPP_PUBLIC
@@ -123,19 +120,11 @@ public:
   bool
   callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) = 0;
 
-  using CallbackGroupFunction = std::function<void (rclcpp::CallbackGroup::SharedPtr)>;
-
-  /// Iterate over the stored callback groups, calling the given function on each valid one.
-  /**
-   * This method is called in a thread-safe way, and also makes sure to only call the given
-   * function on those items that are still valid.
-   *
-   * \param[in] func The callback function to call on each valid callback group.
-   */
+  /// Return list of callback groups associated with this node.
   RCLCPP_PUBLIC
   virtual
-  void
-  for_each_callback_group(const CallbackGroupFunction & func) = 0;
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
+  get_callback_groups() const = 0;
 
   /// Return the atomic bool which is used to ensure only one executor is used.
   RCLCPP_PUBLIC
@@ -143,17 +132,24 @@ public:
   std::atomic_bool &
   get_associated_with_executor_atomic() = 0;
 
-  /// Return a guard condition that should be notified when the internal node state changes.
+  /// Return guard condition that should be notified when the internal node state changes.
   /**
    * For example, this should be notified when a publisher is added or removed.
    *
-   * \return the GuardCondition if it is valid, else thow runtime error
+   * \return the rcl_guard_condition_t if it is valid, else nullptr
    */
   RCLCPP_PUBLIC
   virtual
-  rclcpp::GuardCondition &
+  rcl_guard_condition_t *
   get_notify_guard_condition() = 0;
 
+  /// Acquire and return a scoped lock that protects the notify guard condition.
+  /** This should be used when triggering the notify guard condition. */
+  RCLCPP_PUBLIC
+  virtual
+  std::unique_lock<std::recursive_mutex>
+  acquire_notify_guard_condition_lock() const = 0;
+
   /// Return the default preference for using intra process communication.
   RCLCPP_PUBLIC
   virtual
@@ -165,13 +161,6 @@ public:
   virtual
   bool
   get_enable_topic_statistics_default() const = 0;
-
-  /// Expand and remap a given topic or service name.
-  RCLCPP_PUBLIC
-  virtual
-  std::string
-  resolve_topic_or_service_name(
-    const std::string & name, bool is_service, bool only_expand = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -20,7 +20,6 @@
 #include <memory>
 #include <mutex>
 #include <string>
-#include <tuple>
 #include <utility>
 #include <vector>
 
@@ -71,34 +70,10 @@ public:
     const std::string & node_name,
     const std::string & namespace_) const override;
 
-  RCLCPP_PUBLIC
-  std::map<std::string, std::vector<std::string>>
-  get_client_names_and_types_by_node(
-    const std::string & node_name,
-    const std::string & namespace_) const override;
-
-  RCLCPP_PUBLIC
-  std::map<std::string, std::vector<std::string>>
-  get_publisher_names_and_types_by_node(
-    const std::string & node_name,
-    const std::string & namespace_,
-    bool no_demangle = false) const override;
-
-  RCLCPP_PUBLIC
-  std::map<std::string, std::vector<std::string>>
-  get_subscriber_names_and_types_by_node(
-    const std::string & node_name,
-    const std::string & namespace_,
-    bool no_demangle = false) const override;
-
   RCLCPP_PUBLIC
   std::vector<std::string>
   get_node_names() const override;
 
-  RCLCPP_PUBLIC
-  std::vector<std::tuple<std::string, std::string, std::string>>
-  get_node_names_with_enclaves() const override;
-
   RCLCPP_PUBLIC
   std::vector<std::pair<std::string, std::string>>
   get_node_names_and_namespaces() const override;
@@ -135,7 +110,7 @@ public:
 
   RCLCPP_PUBLIC
   size_t
-  count_graph_users() const override;
+  count_graph_users() override;
 
   RCLCPP_PUBLIC
   std::vector<rclcpp::TopicEndpointInfo>

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -20,7 +20,6 @@
 #include <chrono>
 #include <map>
 #include <string>
-#include <tuple>
 #include <utility>
 #include <vector>
 
@@ -147,9 +146,6 @@ public:
   /**
    * A topic is considered to exist when at least one publisher or subscriber
    * exists for it, whether they be local or remote to this process.
-   * The returned names are the actual names of the topics, either announced by another nodes or by this one.
-   * Attempting to create publishers or subscribers using names returned by this function may not
-   * result in the desired topic name being used depending on the remap rules in use.
    *
    * \param[in] no_demangle if true, topic names and types are not demangled
    */
@@ -163,9 +159,6 @@ public:
    * A service is considered to exist when at least one service server or
    * service client exists for it, whether they be local or remote to this
    * process.
-   * The returned names are the actual names of the services, either announced by another nodes or by this one.
-   * Attempting to create clients or services using names returned by this function may not result in
-   * the desired service name being used depending on the remap rules in use.
    */
   RCLCPP_PUBLIC
   virtual
@@ -175,9 +168,6 @@ public:
   /// Return a map of existing service names to list of service types for a specific node.
   /**
    * This function only considers services - not clients.
-   * The returned names are the actual names after remap rules applied.
-   * Attempting to create service clients using names returned by this function may not
-   * result in the desired service name being used depending on the remap rules in use.
    *
    * \param[in] node_name name of the node
    * \param[in] namespace_ namespace of the node
@@ -189,104 +179,25 @@ public:
     const std::string & node_name,
     const std::string & namespace_) const = 0;
 
-  /// Return a map of existing service names and types with a specific node.
-  /**
-   * This function only considers clients - not service servers.
-   * The returned names are the actual names after remap rules applied.
-   * Attempting to create service servers using names returned by this function may not
-   * result in the desired service name being used depending on the remap rules in use.
-   *
-   * \param[in] node_name name of the node
-   * \param[in] namespace_ namespace of the node
-   */
-  RCLCPP_PUBLIC
-  virtual
-  std::map<std::string, std::vector<std::string>>
-  get_client_names_and_types_by_node(
-    const std::string & node_name,
-    const std::string & namespace_) const = 0;
-
-  /// Return a map of existing topic names to list of topic types for a specific node.
-  /**
-   * This function only considers publishers - not subscribers.
-   * The returned names are the actual names after remap rules applied.
-   * Attempting to create publishers or subscribers using names returned by this function may not
-   * result in the desired topic name being used depending on the remap rules in use.
-   *
-   * \param[in] node_name name of the node
-   * \param[in] namespace_ namespace of the node
-   * \param[in] no_demangle if true, topic names and types are not demangled
-   */
-  RCLCPP_PUBLIC
-  virtual
-  std::map<std::string, std::vector<std::string>>
-  get_publisher_names_and_types_by_node(
-    const std::string & node_name,
-    const std::string & namespace_,
-    bool no_demangle = false) const = 0;
-
-  /// Return a map of existing topic names to list of topic types for a specific node.
-  /**
-   * This function only considers subscribers - not publishers.
-   * The returned names are the actual names after remap rules applied.
-   * Attempting to create publishers or subscribers using names returned by this function may not
-   * result in the desired topic name being used depending on the remap rules in use.
-   *
-   * \param[in] node_name name of the node
-   * \param[in] namespace_ namespace of the node
-   * \param[in] no_demangle if true, topic names and types are not demangled
-   */
-  RCLCPP_PUBLIC
-  virtual
-  std::map<std::string, std::vector<std::string>>
-  get_subscriber_names_and_types_by_node(
-    const std::string & node_name,
-    const std::string & namespace_,
-    bool no_demangle = false) const = 0;
-
   /// Return a vector of existing node names (string).
-  /*
-   * The returned names are the actual names after remap rules applied.
-   */
   RCLCPP_PUBLIC
   virtual
   std::vector<std::string>
   get_node_names() const = 0;
 
-  /// Return a vector of existing node names, namespaces and enclaves (tuple of string).
-  /*
-   * The returned names are the actual names after remap rules applied.
-   * The enclaves contain the runtime security artifacts, those can be
-   * used to establish secured network.
-   * See https://design.ros2.org/articles/ros2_security_enclaves.html
-   */
-  RCLCPP_PUBLIC
-  virtual
-  std::vector<std::tuple<std::string, std::string, std::string>>
-  get_node_names_with_enclaves() const = 0;
-
   /// Return a vector of existing node names and namespaces (pair of string).
-  /*
-   * The returned names are the actual names after remap rules applied.
-   */
   RCLCPP_PUBLIC
   virtual
   std::vector<std::pair<std::string, std::string>>
   get_node_names_and_namespaces() const = 0;
 
   /// Return the number of publishers that are advertised on a given topic.
-  /*
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   */
   RCLCPP_PUBLIC
   virtual
   size_t
   count_publishers(const std::string & topic_name) const = 0;
 
   /// Return the number of subscribers who have created a subscription for a given topic.
-  /*
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   */
   RCLCPP_PUBLIC
   virtual
   size_t
@@ -352,13 +263,10 @@ public:
   RCLCPP_PUBLIC
   virtual
   size_t
-  count_graph_users() const = 0;
+  count_graph_users() = 0;
 
   /// Return the topic endpoint information about publishers on a given topic.
   /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   * \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
-   *   otherwise it should be a valid ROS topic name.
    * \sa rclcpp::Node::get_publishers_info_by_topic
    */
   RCLCPP_PUBLIC
@@ -368,9 +276,6 @@ public:
 
   /// Return the topic endpoint information about subscriptions on a given topic.
   /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   * \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
-   *   otherwise it should be a valid ROS topic name.
    * \sa rclcpp::Node::get_subscriptions_info_by_topic
    */
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -108,18 +108,8 @@ public:
   declare_parameter(
     const std::string & name,
     const rclcpp::ParameterValue & default_value,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor{},
-    bool ignore_override = false) override;
-
-  RCLCPP_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(
-    const std::string & name,
-    rclcpp::ParameterType type,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false) override;
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+    bool ignore_override) override;
 
   RCLCPP_PUBLIC
   void
@@ -180,6 +170,11 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
 
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
+  RCLCPP_PUBLIC
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
+
   RCLCPP_PUBLIC
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -64,21 +64,7 @@ public:
   const rclcpp::ParameterValue &
   declare_parameter(
     const std::string & name,
-    const rclcpp::ParameterValue & default_value,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false) = 0;
-
-  /// Declare a parameter.
-  /**
-   * \sa rclcpp::Node::declare_parameter
-   */
-  RCLCPP_PUBLIC
-  virtual
-  const rclcpp::ParameterValue &
-  declare_parameter(
-    const std::string & name,
-    rclcpp::ParameterType type,
+    const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
     rcl_interfaces::msg::ParameterDescriptor(),
     bool ignore_override = false) = 0;
@@ -110,7 +96,7 @@ public:
   std::vector<rcl_interfaces::msg::SetParametersResult>
   set_parameters(const std::vector<rclcpp::Parameter> & parameters) = 0;
 
-  /// Set one or more parameters, all at once.
+  /// Set and initialize a parameter, all at once.
   /**
    * \sa rclcpp::Node::set_parameters_atomically
    */
@@ -205,6 +191,17 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) = 0;
 
+  /// Register a callback for when parameters are being set, return an existing one.
+  /**
+   * \deprecated Use add_on_set_parameters_callback instead.
+   * \sa rclcpp::Node::set_on_parameters_set_callback
+   */
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
+  RCLCPP_PUBLIC
+  virtual
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(OnParametersSetCallbackType callback) = 0;
+
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_services.hpp

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
 
-#include <string>
-
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/client.hpp"
 #include "rclcpp/macros.hpp"
@@ -55,10 +53,6 @@ public:
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
     rclcpp::CallbackGroup::SharedPtr group) override;
 
-  RCLCPP_PUBLIC
-  std::string
-  resolve_service_name(const std::string & name, bool only_expand = false) const override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeServices)
 

rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
 
-#include <string>
-
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/client.hpp"
 #include "rclcpp/macros.hpp"
@@ -51,12 +49,6 @@ public:
   add_service(
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
     rclcpp::CallbackGroup::SharedPtr group) = 0;
-
-  /// Get the remapped and expanded service name given a input name.
-  RCLCPP_PUBLIC
-  virtual
-  std::string
-  resolve_service_name(const std::string & name, bool only_expand = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp

@@ -24,7 +24,6 @@
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
 #include "rclcpp/node_interfaces/node_time_source_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/qos.hpp"
 #include "rclcpp/time_source.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -47,9 +46,7 @@ public:
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
-    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
-    const rclcpp::QoS & qos = rclcpp::ClockQoS(),
-    bool use_clock_thread = true
+    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters
   );
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -20,16 +20,12 @@
 #include "rcl/publisher.h"
 #include "rcl/subscription.h"
 
-#include "rclcpp/callback_group.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/publisher.hpp"
 #include "rclcpp/publisher_factory.hpp"
-#include "rclcpp/qos.hpp"
-#include "rclcpp/subscription_base.hpp"
-#include "rclcpp/subscription_factory.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -85,10 +81,6 @@ public:
   rclcpp::node_interfaces::NodeTimersInterface *
   get_node_timers_interface() const override;
 
-  RCLCPP_PUBLIC
-  std::string
-  resolve_topic_name(const std::string & name, bool only_expand = false) const override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeTopics)
 

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -86,12 +86,6 @@ public:
   virtual
   rclcpp::node_interfaces::NodeTimersInterface *
   get_node_timers_interface() const = 0;
-
-  /// Get a remapped and expanded topic name given an input name.
-  RCLCPP_PUBLIC
-  virtual
-  std::string
-  resolve_topic_name(const std::string & name, bool only_expand = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_options.hpp

@@ -46,9 +46,6 @@ public:
    *   - enable_topic_statistics = false
    *   - start_parameter_services = true
    *   - start_parameter_event_publisher = true
-   *   - clock_qos = rclcpp::ClockQoS()
-   *   - use_clock_thread = true
-   *   - rosout_qos = rclcpp::RosoutQoS()
    *   - parameter_event_qos = rclcpp::ParameterEventQoS
    *     - with history setting and depth from rmw_qos_profile_parameter_events
    *   - parameter_event_publisher_options = rclcpp::PublisherOptionsBase
@@ -246,33 +243,6 @@ public:
   NodeOptions &
   start_parameter_event_publisher(bool start_parameter_event_publisher);
 
-  /// Return a reference to the clock QoS.
-  RCLCPP_PUBLIC
-  const rclcpp::QoS &
-  clock_qos() const;
-
-  /// Set the clock QoS.
-  /**
-   * The QoS settings to be used for the publisher on /clock topic, if enabled.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  clock_qos(const rclcpp::QoS & clock_qos);
-
-
-  /// Return the use_clock_thread flag.
-  RCLCPP_PUBLIC
-  bool
-  use_clock_thread() const;
-
-  /// Set the use_clock_thread flag, return this for parameter idiom.
-  /**
-   * If true, a dedicated thread will be used to subscribe to "/clock" topic.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  use_clock_thread(bool use_clock_thread);
-
   /// Return a reference to the parameter_event_qos QoS.
   RCLCPP_PUBLIC
   const rclcpp::QoS &
@@ -286,19 +256,6 @@ public:
   NodeOptions &
   parameter_event_qos(const rclcpp::QoS & parameter_event_qos);
 
-  /// Return a reference to the rosout QoS.
-  RCLCPP_PUBLIC
-  const rclcpp::QoS &
-  rosout_qos() const;
-
-  /// Set the rosout QoS.
-  /**
-   * The QoS settings to be used for the publisher on /rosout topic, if enabled.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  rosout_qos(const rclcpp::QoS & rosout_qos);
-
   /// Return a reference to the parameter_event_publisher_options.
   RCLCPP_PUBLIC
   const rclcpp::PublisherOptionsBase &
@@ -349,9 +306,6 @@ public:
    * global arguments (e.g. parameter overrides from a YAML file), which are
    * not explicitly declared will not appear on the node at all, even if
    * `allow_undeclared_parameters` is true.
-   * Parameter declaration from overrides is done in the node's base constructor,
-   * so the user must take care to check if the parameter is already (e.g.
-   * automatically) declared before declaring it themselves.
    * Already declared parameters will not be re-declared, and parameters
    * declared in this way will use the default constructed ParameterDescriptor.
    */
@@ -373,6 +327,11 @@ public:
   NodeOptions &
   allocator(rcl_allocator_t allocator);
 
+protected:
+  /// Retrieve the ROS_DOMAIN_ID environment variable and populate options.
+  size_t
+  get_domain_id_from_env() const;
+
 private:
   // This is mutable to allow for a const accessor which lazily creates the node options instance.
   /// Underlying rcl_node_options structure.
@@ -400,16 +359,10 @@ private:
 
   bool start_parameter_event_publisher_ {true};
 
-  rclcpp::QoS clock_qos_ = rclcpp::ClockQoS();
-
-  bool use_clock_thread_ {true};
-
   rclcpp::QoS parameter_event_qos_ = rclcpp::ParameterEventsQoS(
     rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
   );
 
-  rclcpp::QoS rosout_qos_ = rclcpp::RosoutQoS();
-
   rclcpp::PublisherOptionsBase parameter_event_publisher_options_ = rclcpp::PublisherOptionsBase();
 
   bool allow_undeclared_parameters_ {false};

rclcpp/include/rclcpp/parameter.hpp

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

rclcpp/include/rclcpp/parameter_client.hpp

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__PARAMETER_CLIENT_HPP_
 #define RCLCPP__PARAMETER_CLIENT_HPP_
 
-#include <functional>
-#include <future>
 #include <memory>
 #include <string>
 #include <utility>
@@ -31,14 +29,11 @@
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters_atomically.hpp"
-#include "rcl_yaml_param_parser/parser.h"
-#include "rclcpp/exceptions.hpp"
 #include "rclcpp/executors.hpp"
 #include "rclcpp/create_subscription.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"
-#include "rclcpp/parameter_map.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/rmw.h"
@@ -78,21 +73,12 @@ public:
    * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
-  template<typename NodeT>
-  explicit AsyncParametersClient(
-    const std::shared_ptr<NodeT> node,
+  RCLCPP_PUBLIC
+  AsyncParametersClient(
+    const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::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,
-      qos_profile,
-      group)
-  {}
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Constructor
   /**
@@ -101,21 +87,12 @@ public:
    * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
-  template<typename NodeT>
-  explicit AsyncParametersClient(
-    NodeT * node,
+  RCLCPP_PUBLIC
+  AsyncParametersClient(
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    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,
-      qos_profile,
-      group)
-  {}
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::Parameter>>
@@ -125,14 +102,6 @@ public:
       void(std::shared_future<std::vector<rclcpp::Parameter>>)
     > callback = nullptr);
 
-  RCLCPP_PUBLIC
-  std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>
-  describe_parameters(
-    const std::vector<std::string> & names,
-    std::function<
-      void(std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>)
-    > callback = nullptr);
-
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::ParameterType>>
   get_parameter_types(
@@ -157,42 +126,6 @@ public:
       void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)
     > callback = nullptr);
 
-  /// Delete several parameters at once.
-  /**
-   * This function behaves like command-line tool `ros2 param delete` would.
-   *
-   * \param parameters_names vector of parameters names
-   * \return the future of the set_parameter service used to delete the parameters
-   */
-  RCLCPP_PUBLIC
-  std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
-  delete_parameters(
-    const std::vector<std::string> & parameters_names);
-
-  /// Load parameters from yaml file.
-  /**
-   * This function behaves like command-line tool `ros2 param load` would.
-   *
-   * \param yaml_filename the full name of the yaml file
-   * \return the future of the set_parameter service used to load the parameters
-   */
-  RCLCPP_PUBLIC
-  std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
-  load_parameters(
-    const std::string & yaml_filename);
-
-  /// Load parameters from parameter map.
-  /**
-   * This function filters the parameters to be set based on the node name.
-   *
-   * \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
-   */
-  RCLCPP_PUBLIC
-  std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
-  load_parameters(const rclcpp::ParameterMap & parameter_map);
-
   RCLCPP_PUBLIC
   std::shared_future<rcl_interfaces::msg::ListParametersResult>
   list_parameters(
@@ -304,61 +237,31 @@ class SyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient)
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   explicit SyncParametersClient(
-    std::shared_ptr<NodeT> node,
+    rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
-    std::shared_ptr<NodeT> node,
+    rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : 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,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   explicit SyncParametersClient(
-    NodeT * node,
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
-    NodeT * node,
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : 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,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   SyncParametersClient(
@@ -368,30 +271,11 @@ 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)
-  : 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,
-      qos_profile);
-  }
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   std::vector<rclcpp::Parameter>
-  get_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return get_parameters(
-      parameter_names,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  get_parameters(const std::vector<std::string> & parameter_names);
 
   RCLCPP_PUBLIC
   bool
@@ -435,107 +319,23 @@ public:
     );
   }
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
-  std::vector<rcl_interfaces::msg::ParameterDescriptor>
-  describe_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return describe_parameters(
-      parameter_names,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
-
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   std::vector<rclcpp::ParameterType>
-  get_parameter_types(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return get_parameter_types(
-      parameter_names,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  get_parameter_types(const std::vector<std::string> & parameter_names);
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return set_parameters(
-      parameters,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   rcl_interfaces::msg::SetParametersResult
-  set_parameters_atomically(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return set_parameters_atomically(
-      parameters,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
-  /// Delete several parameters at once.
-  /**
-   * This function behaves like command-line tool `ros2 param delete` would.
-   *
-   * \param parameters_names vector of parameters names
-   * \param timeout for the spin used to make it synchronous
-   * \return the future of the set_parameter service used to delete the parameters
-   */
-  template<typename RepT = int64_t, typename RatioT = std::milli>
-  std::vector<rcl_interfaces::msg::SetParametersResult>
-  delete_parameters(
-    const std::vector<std::string> & parameters_names,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return delete_parameters(
-      parameters_names,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
-
-  /// Load parameters from yaml file.
-  /**
-   * This function behaves like command-line tool `ros2 param load` would.
-   *
-   * \param yaml_filename the full name of the yaml file
-   * \param timeout for the spin used to make it synchronous
-   * \return the future of the set_parameter service used to load the parameters
-   */
-  template<typename RepT = int64_t, typename RatioT = std::milli>
-  std::vector<rcl_interfaces::msg::SetParametersResult>
-  load_parameters(
-    const std::string & yaml_filename,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return load_parameters(
-      yaml_filename,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
-
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   rcl_interfaces::msg::ListParametersResult
   list_parameters(
     const std::vector<std::string> & parameter_prefixes,
-    uint64_t depth,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return list_parameters(
-      parameter_prefixes,
-      depth,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+    uint64_t depth);
 
   template<typename CallbackT>
   typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
@@ -578,56 +378,6 @@ public:
     return async_parameters_client_->wait_for_service(timeout);
   }
 
-protected:
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::Parameter>
-  get_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rcl_interfaces::msg::ParameterDescriptor>
-  describe_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::ParameterType>
-  get_parameter_types(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rcl_interfaces::msg::SetParametersResult>
-  delete_parameters(
-    const std::vector<std::string> & parameters_names,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rcl_interfaces::msg::SetParametersResult>
-  load_parameters(
-    const std::string & yaml_filename,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  rcl_interfaces::msg::SetParametersResult
-  set_parameters_atomically(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  rcl_interfaces::msg::ListParametersResult
-  list_parameters(
-    const std::vector<std::string> & parameter_prefixes,
-    uint64_t depth,
-    std::chrono::nanoseconds timeout);
-
 private:
   rclcpp::Executor::SharedPtr executor_;
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;

rclcpp/include/rclcpp/parameter_event_handler.hpp

@@ -1,347 +0,0 @@
-// Copyright 2019 Intel Corporation
-//
-// 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__PARAMETER_EVENT_HANDLER_HPP_
-#define RCLCPP__PARAMETER_EVENT_HANDLER_HPP_
-
-#include <list>
-#include <memory>
-#include <string>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include "rclcpp/create_subscription.hpp"
-#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
-#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/parameter.hpp"
-#include "rclcpp/qos.hpp"
-#include "rclcpp/subscription.hpp"
-#include "rclcpp/visibility_control.hpp"
-#include "rcl_interfaces/msg/parameter_event.hpp"
-
-namespace rclcpp
-{
-
-struct ParameterCallbackHandle
-{
-  RCLCPP_SMART_PTR_DEFINITIONS(ParameterCallbackHandle)
-
-  using ParameterCallbackType = std::function<void (const rclcpp::Parameter &)>;
-
-  std::string parameter_name;
-  std::string node_name;
-  ParameterCallbackType callback;
-};
-
-struct ParameterEventCallbackHandle
-{
-  RCLCPP_SMART_PTR_DEFINITIONS(ParameterEventCallbackHandle)
-
-  using ParameterEventCallbackType =
-    std::function<void (const rcl_interfaces::msg::ParameterEvent &)>;
-
-  ParameterEventCallbackType callback;
-};
-
-/// A class used to "handle" (monitor and respond to) changes to parameters.
-/**
- * The ParameterEventHandler class allows for the monitoring of changes to node parameters,
- * either a node's own parameters or parameters owned by other nodes in the system.
- * Multiple parameter callbacks can be set and will be invoked when the specified parameter
- * changes.
- *
- * The first step is to instantiate a ParameterEventHandler, providing a ROS node to use
- * to create any required subscriptions:
- *
- *   auto param_handler = std::make_shared<rclcpp::ParameterEventHandler>(node);
- *
- * Next, you can supply a callback to the add_parameter_callback method, as follows:
- *
- *   auto cb1 = [&node](const rclcpp::Parameter & p) {
- *      RCLCPP_INFO(
- *        node->get_logger(),
- *        "cb1: Received an update to parameter \"%s\" of type %s: \"%ld\"",
- *        p.get_name().c_str(),
- *        p.get_type_name().c_str(),
- *        p.as_int());
- *   };
- *   auto handle1 = param_handler->add_parameter_callback("an_int_param", cb1);
- *
- * In this case, we didn't supply a node name (the third, optional, parameter) so the
- * default will be to monitor for changes to the "an_int_param" parameter associated with
- * the ROS node supplied in the ParameterEventHandler constructor.
- * The callback, a lambda function in this case, simply prints out the value of the parameter.
- *
- * You may also monitor for changes to parameters in other nodes by supplying the node
- * name to add_parameter_callback:
- *
- *   auto cb2 = [&node](const rclcpp::Parameter & p) {
- *       RCLCPP_INFO(
- *         node->get_logger(),
- *         "cb2: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *         p.get_name().c_str(),
- *         p.get_type_name().c_str(),
- *         p.as_string().c_str());
- *     };
- *   auto handle2 = param_handler->add_parameter_callback(
- *     "some_remote_param_name", cb2, "some_remote_node_name");
- *
- * 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:
- *
- *   param_handler->remove_parameter_callback(handle2);
- *
- * You can also monitor for *all* parameter changes, using add_parameter_event_callback.
- * In this case, the callback will be invoked whenever any parameter changes in the system.
- * You are likely interested in a subset of these parameter changes, so in the callback it
- * is convenient to use a regular expression on the node names or namespaces of interest.
- * For example:
- *
- *   auto cb3 =
- *     [fqn, remote_param_name, &node](const rcl_interfaces::msg::ParameterEvent & event) {
- *       // Look for any updates to parameters in "/a_namespace" as well as any parameter changes
- *       // to our own node ("this_node")
- *       std::regex re("(/a_namespace/.*)|(/this_node)");
- *       if (regex_match(event.node, re)) {
- *         // Now that we know the event matches the regular expression we scanned for, we can
- *         // use 'get_parameter_from_event' to get a specific parameter name that we're looking for
- *         rclcpp::Parameter p;
- *         if (rclcpp::ParameterEventsSubscriber::get_parameter_from_event(
- *             event, p, remote_param_name, fqn))
- *         {
- *           RCLCPP_INFO(
- *             node->get_logger(),
- *             "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *             p.get_name().c_str(),
- *             p.get_type_name().c_str(),
- *             p.as_string().c_str());
- *         }
- *
- *         // You can also use 'get_parameter*s*_from_event' to enumerate all changes that came
- *         // in on this event
- *         auto params = rclcpp::ParameterEventsSubscriber::get_parameters_from_event(event);
- *         for (auto & p : params) {
- *           RCLCPP_INFO(
- *             node->get_logger(),
- *             "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *             p.get_name().c_str(),
- *             p.get_type_name().c_str(),
- *             p.value_to_string().c_str());
- *         }
- *       }
- *     };
- *   auto handle3 = param_handler->add_parameter_event_callback(cb3);
- *
- * 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:
- *
- *   param_handler->remove_event_parameter_callback(handle);
- */
-class ParameterEventHandler
-{
-public:
-  /// Construct a parameter events monitor.
-  /**
-   * \param[in] node The node to use to create any required subscribers.
-   * \param[in] qos The QoS settings to use for any subscriptions.
-   */
-  template<typename NodeT>
-  explicit ParameterEventHandler(
-    NodeT node,
-    const rclcpp::QoS & qos =
-    rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)))
-  : node_base_(rclcpp::node_interfaces::get_node_base_interface(node))
-  {
-    auto node_topics = rclcpp::node_interfaces::get_node_topics_interface(node);
-
-    callbacks_ = std::make_shared<Callbacks>();
-
-    event_subscription_ = rclcpp::create_subscription<rcl_interfaces::msg::ParameterEvent>(
-      node_topics, "/parameter_events", qos,
-      [callbacks = callbacks_](const rcl_interfaces::msg::ParameterEvent & event) {
-        callbacks->event_callback(event);
-      });
-  }
-
-  using ParameterEventCallbackType =
-    ParameterEventCallbackHandle::ParameterEventCallbackType;
-
-  /// Set a callback for all parameter events.
-  /**
-   * This function may be called multiple times to set multiple parameter event callbacks.
-   *
-   * \param[in] callback Function callback to be invoked on parameter updates.
-   * \returns A handle used to refer to the callback.
-   */
-  RCLCPP_PUBLIC
-  ParameterEventCallbackHandle::SharedPtr
-  add_parameter_event_callback(
-    ParameterEventCallbackType callback);
-
-  /// Remove parameter event callback registered with add_parameter_event_callback.
-  /**
-   * \param[in] callback_handle Handle of the callback to remove.
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_parameter_event_callback(
-    ParameterEventCallbackHandle::SharedPtr callback_handle);
-
-  using ParameterCallbackType = ParameterCallbackHandle::ParameterCallbackType;
-
-  /// Add a callback for a specified parameter.
-  /**
-   * If a node_name is not provided, defaults to the current node.
-   *
-   * \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
-  ParameterCallbackHandle::SharedPtr
-  add_parameter_callback(
-    const std::string & parameter_name,
-    ParameterCallbackType callback,
-    const std::string & node_name = "");
-
-  /// Remove a parameter callback registered with add_parameter_callback.
-  /**
-   * The parameter name and node name are inspected from the callback handle. The callback handle
-   * is erased from the list of callback handles on the {parameter_name, node_name} in the map.
-   * An error is thrown if the handle does not exist and/or was already removed.
-   *
-   * \param[in] callback_handle Handle of the callback to remove.
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_parameter_callback(
-    ParameterCallbackHandle::SharedPtr callback_handle);
-
-  /// Get an rclcpp::Parameter from a parameter event.
-  /**
-   * If a node_name is not provided, defaults to the current node.
-   *
-   * \param[in] event Event msg to be inspected.
-   * \param[out] parameter Reference to rclcpp::Parameter to be assigned.
-   * \param[in] parameter_name Name of parameter.
-   * \param[in] node_name Name of node which hosts the parameter.
-   * \returns Output parameter is set with requested parameter info and returns true if
-   * requested parameter name and node is in event. Otherwise, returns false.
-   */
-  RCLCPP_PUBLIC
-  static bool
-  get_parameter_from_event(
-    const rcl_interfaces::msg::ParameterEvent & event,
-    rclcpp::Parameter & parameter,
-    const std::string & parameter_name,
-    const std::string & node_name = "");
-
-  /// Get an rclcpp::Parameter from parameter event
-  /**
-   * If a node_name is not provided, defaults to the current node.
-   *
-   * The user is responsible to check if the returned parameter has been properly assigned.
-   * By default, if the requested parameter is not found in the event, the returned parameter
-   * has parameter value of type rclcpp::PARAMETER_NOT_SET.
-   *
-   * \param[in] event Event msg to be inspected.
-   * \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.
-   */
-  RCLCPP_PUBLIC
-  static rclcpp::Parameter
-  get_parameter_from_event(
-    const rcl_interfaces::msg::ParameterEvent & event,
-    const std::string & parameter_name,
-    const std::string & node_name = "");
-
-  /// Get all rclcpp::Parameter values from a parameter event
-  /**
-   * \param[in] event Event msg to be inspected.
-   * \returns A vector rclcpp::Parameter values from the event.
-   */
-  RCLCPP_PUBLIC
-  static std::vector<rclcpp::Parameter>
-  get_parameters_from_event(
-    const rcl_interfaces::msg::ParameterEvent & event);
-
-  using CallbacksContainerType = std::list<ParameterCallbackHandle::WeakPtr>;
-
-protected:
-  // *INDENT-OFF* Uncrustify doesn't handle indented public/private labels
-  // Hash function for string pair required in std::unordered_map
-  // See: https://stackoverflow.com/questions/35985960/c-why-is-boosthash-combine-the-best-way-to-combine-hash-values
-  class StringPairHash
-  {
-  public:
-    template<typename T>
-    inline void hash_combine(std::size_t & seed, const T & v) const
-    {
-      std::hash<T> hasher;
-      seed ^= hasher(v) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
-    }
-
-    inline size_t operator()(const std::pair<std::string, std::string> & s) const
-    {
-      size_t seed = 0;
-      hash_combine(seed, s.first);
-      hash_combine(seed, s.second);
-      return seed;
-    }
-  };
-  // *INDENT-ON*
-
-  struct Callbacks
-  {
-    std::recursive_mutex mutex_;
-
-    // Map container for registered parameters
-    std::unordered_map<
-      std::pair<std::string, std::string>,
-      CallbacksContainerType,
-      StringPairHash
-    > parameter_callbacks_;
-
-    std::list<ParameterEventCallbackHandle::WeakPtr> event_callbacks_;
-
-    /// Callback for parameter events subscriptions.
-    RCLCPP_PUBLIC
-    void
-    event_callback(const rcl_interfaces::msg::ParameterEvent & event);
-  };
-
-  std::shared_ptr<Callbacks> callbacks_;
-
-  // Utility function for resolving node path.
-  std::string resolve_path(const std::string & path);
-
-  // Node interface used for base functionality
-  std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_;
-
-  rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr event_subscription_;
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__PARAMETER_EVENT_HANDLER_HPP_

rclcpp/include/rclcpp/parameter_events_filter.hpp

@@ -37,7 +37,7 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS(ParameterEventsFilter)
   enum class EventType {NEW, DELETED, CHANGED};  ///< An enum for the type of event.
   /// Used for the listed results
-  using EventPair = std::pair<EventType, const rcl_interfaces::msg::Parameter *>;
+  using EventPair = std::pair<EventType, rcl_interfaces::msg::Parameter *>;
 
   /// Construct a filtered view of a parameter event.
   /**
@@ -60,7 +60,7 @@ public:
    */
   RCLCPP_PUBLIC
   ParameterEventsFilter(
-    std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event,
+    rcl_interfaces::msg::ParameterEvent::SharedPtr event,
     const std::vector<std::string> & names,
     const std::vector<EventType> & types);
 
@@ -74,7 +74,7 @@ public:
 private:
   // access only allowed via const accessor.
   std::vector<EventPair> result_;  ///< Storage of the resultant vector
-  std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event_;  ///< Keep event in scope
+  rcl_interfaces::msg::ParameterEvent::SharedPtr event_;  ///< Keep event in scope
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/parameter_map.hpp

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__PARAMETER_MAP_HPP_
 #define RCLCPP__PARAMETER_MAP_HPP_
 
-#include <rcl_yaml_param_parser/parser.h>
 #include <rcl_yaml_param_parser/types.h>
 
 #include <string>
@@ -41,16 +40,6 @@ RCLCPP_PUBLIC
 ParameterMap
 parameter_map_from(const rcl_params_t * const c_params);
 
-/// 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, const char * node_fqn);
-
 /// 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.
 /// \returns an instance of a parameter value
@@ -59,14 +48,6 @@ RCLCPP_PUBLIC
 ParameterValue
 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.
-/// \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);
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__PARAMETER_MAP_HPP_

rclcpp/include/rclcpp/parameter_value.hpp

@@ -301,16 +301,6 @@ public:
     return get<ParameterType::PARAMETER_BOOL_ARRAY>();
   }
 
-  template<typename type>
-  constexpr
-  typename std::enable_if<
-    std::is_convertible<
-      type, const std::vector<int> &>::value, const std::vector<int64_t> &>::type
-  get() const
-  {
-    return get<ParameterType::PARAMETER_INTEGER_ARRAY>();
-  }
-
   template<typename type>
   constexpr
   typename std::enable_if<
@@ -321,16 +311,6 @@ public:
     return get<ParameterType::PARAMETER_INTEGER_ARRAY>();
   }
 
-  template<typename type>
-  constexpr
-  typename std::enable_if<
-    std::is_convertible<
-      type, const std::vector<float> &>::value, const std::vector<double> &>::type
-  get() const
-  {
-    return get<ParameterType::PARAMETER_DOUBLE_ARRAY>();
-  }
-
   template<typename type>
   constexpr
   typename std::enable_if<

rclcpp/include/rclcpp/publisher.hpp

@@ -15,37 +15,31 @@
 #ifndef RCLCPP__PUBLISHER_HPP_
 #define RCLCPP__PUBLISHER_HPP_
 
+#include <rmw/error_handling.h>
+#include <rmw/rmw.h>
+
 #include <functional>
 #include <iostream>
 #include <memory>
 #include <sstream>
 #include <string>
-#include <type_traits>
 #include <utility>
 
 #include "rcl/error_handling.h"
 #include "rcl/publisher.h"
-#include "rmw/error_handling.h"
-#include "rmw/rmw.h"
-#include "rosidl_runtime_cpp/traits.hpp"
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/detail/resolve_use_intra_process.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
-#include "rclcpp/get_message_type_support_handle.hpp"
-#include "rclcpp/is_ros_compatible_type.hpp"
 #include "rclcpp/loaned_message.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/publisher_base.hpp"
 #include "rclcpp/publisher_options.hpp"
-#include "rclcpp/type_adapter.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-#include "tracetools/tracetools.h"
-
 namespace rclcpp
 {
 
@@ -53,61 +47,15 @@ template<typename MessageT, typename AllocatorT>
 class LoanedMessage;
 
 /// A publisher publishes messages of any type to a topic.
-/**
- * MessageT must be a:
- *
- * - ROS message type with its own type support (e.g. std_msgs::msgs::String), or a
- * - rclcpp::TypeAdapter<CustomType, ROSMessageType>
- *   (e.g. rclcpp::TypeAdapter<std::string, std_msgs::msg::String), or a
- * - custom type that has been setup as the implicit type for a ROS type using
- *   RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(custom_type, ros_message_type)
- *
- * In the case that MessageT is ROS message type (e.g. std_msgs::msg::String),
- * both PublishedType and ROSMessageType will be that type.
- * In the case that MessageT is a TypeAdapter<CustomType, ROSMessageType> type
- * (e.g. TypeAdapter<std::string, std_msgs::msg::String>), PublishedType will
- * be the custom type, and ROSMessageType will be the ros message type.
- *
- * This is achieved because of the "identity specialization" for TypeAdapter,
- * which returns itself if it is already a TypeAdapter, and the default
- * specialization which allows ROSMessageType to be void.
- * \sa rclcpp::TypeAdapter for more details.
- */
 template<typename MessageT, typename AllocatorT = std::allocator<void>>
 class Publisher : public PublisherBase
 {
 public:
-  static_assert(
-    rclcpp::is_ros_compatible_type<MessageT>::value,
-    "given message type is not compatible with ROS and cannot be used with a Publisher");
-
-  /// MessageT::custom_type if MessageT is a TypeAdapter, otherwise just MessageT.
-  using PublishedType = typename rclcpp::TypeAdapter<MessageT>::custom_type;
-  using ROSMessageType = typename rclcpp::TypeAdapter<MessageT>::ros_message_type;
-
-  using PublishedTypeAllocatorTraits = allocator::AllocRebind<PublishedType, AllocatorT>;
-  using PublishedTypeAllocator = typename PublishedTypeAllocatorTraits::allocator_type;
-  using PublishedTypeDeleter = allocator::Deleter<PublishedTypeAllocator, PublishedType>;
-
-  using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, AllocatorT>;
-  using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
-  using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
-
-  using MessageAllocatorTraits
-  [[deprecated("use PublishedTypeAllocatorTraits")]] =
-    PublishedTypeAllocatorTraits;
-  using MessageAllocator
-  [[deprecated("use PublishedTypeAllocator")]] =
-    PublishedTypeAllocator;
-  using MessageDeleter
-  [[deprecated("use PublishedTypeDeleter")]] =
-    PublishedTypeDeleter;
-  using MessageUniquePtr
-  [[deprecated("use std::unique_ptr<PublishedType, PublishedTypeDeleter>")]] =
-    std::unique_ptr<PublishedType, PublishedTypeDeleter>;
-  using MessageSharedPtr
-  [[deprecated("use std::shared_ptr<const PublishedType>")]] =
-    std::shared_ptr<const PublishedType>;
+  using MessageAllocatorTraits = allocator::AllocRebind<MessageT, AllocatorT>;
+  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
+  using MessageDeleter = allocator::Deleter<MessageAllocator, MessageT>;
+  using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
+  using MessageSharedPtr = std::shared_ptr<const MessageT>;
 
   RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, AllocatorT>)
 
@@ -120,7 +68,7 @@ public:
    * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] topic Name of the topic to publish to.
    * \param[in] qos QoS profile for Subcription.
-   * \param[in] options Options for the subscription.
+   * \param[in] options options for the subscription.
    */
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
@@ -130,14 +78,12 @@ public:
   : PublisherBase(
       node_base,
       topic,
-      rclcpp::get_message_type_support_handle<MessageT>(),
+      *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
       options.template to_rcl_publisher_options<MessageT>(qos)),
     options_(options),
-    published_type_allocator_(*options.get_allocator()),
-    ros_message_type_allocator_(*options.get_allocator())
+    message_allocator_(new MessageAllocator(*options.get_allocator().get()))
   {
-    allocator::set_allocator_for_deleter(&published_type_deleter_, &published_type_allocator_);
-    allocator::set_allocator_for_deleter(&ros_message_type_deleter_, &ros_message_type_allocator_);
+    allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
 
     if (options_.event_callbacks.deadline_callback) {
       this->add_event_handler(
@@ -187,15 +133,15 @@ public:
       // Get the intra process manager instance for this context.
       auto ipm = context->get_sub_context<rclcpp::experimental::IntraProcessManager>();
       // Register the publisher with the intra process manager.
-      if (qos.history() != rclcpp::HistoryPolicy::KeepLast) {
+      if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
         throw std::invalid_argument(
-                "intraprocess communication allowed only with keep last history qos policy");
+                "intraprocess communication is not allowed with keep all history qos policy");
       }
-      if (qos.depth() == 0) {
+      if (qos.get_rmw_qos_profile().depth == 0) {
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with a zero qos history depth value");
       }
-      if (qos.durability() != rclcpp::DurabilityPolicy::Volatile) {
+      if (qos.get_rmw_qos_profile().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
         throw std::invalid_argument(
                 "intraprocess communication allowed only with volatile durability");
       }
@@ -222,33 +168,21 @@ public:
    * allocator.
    * \sa rclcpp::LoanedMessage for details of the LoanedMessage class.
    *
-   * \return LoanedMessage containing memory for a ROS message of type ROSMessageType
+   * \return LoanedMessage containing memory for a ROS message of type MessageT
    */
-  rclcpp::LoanedMessage<ROSMessageType, AllocatorT>
+  rclcpp::LoanedMessage<MessageT, AllocatorT>
   borrow_loaned_message()
   {
-    return rclcpp::LoanedMessage<ROSMessageType, AllocatorT>(
-      *this,
-      this->get_ros_message_type_allocator());
+    return rclcpp::LoanedMessage<MessageT, AllocatorT>(this, this->get_allocator());
   }
 
-  /// Publish a message on the topic.
+  /// Send a message to the topic for this publisher.
   /**
-   * This signature is enabled if the element_type of the std::unique_ptr is
-   * a ROS message type, as opposed to the custom_type of a TypeAdapter, and
-   * that type matches the type given when creating the publisher.
-   *
-   * This signature allows the user to give ownership of the message to rclcpp,
-   * allowing for more efficient intra-process communication optimizations.
-   *
-   * \param[in] msg A unique pointer to the message to send.
+   * This function is templated on the input message type, MessageT.
+   * \param[in] msg A shared pointer to the message to send.
    */
-  template<typename T>
-  typename std::enable_if_t<
-    rosidl_generator_traits::is_message<T>::value &&
-    std::is_same<T, ROSMessageType>::value
-  >
-  publish(std::unique_ptr<T, ROSMessageTypeDeleter> msg)
+  virtual void
+  publish(std::unique_ptr<MessageT, MessageDeleter> msg)
   {
     if (!intra_process_is_enabled_) {
       this->do_inter_process_publish(*msg);
@@ -264,32 +198,15 @@ public:
       get_subscription_count() > get_intra_process_subscription_count();
 
     if (inter_process_publish_needed) {
-      auto shared_msg =
-        this->do_intra_process_ros_message_publish_and_return_shared(std::move(msg));
+      auto shared_msg = this->do_intra_process_publish_and_return_shared(std::move(msg));
       this->do_inter_process_publish(*shared_msg);
     } else {
-      this->do_intra_process_ros_message_publish(std::move(msg));
+      this->do_intra_process_publish(std::move(msg));
     }
   }
 
-  /// Publish a message on the topic.
-  /**
-   * This signature is enabled if the object being published is
-   * a ROS message type, as opposed to the custom_type of a TypeAdapter, and
-   * that type matches the type given when creating the publisher.
-   *
-   * This signature allows the user to give a reference to a message, which is
-   * copied onto the heap without modification so that a copy can be owned by
-   * rclcpp and ownership of the copy can be moved later if needed.
-   *
-   * \param[in] msg A const reference to the message to send.
-   */
-  template<typename T>
-  typename std::enable_if_t<
-    rosidl_generator_traits::is_message<T>::value &&
-    std::is_same<T, ROSMessageType>::value
-  >
-  publish(const T & msg)
+  virtual void
+  publish(const MessageT & msg)
   {
     // Avoid allocating when not using intra process.
     if (!intra_process_is_enabled_) {
@@ -299,83 +216,9 @@ public:
     // Otherwise we have to allocate memory in a unique_ptr and pass it along.
     // As the message is not const, a copy should be made.
     // A shared_ptr<const MessageT> could also be constructed here.
-    auto unique_msg = this->duplicate_ros_message_as_unique_ptr(msg);
-    this->publish(std::move(unique_msg));
-  }
-
-  /// Publish a message on the topic.
-  /**
-   * This signature is enabled if this class was created with a TypeAdapter and
-   * the element_type of the std::unique_ptr matches the custom_type for the
-   * TypeAdapter used with this class.
-   *
-   * This signature allows the user to give ownership of the message to rclcpp,
-   * allowing for more efficient intra-process communication optimizations.
-   *
-   * \param[in] msg A unique pointer to the message to send.
-   */
-  template<typename T>
-  typename std::enable_if_t<
-    rclcpp::TypeAdapter<MessageT>::is_specialized::value &&
-    std::is_same<T, PublishedType>::value
-  >
-  publish(std::unique_ptr<T, PublishedTypeDeleter> msg)
-  {
-    // Avoid allocating when not using intra process.
-    if (!intra_process_is_enabled_) {
-      // In this case we're not using intra process.
-      ROSMessageType ros_msg;
-      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, ros_msg);
-      return this->do_inter_process_publish(ros_msg);
-    }
-
-    bool inter_process_publish_needed =
-      get_subscription_count() > get_intra_process_subscription_count();
-
-    if (inter_process_publish_needed) {
-      ROSMessageType ros_msg;
-      // TODO(clalancette): This is unnecessarily doing an additional conversion
-      // that may have already been done in do_intra_process_publish_and_return_shared().
-      // We should just reuse that effort.
-      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, ros_msg);
-      this->do_intra_process_publish(std::move(msg));
-      this->do_inter_process_publish(ros_msg);
-    } else {
-      this->do_intra_process_publish(std::move(msg));
-    }
-  }
-
-  /// Publish a message on the topic.
-  /**
-   * This signature is enabled if this class was created with a TypeAdapter and
-   * the given type matches the custom_type of the TypeAdapter.
-   *
-   * This signature allows the user to give a reference to a message, which is
-   * copied onto the heap without modification so that a copy can be owned by
-   * rclcpp and ownership of the copy can be moved later if needed.
-   *
-   * \param[in] msg A const reference to the message to send.
-   */
-  template<typename T>
-  typename std::enable_if_t<
-    rclcpp::TypeAdapter<MessageT>::is_specialized::value &&
-    std::is_same<T, PublishedType>::value
-  >
-  publish(const T & msg)
-  {
-    // Avoid double allocating when not using intra process.
-    if (!intra_process_is_enabled_) {
-      // Convert to the ROS message equivalent and publish it.
-      ROSMessageType ros_msg;
-      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(msg, ros_msg);
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(ros_msg);
-    }
-
-    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
-    // As the message is not const, a copy should be made.
-    // A shared_ptr<const MessageT> could also be constructed here.
-    auto unique_msg = this->duplicate_type_adapt_message_as_unique_ptr(msg);
+    auto ptr = MessageAllocatorTraits::allocate(*message_allocator_.get(), 1);
+    MessageAllocatorTraits::construct(*message_allocator_.get(), ptr, msg);
+    MessageUniquePtr unique_msg(ptr, message_deleter_);
     this->publish(std::move(unique_msg));
   }
 
@@ -400,7 +243,7 @@ public:
    * \param loaned_msg The LoanedMessage instance to be published.
    */
   void
-  publish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
+  publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
   {
     if (!loaned_msg.is_valid()) {
       throw std::runtime_error("loaned message is not valid");
@@ -418,7 +261,7 @@ public:
     if (this->can_loan_messages()) {
       // we release the ownership from the rclpp::LoanedMessage instance
       // and let the middleware clean up the memory.
-      this->do_loaned_message_publish(std::move(loaned_msg.release()));
+      this->do_loaned_message_publish(loaned_msg.release());
     } else {
       // we don't release the ownership, let the middleware copy the ros message
       // and thus the destructor of rclcpp::LoanedMessage cleans up the memory.
@@ -426,30 +269,16 @@ public:
     }
   }
 
-  [[deprecated("use get_published_type_allocator() or get_ros_message_type_allocator() instead")]]
-  std::shared_ptr<PublishedTypeAllocator>
+  std::shared_ptr<MessageAllocator>
   get_allocator() const
   {
-    return std::make_shared<PublishedTypeAllocator>(published_type_allocator_);
-  }
-
-  PublishedTypeAllocator
-  get_published_type_allocator() const
-  {
-    return published_type_allocator_;
-  }
-
-  ROSMessageTypeAllocator
-  get_ros_message_type_allocator() const
-  {
-    return ros_message_type_allocator_;
+    return message_allocator_;
   }
 
 protected:
   void
-  do_inter_process_publish(const ROSMessageType & msg)
+  do_inter_process_publish(const MessageT & msg)
   {
-    TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(&msg));
     auto status = rcl_publish(publisher_handle_.get(), &msg, nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
@@ -481,10 +310,9 @@ protected:
   }
 
   void
-  do_loaned_message_publish(
-    std::unique_ptr<ROSMessageType, std::function<void(ROSMessageType *)>> msg)
+  do_loaned_message_publish(MessageT * msg)
   {
-    auto status = rcl_publish_loaned_message(publisher_handle_.get(), msg.get(), nullptr);
+    auto status = rcl_publish_loaned_message(publisher_handle_.get(), msg, nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
       rcl_reset_error();  // next call will reset error message if not context
@@ -502,7 +330,7 @@ protected:
   }
 
   void
-  do_intra_process_publish(std::unique_ptr<PublishedType, PublishedTypeDeleter> msg)
+  do_intra_process_publish(std::unique_ptr<MessageT, MessageDeleter> msg)
   {
     auto ipm = weak_ipm_.lock();
     if (!ipm) {
@@ -513,14 +341,14 @@ protected:
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
 
-    ipm->template do_intra_process_publish<PublishedType, ROSMessageType, AllocatorT>(
+    ipm->template do_intra_process_publish<MessageT, AllocatorT>(
       intra_process_publisher_id_,
       std::move(msg),
-      published_type_allocator_);
+      message_allocator_);
   }
 
-  void
-  do_intra_process_ros_message_publish(std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter> msg)
+  std::shared_ptr<const MessageT>
+  do_intra_process_publish_and_return_shared(std::unique_ptr<MessageT, MessageDeleter> msg)
   {
     auto ipm = weak_ipm_.lock();
     if (!ipm) {
@@ -531,58 +359,10 @@ protected:
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
 
-    ipm->template do_intra_process_publish<ROSMessageType, ROSMessageType, AllocatorT>(
+    return ipm->template do_intra_process_publish_and_return_shared<MessageT, AllocatorT>(
       intra_process_publisher_id_,
       std::move(msg),
-      ros_message_type_allocator_);
-  }
-
-  std::shared_ptr<const ROSMessageType>
-  do_intra_process_ros_message_publish_and_return_shared(
-    std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter> msg)
-  {
-    auto ipm = weak_ipm_.lock();
-    if (!ipm) {
-      throw std::runtime_error(
-              "intra process publish called after destruction of intra process manager");
-    }
-    if (!msg) {
-      throw std::runtime_error("cannot publish msg which is a null pointer");
-    }
-
-    return ipm->template do_intra_process_publish_and_return_shared<ROSMessageType, ROSMessageType,
-             AllocatorT>(
-      intra_process_publisher_id_,
-      std::move(msg),
-      ros_message_type_allocator_);
-  }
-
-
-  /// Return a new unique_ptr using the ROSMessageType of the publisher.
-  std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>
-  create_ros_message_unique_ptr()
-  {
-    auto ptr = ROSMessageTypeAllocatorTraits::allocate(ros_message_type_allocator_, 1);
-    ROSMessageTypeAllocatorTraits::construct(ros_message_type_allocator_, ptr);
-    return std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>(ptr, ros_message_type_deleter_);
-  }
-
-  /// Duplicate a given ros message as a unique_ptr.
-  std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>
-  duplicate_ros_message_as_unique_ptr(const ROSMessageType & msg)
-  {
-    auto ptr = ROSMessageTypeAllocatorTraits::allocate(ros_message_type_allocator_, 1);
-    ROSMessageTypeAllocatorTraits::construct(ros_message_type_allocator_, ptr, msg);
-    return std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>(ptr, ros_message_type_deleter_);
-  }
-
-  /// Duplicate a given type adapted message as a unique_ptr.
-  std::unique_ptr<PublishedType, PublishedTypeDeleter>
-  duplicate_type_adapt_message_as_unique_ptr(const PublishedType & msg)
-  {
-    auto ptr = PublishedTypeAllocatorTraits::allocate(published_type_allocator_, 1);
-    PublishedTypeAllocatorTraits::construct(published_type_allocator_, ptr, msg);
-    return std::unique_ptr<PublishedType, PublishedTypeDeleter>(ptr, published_type_deleter_);
+      message_allocator_);
   }
 
   /// Copy of original options passed during construction.
@@ -592,10 +372,9 @@ protected:
    */
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> options_;
 
-  PublishedTypeAllocator published_type_allocator_;
-  PublishedTypeDeleter published_type_deleter_;
-  ROSMessageTypeAllocator ros_message_type_allocator_;
-  ROSMessageTypeDeleter ros_message_type_deleter_;
+  std::shared_ptr<MessageAllocator> message_allocator_;
+
+  MessageDeleter message_deleter_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/publisher_base.hpp

@@ -18,25 +18,20 @@
 #include <rmw/error_handling.h>
 #include <rmw/rmw.h>
 
-#include <chrono>
 #include <functional>
 #include <iostream>
 #include <memory>
 #include <sstream>
 #include <string>
-#include <unordered_map>
-#include <utility>
 #include <vector>
 
 #include "rcl/publisher.h"
 
 #include "rclcpp/macros.hpp"
-#include "rclcpp/network_flow_endpoint.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rcpputils/time.hpp"
 
 namespace rclcpp
 {
@@ -114,10 +109,9 @@ public:
   get_publisher_handle() const;
 
   /// Get all the QoS event handlers associated with this publisher.
-  /** \return The map of QoS event handlers. */
+  /** \return The vector of QoS event handlers. */
   RCLCPP_PUBLIC
-  const
-  std::unordered_map<rcl_publisher_event_type_t, std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
+  const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
   get_event_handlers() const;
 
   /// Get subscription count
@@ -199,120 +193,6 @@ public:
     uint64_t intra_process_publisher_id,
     IntraProcessManagerSharedPtr ipm);
 
-  /// Get network flow endpoints
-  /**
-   * Describes network flow endpoints that this publisher is sending messages out on
-   * \return vector of NetworkFlowEndpoint
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::NetworkFlowEndpoint>
-  get_network_flow_endpoints() const;
-
-  /// Wait until all published messages are acknowledged or until the specified timeout elapses.
-  /**
-   * This method waits until all published messages are acknowledged by all matching
-   * subscriptions or the given timeout elapses.
-   *
-   * If the timeout is negative then this method will block indefinitely until all published
-   * messages are acknowledged.
-   * If the timeout is zero then this method will not block, it will check if all published
-   * messages are acknowledged and return immediately.
-   * If the timeout is greater than zero, this method will wait until all published messages are
-   * acknowledged or the timeout elapses.
-   *
-   * This method only waits for acknowledgments if the publisher's QoS profile is RELIABLE.
-   * Otherwise this method will immediately return `true`.
-   *
-   * \param[in] timeout the duration to wait for all published messages to be acknowledged.
-   * \return `true` if all published messages were acknowledged before the given timeout
-   *   elapsed, otherwise `false`.
-   * \throws rclcpp::exceptions::RCLError if middleware doesn't support or internal error occurs
-   * \throws std::invalid_argument if timeout is greater than std::chrono::nanoseconds::max() or
-   *   less than std::chrono::nanoseconds::min()
-   */
-  template<typename DurationRepT = int64_t, typename DurationT = std::milli>
-  bool
-  wait_for_all_acked(
-    std::chrono::duration<DurationRepT, DurationT> timeout =
-    std::chrono::duration<DurationRepT, DurationT>(-1)) const
-  {
-    rcl_duration_value_t rcl_timeout = rcpputils::convert_to_nanoseconds(timeout).count();
-
-    rcl_ret_t ret = rcl_publisher_wait_for_all_acked(publisher_handle_.get(), rcl_timeout);
-    if (ret == RCL_RET_OK) {
-      return true;
-    } else if (ret == RCL_RET_TIMEOUT) {
-      return false;
-    } else {
-      rclcpp::exceptions::throw_from_rcl_error(ret);
-    }
-  }
-
-  /// Set a callback to be called when each new qos event instance occurs.
-  /**
-   * The callback receives a size_t which is the number of events that occurred
-   * since the last time this callback was called.
-   * Normally this is 1, but can be > 1 if events occurred before any
-   * callback was set.
-   *
-   * Since this callback is called from the middleware, you should aim to make
-   * it fast and not blocking.
-   * If you need to do a lot of work or wait for some other event, you should
-   * spin it off to another thread, otherwise you risk blocking the middleware.
-   *
-   * Calling it again will clear any previously set callback.
-   *
-   * An exception will be thrown if the callback is not callable.
-   *
-   * This function is thread-safe.
-   *
-   * If you want more information available in the callback, like the qos event
-   * or other information, you may use a lambda with captures or std::bind.
-   *
-   * \sa rclcpp::QOSEventHandlerBase::set_on_ready_callback
-   *
-   * \param[in] callback functor to be called when a new event occurs
-   * \param[in] event_type identifier for the qos event we want to attach the callback to
-   */
-  void
-  set_on_new_qos_event_callback(
-    std::function<void(size_t)> callback,
-    rcl_publisher_event_type_t event_type)
-  {
-    if (event_handlers_.count(event_type) == 0) {
-      RCLCPP_WARN(
-        rclcpp::get_logger("rclcpp"),
-        "Calling set_on_new_qos_event_callback for non registered publisher event_type");
-      return;
-    }
-
-    if (!callback) {
-      throw std::invalid_argument(
-              "The callback passed to set_on_new_qos_event_callback "
-              "is not callable.");
-    }
-
-    // The on_ready_callback signature has an extra `int` argument used to disambiguate between
-    // possible different entities within a generic waitable.
-    // We hide that detail to users of this method.
-    std::function<void(size_t, int)> new_callback = std::bind(callback, std::placeholders::_1);
-    event_handlers_[event_type]->set_on_ready_callback(new_callback);
-  }
-
-  /// Unset the callback registered for new qos events, if any.
-  void
-  clear_on_new_qos_event_callback(rcl_publisher_event_type_t event_type)
-  {
-    if (event_handlers_.count(event_type) == 0) {
-      RCLCPP_WARN(
-        rclcpp::get_logger("rclcpp"),
-        "Calling clear_on_new_qos_event_callback for non registered event_type");
-      return;
-    }
-
-    event_handlers_[event_type]->clear_on_ready_callback();
-  }
-
 protected:
   template<typename EventCallbackT>
   void
@@ -326,7 +206,7 @@ protected:
       rcl_publisher_event_init,
       publisher_handle_,
       event_type);
-    event_handlers_.insert(std::make_pair(event_type, handler));
+    event_handlers_.emplace_back(handler);
   }
 
   RCLCPP_PUBLIC
@@ -336,8 +216,7 @@ protected:
 
   std::shared_ptr<rcl_publisher_t> publisher_handle_;
 
-  std::unordered_map<rcl_publisher_event_type_t,
-    std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
+  std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
 
   using IntraProcessManagerWeakPtr =
     std::weak_ptr<rclcpp::experimental::IntraProcessManager>;
@@ -346,8 +225,6 @@ 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

@@ -17,7 +17,6 @@
 
 #include <memory>
 #include <string>
-#include <type_traits>
 #include <vector>
 
 #include "rcl/publisher.h"
@@ -27,7 +26,6 @@
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
-#include "rclcpp/qos_overriding_options.hpp"
 
 namespace rclcpp
 {
@@ -46,33 +44,22 @@ struct PublisherOptionsBase
   /// Whether or not to use default callbacks when user doesn't supply any in event_callbacks
   bool use_default_callbacks = true;
 
-  /// Require middleware to generate unique network flow endpoints
-  /// Disabled by default
-  rmw_unique_network_flow_endpoints_requirement_t require_unique_network_flow_endpoints =
-    RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED;
-
   /// Callback group in which the waitable items from the publisher should be placed.
   std::shared_ptr<rclcpp::CallbackGroup> callback_group;
 
   /// Optional RMW implementation specific payload to be used during creation of the publisher.
   std::shared_ptr<rclcpp::detail::RMWImplementationSpecificPublisherPayload>
   rmw_implementation_payload = nullptr;
-
-  QosOverridingOptions qos_overriding_options;
 };
 
 /// Structure containing optional configuration for Publishers.
 template<typename Allocator>
 struct PublisherOptionsWithAllocator : public PublisherOptionsBase
 {
-  static_assert(
-    std::is_void_v<typename std::allocator_traits<Allocator>::value_type>,
-    "Publisher allocator value type must be void");
-
   /// Optional custom allocator.
   std::shared_ptr<Allocator> allocator = nullptr;
 
-  PublisherOptionsWithAllocator() {}
+  PublisherOptionsWithAllocator<Allocator>() {}
 
   /// Constructor using base class as input.
   explicit PublisherOptionsWithAllocator(const PublisherOptionsBase & publisher_options_base)
@@ -85,10 +72,11 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
   to_rcl_publisher_options(const rclcpp::QoS & qos) const
   {
     rcl_publisher_options_t result = rcl_publisher_get_default_options();
-    result.allocator = this->get_rcl_allocator();
+    using AllocatorTraits = std::allocator_traits<Allocator>;
+    using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
+    auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
+    result.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc);
     result.qos = qos.get_rmw_qos_profile();
-    result.rmw_publisher_options.require_unique_network_flow_endpoints =
-      this->require_unique_network_flow_endpoints;
 
     // Apply payload to rcl_publisher_options if necessary.
     if (rmw_implementation_payload && rmw_implementation_payload->has_been_customized()) {
@@ -104,35 +92,10 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
   get_allocator() const
   {
     if (!this->allocator) {
-      if (!allocator_storage_) {
-        allocator_storage_ = std::make_shared<Allocator>();
-      }
-      return allocator_storage_;
+      return std::make_shared<Allocator>();
     }
     return this->allocator;
   }
-
-private:
-  using PlainAllocator =
-    typename std::allocator_traits<Allocator>::template rebind_alloc<char>;
-
-  rcl_allocator_t
-  get_rcl_allocator() const
-  {
-    if (!plain_allocator_storage_) {
-      plain_allocator_storage_ =
-        std::make_shared<PlainAllocator>(*this->get_allocator());
-    }
-    return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
-  }
-
-  // This is a temporal workaround, to make sure that get_allocator()
-  // always returns a copy of the same allocator.
-  mutable std::shared_ptr<Allocator> allocator_storage_;
-
-  // This is a temporal workaround, to keep the plain allocator that backs
-  // up the rcl allocator returned in rcl_publisher_options_t alive.
-  mutable std::shared_ptr<PlainAllocator> plain_allocator_storage_;
 };
 
 using PublisherOptions = PublisherOptionsWithAllocator<std::allocator<void>>;

rclcpp/include/rclcpp/qos.hpp

@@ -18,9 +18,7 @@
 #include <string>
 
 #include "rclcpp/duration.hpp"
-#include "rclcpp/exceptions.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rcl/logging_rosout.h"
 #include "rmw/incompatible_qos_events_statuses.h"
 #include "rmw/qos_profiles.h"
 #include "rmw/types.h"
@@ -31,45 +29,6 @@ namespace rclcpp
 RCLCPP_PUBLIC
 std::string qos_policy_name_from_kind(rmw_qos_policy_kind_t policy_kind);
 
-enum class HistoryPolicy
-{
-  KeepLast = RMW_QOS_POLICY_HISTORY_KEEP_LAST,
-  KeepAll = RMW_QOS_POLICY_HISTORY_KEEP_ALL,
-  SystemDefault = RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_HISTORY_UNKNOWN,
-};
-
-enum class ReliabilityPolicy
-{
-  BestEffort = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
-  Reliable = RMW_QOS_POLICY_RELIABILITY_RELIABLE,
-  SystemDefault = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_RELIABILITY_UNKNOWN,
-};
-
-enum class DurabilityPolicy
-{
-  Volatile = RMW_QOS_POLICY_DURABILITY_VOLATILE,
-  TransientLocal = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
-  SystemDefault = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_DURABILITY_UNKNOWN,
-};
-
-enum class LivelinessPolicy
-{
-  Automatic = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
-  ManualByTopic = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC,
-  SystemDefault = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_LIVELINESS_UNKNOWN,
-};
-
-enum class QoSCompatibility
-{
-  Ok = RMW_QOS_COMPATIBILITY_OK,
-  Warning = RMW_QOS_COMPATIBILITY_WARNING,
-  Error = RMW_QOS_COMPATIBILITY_ERROR,
-};
-
 /// QoS initialization values, cannot be created directly, use KeepAll or KeepLast instead.
 struct RCLCPP_PUBLIC QoSInitialization
 {
@@ -98,32 +57,10 @@ struct RCLCPP_PUBLIC KeepLast : public rclcpp::QoSInitialization
 };
 
 /// Encapsulation of Quality of Service settings.
-/**
- * Quality of Service settings control the behavior of publishers, subscriptions,
- * and other entities, and includes things like how data is sent or resent,
- * how data is buffered on the publishing and subscribing side, and other things.
- * See:
- *   <a href="https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html">
- *     https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html
- *   </a>
- */
 class RCLCPP_PUBLIC QoS
 {
 public:
-  /// Create a QoS by specifying only the history policy and history depth.
-  /**
-   * When using the default initial profile, the defaults will include:
-   *
-   *   - \link rclcpp::ReliabilityPolicy::Reliable ReliabilityPolicy::Reliable\endlink
-   *   - \link rclcpp::DurabilityPolicy::Volatile DurabilityPolicy::Volatile\endlink
-   *
-   * See rmw_qos_profile_default for a full list of default settings.
-   * If some other rmw_qos_profile_t is passed to initial_profile, then the defaults will derive from
-   * that profile instead.
-   *
-   * \param[in] qos_initialization Specifies history policy and history depth.
-   * \param[in] initial_profile The rmw_qos_profile_t instance on which to base the default settings.
-   */
+  /// Constructor which allows you to construct a QoS by giving the only required settings.
   explicit
   QoS(
     const QoSInitialization & qos_initialization,
@@ -131,11 +68,7 @@ public:
 
   /// Conversion constructor to ease construction in the common case of just specifying depth.
   /**
-   * This is a convenience constructor that calls QoS(KeepLast(history_depth)).
-   *
-   * \param[in] history_depth How many messages can be queued when publishing
-   *   with a Publisher, or how many messages can be queued before being replaced
-   *   by a Subscription.
+   * Convenience constructor, equivalent to QoS(KeepLast(history_depth)).
    */
   // cppcheck-suppress noExplicitConstructor
   QoS(size_t history_depth);  // NOLINT(runtime/explicit): conversion constructor
@@ -148,10 +81,6 @@ public:
   const rmw_qos_profile_t &
   get_rmw_qos_profile() const;
 
-  /// Set the history policy.
-  QoS &
-  history(HistoryPolicy history);
-
   /// Set the history policy.
   QoS &
   history(rmw_qos_history_policy_t history);
@@ -168,10 +97,6 @@ public:
   QoS &
   reliability(rmw_qos_reliability_policy_t reliability);
 
-  /// Set the reliability setting.
-  QoS &
-  reliability(ReliabilityPolicy reliability);
-
   /// Set the reliability setting to reliable.
   QoS &
   reliable();
@@ -184,10 +109,6 @@ public:
   QoS &
   durability(rmw_qos_durability_policy_t durability);
 
-  /// Set the durability setting.
-  QoS &
-  durability(DurabilityPolicy durability);
-
   /// Set the durability setting to volatile.
   /**
     * Note that this cannot be named `volatile` because it is a C++ keyword.
@@ -219,10 +140,6 @@ public:
   QoS &
   liveliness(rmw_qos_liveliness_policy_t liveliness);
 
-  /// Set the liveliness setting.
-  QoS &
-  liveliness(LivelinessPolicy liveliness);
-
   /// Set the liveliness_lease_duration setting.
   QoS &
   liveliness_lease_duration(rmw_time_t liveliness_lease_duration);
@@ -235,42 +152,6 @@ public:
   QoS &
   avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions);
 
-  /// Get the history qos policy.
-  HistoryPolicy
-  history() const;
-
-  /// Get the history depth.
-  size_t
-  depth() const;
-
-  /// Get the reliability policy.
-  ReliabilityPolicy
-  reliability() const;
-
-  /// Get the durability policy.
-  DurabilityPolicy
-  durability() const;
-
-  /// Get the deadline duration setting.
-  rclcpp::Duration
-  deadline() const;
-
-  /// Get the lifespan duration setting.
-  rclcpp::Duration
-  lifespan() const;
-
-  /// Get the liveliness policy.
-  LivelinessPolicy
-  liveliness() const;
-
-  /// Get the liveliness lease duration setting.
-  rclcpp::Duration
-  liveliness_lease_duration() const;
-
-  /// Get the `avoid ros namespace convention` setting.
-  bool
-  avoid_ros_namespace_conventions() const;
-
 private:
   rmw_qos_profile_t rmw_qos_profile_;
 };
@@ -281,81 +162,6 @@ bool operator==(const QoS & left, const QoS & right);
 RCLCPP_PUBLIC
 bool operator!=(const QoS & left, const QoS & right);
 
-/// Result type for checking QoS compatibility
-/**
- * \see rclcpp::qos_check_compatible()
- */
-struct QoSCheckCompatibleResult
-{
-  /// Compatibility result.
-  QoSCompatibility compatibility;
-
-  /// Reason for a (possible) incompatibility.
-  /**
-   * Set if compatiblity is QoSCompatibility::Warning or QoSCompatiblity::Error.
-   * Not set if the QoS profiles are compatible.
-   */
-  std::string reason;
-};
-
-/// Check if two QoS profiles are compatible.
-/**
- * Two QoS profiles are compatible if a publisher and subcription
- * using the QoS policies can communicate with each other.
- *
- * If any policies have value "system default" or "unknown" then it is possible that
- * compatiblity cannot be determined.
- * In this case, the value QoSCompatility::Warning is set as part of
- * the returned structure.
- *
- * Example usage:
- *
- * ```cpp
- * rclcpp::QoSCheckCompatibleResult result = rclcpp::qos_check_compatible(
- *   publisher_qos, subscription_qos);
- * if (rclcpp::QoSCompatibility::Error != result.compatibility) {
- *   // QoS not compatible ...
- *   // result.reason contains info about the incompatibility
- * } else if (rclcpp::QoSCompatibility::Warning != result.compatibility) {
- *   // QoS may not be compatible ...
- *   // result.reason contains info about the possible incompatibility
- * }
- * ```
- *
- * \param[in] publisher_qos: The QoS profile for a publisher.
- * \param[in] subscription_qos: The QoS profile for a subscription.
- * \return Struct with compatiblity set to QoSCompatibility::Ok if the QoS profiles are
- *   compatible, or
- * \return Struct with compatibility set to QoSCompatibility::Warning if there is a chance
- *   the QoS profiles are not compatible, or
- * \return Struct with compatibility set to QoSCompatibility::Error if the QoS profiles are
- *   not compatible.
- * \throws rclcpp::exceptions::QoSCheckCompatibilityException if an unexpected error occurs.
- */
-RCLCPP_PUBLIC
-QoSCheckCompatibleResult
-qos_check_compatible(const QoS & publisher_qos, const QoS & subscription_qos);
-
-/**
- * Clock QoS class
- *    - History: Keep last,
- *    - Depth: 1,
- *    - Reliability: Best effort,
- *    - Durability: Volatile,
- *    - Deadline: Default,
- *    - Lifespan: Default,
- *    - Liveliness: System default,
- *    - Liveliness lease duration: default,
- *    - avoid ros namespace conventions: false
- */
-class RCLCPP_PUBLIC ClockQoS : public QoS
-{
-public:
-  explicit
-  ClockQoS(
-    const QoSInitialization & qos_initialization = KeepLast(1));
-};
-
 /**
  * Sensor Data QoS class
  *    - History: Keep last,
@@ -444,28 +250,6 @@ public:
   ));
 };
 
-/**
- * Rosout QoS class
- *    - History: Keep last,
- *    - Depth: 1000,
- *    - Reliability: Reliable,
- *    - Durability: TRANSIENT_LOCAL,
- *    - Deadline: Default,
- *    - Lifespan: {10, 0},
- *    - Liveliness: System default,
- *    - Liveliness lease duration: default,
- *    - Avoid ros namespace conventions: false
- */
-class RCLCPP_PUBLIC RosoutQoS : public QoS
-{
-public:
-  explicit
-  RosoutQoS(
-    const QoSInitialization & rosout_qos_initialization = (
-      QoSInitialization::from_rmw(rcl_qos_profile_rosout_default)
-  ));
-};
-
 /**
  * System defaults QoS class
  *    - History: System default,

rclcpp/include/rclcpp/qos_event.hpp

@@ -16,22 +16,15 @@
 #define RCLCPP__QOS_EVENT_HPP_
 
 #include <functional>
-#include <memory>
-#include <mutex>
-#include <stdexcept>
 #include <string>
 
 #include "rcl/error_handling.h"
-#include "rcl/event_callback.h"
-#include "rmw/impl/cpp/demangle.hpp"
 #include "rmw/incompatible_qos_events_statuses.h"
 
 #include "rcutils/logging_macros.h"
 
-#include "rclcpp/detail/cpp_callback_trampoline.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/function_traits.hpp"
-#include "rclcpp/logging.hpp"
 #include "rclcpp/waitable.hpp"
 
 namespace rclcpp
@@ -41,7 +34,6 @@ using QOSDeadlineRequestedInfo = rmw_requested_deadline_missed_status_t;
 using QOSDeadlineOfferedInfo = rmw_offered_deadline_missed_status_t;
 using QOSLivelinessChangedInfo = rmw_liveliness_changed_status_t;
 using QOSLivelinessLostInfo = rmw_liveliness_lost_status_t;
-using QOSMessageLostInfo = rmw_message_lost_status_t;
 using QOSOfferedIncompatibleQoSInfo = rmw_offered_qos_incompatible_event_status_t;
 using QOSRequestedIncompatibleQoSInfo = rmw_requested_qos_incompatible_event_status_t;
 
@@ -49,7 +41,6 @@ using QOSDeadlineRequestedCallbackType = std::function<void (QOSDeadlineRequeste
 using QOSDeadlineOfferedCallbackType = std::function<void (QOSDeadlineOfferedInfo &)>;
 using QOSLivelinessChangedCallbackType = std::function<void (QOSLivelinessChangedInfo &)>;
 using QOSLivelinessLostCallbackType = std::function<void (QOSLivelinessLostInfo &)>;
-using QOSMessageLostCallbackType = std::function<void (QOSMessageLostInfo &)>;
 using QOSOfferedIncompatibleQoSCallbackType = std::function<void (QOSOfferedIncompatibleQoSInfo &)>;
 using QOSRequestedIncompatibleQoSCallbackType =
   std::function<void (QOSRequestedIncompatibleQoSInfo &)>;
@@ -68,7 +59,6 @@ struct SubscriptionEventCallbacks
   QOSDeadlineRequestedCallbackType deadline_callback;
   QOSLivelinessChangedCallbackType liveliness_callback;
   QOSRequestedIncompatibleQoSCallbackType incompatible_qos_callback;
-  QOSMessageLostCallbackType message_lost_callback;
 };
 
 class UnsupportedEventTypeException : public exceptions::RCLErrorBase, public std::runtime_error
@@ -89,11 +79,6 @@ public:
 class QOSEventHandlerBase : public Waitable
 {
 public:
-  enum class EntityType : std::size_t
-  {
-    Event,
-  };
-
   RCLCPP_PUBLIC
   virtual ~QOSEventHandlerBase();
 
@@ -104,7 +89,7 @@ public:
 
   /// Add the Waitable to a wait set.
   RCLCPP_PUBLIC
-  void
+  bool
   add_to_wait_set(rcl_wait_set_t * wait_set) override;
 
   /// Check if the Waitable is ready.
@@ -112,111 +97,9 @@ public:
   bool
   is_ready(rcl_wait_set_t * wait_set) override;
 
-  /// Set a callback to be called when each new event instance occurs.
-  /**
-   * The callback receives a size_t which is the number of events that occurred
-   * since the last time this callback was called.
-   * Normally this is 1, but can be > 1 if events occurred before any
-   * callback was set.
-   *
-   * The callback also receives an int identifier argument.
-   * This is needed because a Waitable may be composed of several distinct entities,
-   * such as subscriptions, services, etc.
-   * The application should provide a generic callback function that will be then
-   * forwarded by the waitable to all of its entities.
-   * Before forwarding, a different value for the identifier argument will be
-   * bond to the function.
-   * This implies that the provided callback can use the identifier to behave
-   * differently depending on which entity triggered the waitable to become ready.
-   *
-   * Since this callback is called from the middleware, you should aim to make
-   * it fast and not blocking.
-   * If you need to do a lot of work or wait for some other event, you should
-   * spin it off to another thread, otherwise you risk blocking the middleware.
-   *
-   * Calling it again will clear any previously set callback.
-   *
-   * An exception will be thrown if the callback is not callable.
-   *
-   * This function is thread-safe.
-   *
-   * If you want more information available in the callback, like the qos event
-   * or other information, you may use a lambda with captures or std::bind.
-   *
-   * \sa rmw_event_set_callback
-   * \sa rcl_event_set_callback
-   *
-   * \param[in] callback functor to be called when a new event occurs
-   */
-  void
-  set_on_ready_callback(std::function<void(size_t, int)> callback) override
-  {
-    if (!callback) {
-      throw std::invalid_argument(
-              "The callback passed to set_on_ready_callback "
-              "is not callable.");
-    }
-
-    // Note: we bind the int identifier argument to this waitable's entity types
-    auto new_callback =
-      [callback, this](size_t number_of_events) {
-        try {
-          callback(number_of_events, static_cast<int>(EntityType::Event));
-        } catch (const std::exception & exception) {
-          RCLCPP_ERROR_STREAM(
-            // TODO(wjwwood): get this class access to the node logger it is associated with
-            rclcpp::get_logger("rclcpp"),
-            "rclcpp::QOSEventHandlerBase@" << this <<
-              " caught " << rmw::impl::cpp::demangle(exception) <<
-              " exception in user-provided callback for the 'on ready' callback: " <<
-              exception.what());
-        } catch (...) {
-          RCLCPP_ERROR_STREAM(
-            rclcpp::get_logger("rclcpp"),
-            "rclcpp::QOSEventHandlerBase@" << this <<
-              " caught unhandled exception in user-provided callback " <<
-              "for the 'on ready' callback");
-        }
-      };
-
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-
-    // Set it temporarily to the new callback, while we replace the old one.
-    // This two-step setting, prevents a gap where the old std::function has
-    // been replaced but the middleware hasn't been told about the new one yet.
-    set_on_new_event_callback(
-      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
-      static_cast<const void *>(&new_callback));
-
-    // Store the std::function to keep it in scope, also overwrites the existing one.
-    on_new_event_callback_ = new_callback;
-
-    // Set it again, now using the permanent storage.
-    set_on_new_event_callback(
-      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
-      static_cast<const void *>(&on_new_event_callback_));
-  }
-
-  /// Unset the callback registered for new events, if any.
-  void
-  clear_on_ready_callback() override
-  {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-    if (on_new_event_callback_) {
-      set_on_new_event_callback(nullptr, nullptr);
-      on_new_event_callback_ = nullptr;
-    }
-  }
-
 protected:
-  RCLCPP_PUBLIC
-  void
-  set_on_new_event_callback(rcl_event_callback_t callback, const void * user_data);
-
   rcl_event_t event_handle_;
   size_t wait_set_event_index_;
-  std::recursive_mutex callback_mutex_;
-  std::function<void(size_t)> on_new_event_callback_{nullptr};
 };
 
 template<typename EventCallbackT, typename ParentHandleT>
@@ -229,8 +112,9 @@ public:
     InitFuncT init_func,
     ParentHandleT parent_handle,
     EventTypeEnum event_type)
-  : parent_handle_(parent_handle), event_callback_(callback)
+  : event_callback_(callback)
   {
+    parent_handle_ = parent_handle;
     event_handle_ = rcl_get_zero_initialized_event();
     rcl_ret_t ret = init_func(&event_handle_, parent_handle.get(), event_type);
     if (ret != RCL_RET_OK) {
@@ -244,38 +128,21 @@ public:
     }
   }
 
-  /// Take data so that the callback cannot be scheduled again
-  std::shared_ptr<void>
-  take_data() override
+  /// Execute any entities of the Waitable that are ready.
+  void
+  execute() override
   {
     EventCallbackInfoT callback_info;
+
     rcl_ret_t ret = rcl_take_event(&event_handle_, &callback_info);
     if (ret != RCL_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",
         "Couldn't take event info: %s", rcl_get_error_string().str);
-      return nullptr;
+      return;
     }
-    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
-  {
-    if (!data) {
-      throw std::runtime_error("'data' is empty");
-    }
-    auto callback_ptr = std::static_pointer_cast<EventCallbackInfoT>(data);
-    event_callback_(*callback_ptr);
-    callback_ptr.reset();
+    event_callback_(callback_info);
   }
 
 private:

rclcpp/include/rclcpp/qos_overriding_options.hpp

@@ -1,154 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_
-#define RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_
-
-#include <functional>
-#include <initializer_list>
-#include <ostream>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "rclcpp/qos.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-#include "rcl_interfaces/msg/set_parameters_result.hpp"
-#include "rmw/qos_policy_kind.h"
-
-namespace rclcpp
-{
-
-enum class RCLCPP_PUBLIC_TYPE QosPolicyKind
-{
-  AvoidRosNamespaceConventions = RMW_QOS_POLICY_AVOID_ROS_NAMESPACE_CONVENTIONS,
-  Deadline = RMW_QOS_POLICY_DEADLINE,
-  Depth = RMW_QOS_POLICY_DEPTH,
-  Durability = RMW_QOS_POLICY_DURABILITY,
-  History = RMW_QOS_POLICY_HISTORY,
-  Lifespan = RMW_QOS_POLICY_LIFESPAN,
-  Liveliness = RMW_QOS_POLICY_LIVELINESS,
-  LivelinessLeaseDuration = RMW_QOS_POLICY_LIVELINESS_LEASE_DURATION,
-  Reliability = RMW_QOS_POLICY_RELIABILITY,
-  Invalid = RMW_QOS_POLICY_INVALID,
-};
-
-RCLCPP_PUBLIC
-const char *
-qos_policy_kind_to_cstr(const QosPolicyKind & qpk);
-
-RCLCPP_PUBLIC
-std::ostream &
-operator<<(std::ostream & os, const QosPolicyKind & qpk);
-
-using QosCallbackResult = rcl_interfaces::msg::SetParametersResult;
-using QosCallback = std::function<QosCallbackResult(const rclcpp::QoS &)>;
-
-namespace detail
-{
-// forward declare
-template<typename T>
-class QosParameters;
-}
-
-/// Options that are passed in subscription/publisher constructor to specify QoSConfigurability.
-/**
- * This options struct allows configuring:
- * - Which policy kinds will have declared parameters.
- * - An optional callback, that will be called to validate the final qos profile.
- * - An optional id. In the case that different qos are desired for two publishers/subscriptions in
- *   the same topic, this id will allow disambiguating them.
- *
- * Example parameter file:
- *
- * ```yaml
- * my_node_name:
- *  ros__parameters:
- *    qos_overrides:
- *      /my/topic/name:
- *        publisher:  # publisher without provided id
- *          reliability: reliable
- *          depth: 100
- *        publisher_my_id:  # publisher with `id="my_id"
- *          reliability: reliable
- *          depth: 10
- * ```
- */
-class QosOverridingOptions
-{
-public:
-  /// Default constructor, no overrides allowed.
-  RCLCPP_PUBLIC
-  QosOverridingOptions() = default;
-
-  /// Construct passing a list of QoS policies and a verification callback.
-  /**
-   * This constructor is implicit, e.g.:
-   * ```cpp
-   * node->create_publisher(
-   *   "topic_name",
-   *   default_qos_profile,
-   *   {
-   *     {QosPolicyKind::Reliability},
-   *     [] (auto && qos) {return check_qos_validity(qos)},
-   *     "my_id"
-   *   });
-   * ```
-   * \param policy_kinds list of policy kinds that will be reconfigurable.
-   * \param validation_callback callbak that will be called to validate the validity of
-   *   the qos profile set by the user.
-   * \param id id of the entity.
-   */
-  RCLCPP_PUBLIC
-  QosOverridingOptions(
-    std::initializer_list<QosPolicyKind> policy_kinds,
-    QosCallback validation_callback = nullptr,
-    std::string id = {});
-
-  RCLCPP_PUBLIC
-  const std::string &
-  get_id() const;
-
-  RCLCPP_PUBLIC
-  const std::vector<QosPolicyKind> &
-  get_policy_kinds() const;
-
-  RCLCPP_PUBLIC
-  const QosCallback &
-  get_validation_callback() const;
-
-  /// Construct passing a list of QoS policies and a verification callback.
-  /**
-   * Same as `QosOverridingOptions` constructor, but only declares the default policies:
-   *
-   * History, Depth, Reliability.
-   */
-  RCLCPP_PUBLIC
-  static
-  QosOverridingOptions
-  with_default_policies(QosCallback validation_callback = nullptr, std::string id = {});
-
-private:
-  /// \internal Id of the entity requesting to create parameters.
-  std::string id_;
-  /// \internal Policy kinds that are allowed to be reconfigured.
-  std::vector<QosPolicyKind> policy_kinds_;
-  /// \internal Validation callback that will be called to verify the profile.
-  QosCallback validation_callback_;
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_

rclcpp/include/rclcpp/rclcpp.hpp

@@ -117,15 +117,6 @@
  * - Allocator related items:
  *   - rclcpp/allocator/allocator_common.hpp
  *   - rclcpp/allocator/allocator_deleter.hpp
- * - Generic publisher
- *   - rclcpp::Node::create_generic_publisher()
- *   - rclcpp::GenericPublisher
- *   - rclcpp::GenericPublisher::publish()
- *   - rclcpp/generic_publisher.hpp
- * - Generic subscription
- *   - rclcpp::Node::create_generic_subscription()
- *   - rclcpp::GenericSubscription
- *   - rclcpp/generic_subscription.hpp
  * - Memory management tools:
  *   - rclcpp/memory_strategies.hpp
  *   - rclcpp/memory_strategy.hpp
@@ -140,9 +131,9 @@
  *   - rclcpp/duration.hpp
  *   - rclcpp/function_traits.hpp
  *   - rclcpp/macros.hpp
+ *   - rclcpp/scope_exit.hpp
  *   - rclcpp/time.hpp
  *   - rclcpp/utilities.hpp
- *   - rclcpp/typesupport_helpers.hpp
  *   - rclcpp/visibility_control.hpp
  */
 
@@ -156,15 +147,14 @@
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/parameter_client.hpp"
-#include "rclcpp/parameter_event_handler.hpp"
 #include "rclcpp/parameter.hpp"
+#include "rclcpp/parameter_client.hpp"
 #include "rclcpp/parameter_service.hpp"
 #include "rclcpp/rate.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rclcpp/waitable.hpp"
 #include "rclcpp/wait_set.hpp"
+#include "rclcpp/waitable.hpp"
 
 #endif  // RCLCPP__RCLCPP_HPP_

rclcpp/include/rclcpp/scope_exit.hpp

@@ -19,10 +19,6 @@
 #ifndef RCLCPP__SCOPE_EXIT_HPP_
 #define RCLCPP__SCOPE_EXIT_HPP_
 
-// TODO(christophebedard) remove this header completely in I-turtle
-
-#warning rclcpp/scope_exit.hpp has been deprecated, please use rcpputils/scope_exit.hpp instead
-
 #include <functional>
 
 #include "rclcpp/macros.hpp"

rclcpp/include/rclcpp/serialized_message.hpp

@@ -47,7 +47,7 @@ public:
    * \param[in] initial_capacity The amount of memory to be allocated.
    * \param[in] allocator The allocator to be used for the initialization.
    */
-  explicit SerializedMessage(
+  SerializedMessage(
     size_t initial_capacity,
     const rcl_allocator_t & allocator = rcl_get_default_allocator());
 

rclcpp/include/rclcpp/service.hpp

@@ -19,29 +19,22 @@
 #include <functional>
 #include <iostream>
 #include <memory>
-#include <mutex>
 #include <sstream>
 #include <string>
 
 #include "rcl/error_handling.h"
-#include "rcl/event_callback.h"
 #include "rcl/service.h"
 
-#include "rmw/error_handling.h"
-#include "rmw/impl/cpp/demangle.hpp"
-#include "rmw/rmw.h"
-
-#include "tracetools/tracetools.h"
-
 #include "rclcpp/any_service_callback.hpp"
-#include "rclcpp/detail/cpp_callback_trampoline.hpp"
 #include "rclcpp/exceptions.hpp"
-#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/expand_topic_or_service_name.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/logging.hpp"
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
+#include "tracetools/tracetools.h"
 
 namespace rclcpp
 {
@@ -128,123 +121,6 @@ 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
-   * since the last time this callback was called.
-   * Normally this is 1, but can be > 1 if requests were received before any
-   * callback was set.
-   *
-   * Since this callback is called from the middleware, you should aim to make
-   * it fast and not blocking.
-   * If you need to do a lot of work or wait for some other event, you should
-   * spin it off to another thread, otherwise you risk blocking the middleware.
-   *
-   * Calling it again will clear any previously set callback.
-   *
-   *
-   * An exception will be thrown if the callback is not callable.
-   *
-   * This function is thread-safe.
-   *
-   * If you want more information available in the callback, like the service
-   * or other information, you may use a lambda with captures or std::bind.
-   *
-   * \sa rmw_service_set_on_new_request_callback
-   * \sa rcl_service_set_on_new_request_callback
-   *
-   * \param[in] callback functor to be called when a new request is received
-   */
-  void
-  set_on_new_request_callback(std::function<void(size_t)> callback)
-  {
-    if (!callback) {
-      throw std::invalid_argument(
-              "The callback passed to set_on_new_request_callback "
-              "is not callable.");
-    }
-
-    auto new_callback =
-      [callback, this](size_t number_of_requests) {
-        try {
-          callback(number_of_requests);
-        } catch (const std::exception & exception) {
-          RCLCPP_ERROR_STREAM(
-            node_logger_,
-            "rclcpp::ServiceBase@" << this <<
-              " caught " << rmw::impl::cpp::demangle(exception) <<
-              " exception in user-provided callback for the 'on new request' callback: " <<
-              exception.what());
-        } catch (...) {
-          RCLCPP_ERROR_STREAM(
-            node_logger_,
-            "rclcpp::ServiceBase@" << this <<
-              " caught unhandled exception in user-provided callback " <<
-              "for the 'on new request' callback");
-        }
-      };
-
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-
-    // Set it temporarily to the new callback, while we replace the old one.
-    // This two-step setting, prevents a gap where the old std::function has
-    // been replaced but the middleware hasn't been told about the new one yet.
-    set_on_new_request_callback(
-      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
-      static_cast<const void *>(&new_callback));
-
-    // Store the std::function to keep it in scope, also overwrites the existing one.
-    on_new_request_callback_ = new_callback;
-
-    // Set it again, now using the permanent storage.
-    set_on_new_request_callback(
-      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
-      static_cast<const void *>(&on_new_request_callback_));
-  }
-
-  /// Unset the callback registered for new requests, if any.
-  void
-  clear_on_new_request_callback()
-  {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-    if (on_new_request_callback_) {
-      set_on_new_request_callback(nullptr, nullptr);
-      on_new_request_callback_ = nullptr;
-    }
-  }
-
 protected:
   RCLCPP_DISABLE_COPY(ServiceBase)
 
@@ -256,27 +132,16 @@ protected:
   const rcl_node_t *
   get_rcl_node_handle() const;
 
-  RCLCPP_PUBLIC
-  void
-  set_on_new_request_callback(rcl_event_callback_t callback, const void * user_data);
-
   std::shared_ptr<rcl_node_t> node_handle_;
 
   std::shared_ptr<rcl_service_t> service_handle_;
   bool owns_rcl_handle_ = true;
 
-  rclcpp::Logger node_logger_;
-
   std::atomic<bool> in_use_by_wait_set_{false};
-
-  std::recursive_mutex callback_mutex_;
-  std::function<void(size_t)> on_new_request_callback_{nullptr};
 };
 
 template<typename ServiceT>
-class Service
-  : public ServiceBase,
-  public std::enable_shared_from_this<Service<ServiceT>>
+class Service : public ServiceBase
 {
 public:
   using CallbackType = std::function<
@@ -314,7 +179,7 @@ public:
 
     // rcl does the static memory allocation here
     service_handle_ = std::shared_ptr<rcl_service_t>(
-      new rcl_service_t, [handle = node_handle_, service_name](rcl_service_t * service)
+      new rcl_service_t, [handle = node_handle_](rcl_service_t * service)
       {
         if (rcl_service_fini(service, handle.get()) != RCL_RET_OK) {
           RCLCPP_ERROR(
@@ -349,8 +214,8 @@ public:
     }
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif
@@ -384,8 +249,8 @@ public:
     service_handle_ = service_handle;
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif
@@ -421,8 +286,8 @@ public:
     service_handle_->impl = service_handle->impl;
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif
@@ -470,10 +335,18 @@ public:
     std::shared_ptr<void> request) override
   {
     auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request);
-    auto response = any_callback_.dispatch(this->shared_from_this(), request_header, typed_request);
-    if (response) {
-      send_response(*request_header, *response);
-    }
+    auto response = std::make_shared<typename ServiceT::Response>();
+    any_callback_.dispatch(request_header, typed_request, response);
+    send_response(*request_header, *response);
+  }
+
+  [[deprecated("use the send_response() which takes references instead of shared pointers")]]
+  void
+  send_response(
+    std::shared_ptr<rmw_request_id_t> req_id,
+    std::shared_ptr<typename ServiceT::Response> response)
+  {
+    send_response(*req_id, *response);
   }
 
   void

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -21,7 +21,6 @@
 #include "rcl/allocator.h"
 
 #include "rclcpp/allocator/allocator_common.hpp"
-#include "rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -62,17 +61,17 @@ public:
     allocator_ = std::make_shared<VoidAlloc>();
   }
 
-  void add_guard_condition(const rclcpp::GuardCondition & guard_condition) override
+  void add_guard_condition(const rcl_guard_condition_t * guard_condition) override
   {
     for (const auto & existing_guard_condition : guard_conditions_) {
-      if (existing_guard_condition == &guard_condition) {
+      if (existing_guard_condition == guard_condition) {
         return;
       }
     }
-    guard_conditions_.push_back(&guard_condition);
+    guard_conditions_.push_back(guard_condition);
   }
 
-  void remove_guard_condition(const rclcpp::GuardCondition * guard_condition) override
+  void remove_guard_condition(const rcl_guard_condition_t * guard_condition) override
   {
     for (auto it = guard_conditions_.begin(); it != guard_conditions_.end(); ++it) {
       if (*it == guard_condition) {
@@ -151,39 +150,48 @@ public:
     );
   }
 
-  bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+  bool collect_entities(const WeakNodeList & weak_nodes) override
   {
-    bool has_invalid_weak_groups_or_nodes = false;
-    for (const auto & pair : weak_groups_to_nodes) {
-      auto group = pair.first.lock();
-      auto node = pair.second.lock();
-      if (group == nullptr || node == nullptr) {
-        has_invalid_weak_groups_or_nodes = true;
+    bool has_invalid_weak_nodes = false;
+    for (auto & weak_node : weak_nodes) {
+      auto node = weak_node.lock();
+      if (!node) {
+        has_invalid_weak_nodes = true;
         continue;
       }
-      if (!group || !group->can_be_taken_from().load()) {
-        continue;
+      for (auto & weak_group : node->get_callback_groups()) {
+        auto group = weak_group.lock();
+        if (!group || !group->can_be_taken_from().load()) {
+          continue;
+        }
+        group->find_subscription_ptrs_if(
+          [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;
+          });
       }
-
-      group->collect_all_ptrs(
-        [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
-          subscription_handles_.push_back(subscription->get_subscription_handle());
-        },
-        [this](const rclcpp::ServiceBase::SharedPtr & service) {
-          service_handles_.push_back(service->get_service_handle());
-        },
-        [this](const rclcpp::ClientBase::SharedPtr & client) {
-          client_handles_.push_back(client->get_client_handle());
-        },
-        [this](const rclcpp::TimerBase::SharedPtr & timer) {
-          timer_handles_.push_back(timer->get_timer_handle());
-        },
-        [this](const rclcpp::Waitable::SharedPtr & waitable) {
-          waitable_handles_.push_back(waitable);
-        });
     }
-
-    return has_invalid_weak_groups_or_nodes;
+    return has_invalid_weak_nodes;
   }
 
   void add_waitable_handle(const rclcpp::Waitable::SharedPtr & waitable) override
@@ -196,7 +204,7 @@ public:
 
   bool add_handles_to_wait_set(rcl_wait_set_t * wait_set) override
   {
-    for (const std::shared_ptr<const rcl_subscription_t> & subscription : subscription_handles_) {
+    for (auto subscription : subscription_handles_) {
       if (rcl_wait_set_add_subscription(wait_set, subscription.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
@@ -205,7 +213,7 @@ public:
       }
     }
 
-    for (const std::shared_ptr<const rcl_client_t> & client : client_handles_) {
+    for (auto client : client_handles_) {
       if (rcl_wait_set_add_client(wait_set, client.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
@@ -214,7 +222,7 @@ public:
       }
     }
 
-    for (const std::shared_ptr<const rcl_service_t> & service : service_handles_) {
+    for (auto service : service_handles_) {
       if (rcl_wait_set_add_service(wait_set, service.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
@@ -223,7 +231,7 @@ public:
       }
     }
 
-    for (const std::shared_ptr<const rcl_timer_t> & timer : timer_handles_) {
+    for (auto timer : timer_handles_) {
       if (rcl_wait_set_add_timer(wait_set, timer.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
@@ -233,11 +241,22 @@ public:
     }
 
     for (auto guard_condition : guard_conditions_) {
-      detail::add_guard_condition_to_rcl_wait_set(*wait_set, *guard_condition);
+      if (rcl_wait_set_add_guard_condition(wait_set, guard_condition, NULL) != RCL_RET_OK) {
+        RCUTILS_LOG_ERROR_NAMED(
+          "rclcpp",
+          "Couldn't add guard_condition to wait set: %s",
+          rcl_get_error_string().str);
+        return false;
+      }
     }
 
-    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
-      waitable->add_to_wait_set(wait_set);
+    for (auto waitable : waitable_handles_) {
+      if (!waitable->add_to_wait_set(wait_set)) {
+        RCUTILS_LOG_ERROR_NAMED(
+          "rclcpp",
+          "Couldn't add waitable to wait set: %s", rcl_get_error_string().str);
+        return false;
+      }
     }
     return true;
   }
@@ -245,14 +264,14 @@ public:
   void
   get_next_subscription(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+    const WeakNodeList & weak_nodes) override
   {
     auto it = subscription_handles_.begin();
     while (it != subscription_handles_.end()) {
-      auto subscription = get_subscription_by_handle(*it, weak_groups_to_nodes);
+      auto subscription = get_subscription_by_handle(*it, weak_nodes);
       if (subscription) {
         // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_subscription(subscription, weak_groups_to_nodes);
+        auto group = get_group_by_subscription(subscription, weak_nodes);
         if (!group) {
           // Group was not found, meaning the subscription is not valid...
           // Remove it from the ready list and continue looking
@@ -268,7 +287,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.subscription = subscription;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         subscription_handles_.erase(it);
         return;
       }
@@ -280,14 +299,14 @@ public:
   void
   get_next_service(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+    const WeakNodeList & weak_nodes) override
   {
     auto it = service_handles_.begin();
     while (it != service_handles_.end()) {
-      auto service = get_service_by_handle(*it, weak_groups_to_nodes);
+      auto service = get_service_by_handle(*it, weak_nodes);
       if (service) {
         // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_service(service, weak_groups_to_nodes);
+        auto group = get_group_by_service(service, weak_nodes);
         if (!group) {
           // Group was not found, meaning the service is not valid...
           // Remove it from the ready list and continue looking
@@ -303,7 +322,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.service = service;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         service_handles_.erase(it);
         return;
       }
@@ -313,16 +332,14 @@ public:
   }
 
   void
-  get_next_client(
-    rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+  get_next_client(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
   {
     auto it = client_handles_.begin();
     while (it != client_handles_.end()) {
-      auto client = get_client_by_handle(*it, weak_groups_to_nodes);
+      auto client = get_client_by_handle(*it, weak_nodes);
       if (client) {
         // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_client(client, weak_groups_to_nodes);
+        auto group = get_group_by_client(client, weak_nodes);
         if (!group) {
           // Group was not found, meaning the service is not valid...
           // Remove it from the ready list and continue looking
@@ -338,7 +355,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.client = client;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         client_handles_.erase(it);
         return;
       }
@@ -350,14 +367,14 @@ public:
   void
   get_next_timer(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+    const WeakNodeList & weak_nodes) override
   {
     auto it = timer_handles_.begin();
     while (it != timer_handles_.end()) {
-      auto timer = get_timer_by_handle(*it, weak_groups_to_nodes);
+      auto timer = get_timer_by_handle(*it, weak_nodes);
       if (timer) {
         // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_timer(timer, weak_groups_to_nodes);
+        auto group = get_group_by_timer(timer, weak_nodes);
         if (!group) {
           // Group was not found, meaning the timer is not valid...
           // Remove it from the ready list and continue looking
@@ -370,34 +387,27 @@ public:
           ++it;
           continue;
         }
-        if (!timer->call()) {
-          // timer was cancelled, skip it.
-          ++it;
-          continue;
-        }
         // Otherwise it is safe to set and return the any_exec
         any_exec.timer = timer;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         timer_handles_.erase(it);
         return;
       }
-      // Else, the timer is no longer valid, remove it and continue
+      // Else, the service is no longer valid, remove it and continue
       it = timer_handles_.erase(it);
     }
   }
 
   void
-  get_next_waitable(
-    rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+  get_next_waitable(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
   {
     auto it = waitable_handles_.begin();
     while (it != waitable_handles_.end()) {
-      std::shared_ptr<Waitable> & waitable = *it;
+      auto 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);
+        auto group = get_group_by_waitable(waitable, weak_nodes);
         if (!group) {
           // Group was not found, meaning the waitable is not valid...
           // Remove it from the ready list and continue looking
@@ -413,7 +423,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.waitable = waitable;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         waitable_handles_.erase(it);
         return;
       }
@@ -430,7 +440,7 @@ public:
   size_t number_of_ready_subscriptions() const override
   {
     size_t number_of_subscriptions = subscription_handles_.size();
-    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
+    for (auto waitable : waitable_handles_) {
       number_of_subscriptions += waitable->get_number_of_ready_subscriptions();
     }
     return number_of_subscriptions;
@@ -439,7 +449,7 @@ public:
   size_t number_of_ready_services() const override
   {
     size_t number_of_services = service_handles_.size();
-    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
+    for (auto waitable : waitable_handles_) {
       number_of_services += waitable->get_number_of_ready_services();
     }
     return number_of_services;
@@ -448,7 +458,7 @@ public:
   size_t number_of_ready_events() const override
   {
     size_t number_of_events = 0;
-    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
+    for (auto waitable : waitable_handles_) {
       number_of_events += waitable->get_number_of_ready_events();
     }
     return number_of_events;
@@ -457,7 +467,7 @@ public:
   size_t number_of_ready_clients() const override
   {
     size_t number_of_clients = client_handles_.size();
-    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
+    for (auto waitable : waitable_handles_) {
       number_of_clients += waitable->get_number_of_ready_clients();
     }
     return number_of_clients;
@@ -466,7 +476,7 @@ public:
   size_t number_of_guard_conditions() const override
   {
     size_t number_of_guard_conditions = guard_conditions_.size();
-    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
+    for (auto waitable : waitable_handles_) {
       number_of_guard_conditions += waitable->get_number_of_ready_guard_conditions();
     }
     return number_of_guard_conditions;
@@ -475,7 +485,7 @@ public:
   size_t number_of_ready_timers() const override
   {
     size_t number_of_timers = timer_handles_.size();
-    for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
+    for (auto waitable : waitable_handles_) {
       number_of_timers += waitable->get_number_of_ready_timers();
     }
     return number_of_timers;
@@ -491,7 +501,7 @@ private:
   using VectorRebind =
     std::vector<T, typename std::allocator_traits<Alloc>::template rebind_alloc<T>>;
 
-  VectorRebind<const rclcpp::GuardCondition *> guard_conditions_;
+  VectorRebind<const rcl_guard_condition_t *> guard_conditions_;
 
   VectorRebind<std::shared_ptr<const rcl_subscription_t>> subscription_handles_;
   VectorRebind<std::shared_ptr<const rcl_service_t>> service_handles_;

rclcpp/include/rclcpp/subscription.hpp

@@ -60,16 +60,10 @@ class NodeTopicsInterface;
 
 /// Subscription implementation, templated on the type of message this subscription receives.
 template<
-  typename MessageT,
+  typename CallbackMessageT,
   typename AllocatorT = std::allocator<void>,
-  /// MessageT::custom_type if MessageT is a TypeAdapter,
-  /// otherwise just MessageT.
-  typename SubscribedT = typename rclcpp::TypeAdapter<MessageT>::custom_type,
-  /// MessageT::ros_message_type if MessageT is a TypeAdapter,
-  /// otherwise just MessageT.
-  typename ROSMessageT = typename rclcpp::TypeAdapter<MessageT>::ros_message_type,
   typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    ROSMessageT,
+    CallbackMessageT,
     AllocatorT
   >>
 class Subscription : public SubscriptionBase
@@ -77,36 +71,14 @@ class Subscription : public SubscriptionBase
   friend class rclcpp::node_interfaces::NodeTopicsInterface;
 
 public:
-  // Redeclare these here to use outside of the class.
-  using SubscribedType = SubscribedT;
-  using ROSMessageType = ROSMessageT;
-  using MessageMemoryStrategyType = MessageMemoryStrategyT;
-
-  using SubscribedTypeAllocatorTraits = allocator::AllocRebind<SubscribedType, AllocatorT>;
-  using SubscribedTypeAllocator = typename SubscribedTypeAllocatorTraits::allocator_type;
-  using SubscribedTypeDeleter = allocator::Deleter<SubscribedTypeAllocator, SubscribedType>;
-
-  using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, AllocatorT>;
-  using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
-  using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
-
-  using MessageAllocatorTraits [[deprecated("use ROSMessageTypeAllocatorTraits")]] =
-    ROSMessageTypeAllocatorTraits;
-  using MessageAllocator [[deprecated("use ROSMessageTypeAllocator")]] =
-    ROSMessageTypeAllocator;
-  using MessageDeleter [[deprecated("use ROSMessageTypeDeleter")]] =
-    ROSMessageTypeDeleter;
-
-  using ConstMessageSharedPtr [[deprecated]] = std::shared_ptr<const ROSMessageType>;
-  using MessageUniquePtr
-  [[deprecated("use std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter> instead")]] =
-    std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>;
-
-private:
+  using MessageAllocatorTraits = allocator::AllocRebind<CallbackMessageT, AllocatorT>;
+  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
+  using MessageDeleter = allocator::Deleter<MessageAllocator, CallbackMessageT>;
+  using ConstMessageSharedPtr = std::shared_ptr<const CallbackMessageT>;
+  using MessageUniquePtr = std::unique_ptr<CallbackMessageT, MessageDeleter>;
   using SubscriptionTopicStatisticsSharedPtr =
-    std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>;
+    std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>;
 
-public:
   RCLCPP_SMART_PTR_DEFINITIONS(Subscription)
 
   /// Default constructor.
@@ -120,7 +92,7 @@ public:
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] qos QoS profile for Subcription.
    * \param[in] callback User defined callback to call when a message is received.
-   * \param[in] options Options for the subscription.
+   * \param[in] options options for the subscription.
    * \param[in] message_memory_strategy The memory strategy to be used for managing message memory.
    * \param[in] subscription_topic_statistics Optional pointer to a topic statistics subcription.
    * \throws std::invalid_argument if the QoS is uncompatible with intra-process (if one
@@ -132,7 +104,7 @@ public:
     const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
     const rclcpp::QoS & qos,
-    AnySubscriptionCallback<MessageT, AllocatorT> callback,
+    AnySubscriptionCallback<CallbackMessageT, AllocatorT> callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
     typename MessageMemoryStrategyT::SharedPtr message_memory_strategy,
     SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics = nullptr)
@@ -140,25 +112,25 @@ public:
       node_base,
       type_support_handle,
       topic_name,
-      options.template to_rcl_subscription_options<ROSMessageType>(qos),
-      callback.is_serialized_message_callback()),
+      options.template to_rcl_subscription_options<CallbackMessageT>(qos),
+      rclcpp::subscription_traits::is_serialized_subscription_argument<CallbackMessageT>::value),
     any_callback_(callback),
     options_(options),
     message_memory_strategy_(message_memory_strategy)
   {
-    if (options_.event_callbacks.deadline_callback) {
+    if (options.event_callbacks.deadline_callback) {
       this->add_event_handler(
-        options_.event_callbacks.deadline_callback,
+        options.event_callbacks.deadline_callback,
         RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
     }
-    if (options_.event_callbacks.liveliness_callback) {
+    if (options.event_callbacks.liveliness_callback) {
       this->add_event_handler(
-        options_.event_callbacks.liveliness_callback,
+        options.event_callbacks.liveliness_callback,
         RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
     }
-    if (options_.event_callbacks.incompatible_qos_callback) {
+    if (options.event_callbacks.incompatible_qos_callback) {
       this->add_event_handler(
-        options_.event_callbacks.incompatible_qos_callback,
+        options.event_callbacks.incompatible_qos_callback,
         RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
     } else if (options_.use_default_callbacks) {
       // Register default callback when not specified
@@ -172,57 +144,48 @@ public:
         // pass
       }
     }
-    if (options_.event_callbacks.message_lost_callback) {
-      this->add_event_handler(
-        options_.event_callbacks.message_lost_callback,
-        RCL_SUBSCRIPTION_MESSAGE_LOST);
-    }
 
     // Setup intra process publishing if requested.
-    if (rclcpp::detail::resolve_use_intra_process(options_, *node_base)) {
+    if (rclcpp::detail::resolve_use_intra_process(options, *node_base)) {
       using rclcpp::detail::resolve_intra_process_buffer_type;
 
       // Check if the QoS is compatible with intra-process.
-      auto qos_profile = get_actual_qos();
-      if (qos_profile.history() != rclcpp::HistoryPolicy::KeepLast) {
+      rmw_qos_profile_t qos_profile = get_actual_qos().get_rmw_qos_profile();
+      if (qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
         throw std::invalid_argument(
-                "intraprocess communication allowed only with keep last history qos policy");
+                "intraprocess communication is not allowed with keep all history qos policy");
       }
-      if (qos_profile.depth() == 0) {
+      if (qos_profile.depth == 0) {
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with 0 depth qos policy");
       }
-      if (qos_profile.durability() != rclcpp::DurabilityPolicy::Volatile) {
+      if (qos_profile.durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
         throw std::invalid_argument(
                 "intraprocess communication allowed only with volatile durability");
       }
 
-      using SubscriptionIntraProcessT = rclcpp::experimental::SubscriptionIntraProcess<
-        MessageT,
-        SubscribedType,
-        SubscribedTypeAllocator,
-        SubscribedTypeDeleter,
-        ROSMessageT,
-        AllocatorT>;
-
       // First create a SubscriptionIntraProcess which will be given to the intra-process manager.
       auto context = node_base->get_context();
-      subscription_intra_process_ = std::make_shared<SubscriptionIntraProcessT>(
+      using SubscriptionIntraProcessT = rclcpp::experimental::SubscriptionIntraProcess<
+        CallbackMessageT,
+        AllocatorT,
+        typename MessageUniquePtr::deleter_type>;
+      auto subscription_intra_process = std::make_shared<SubscriptionIntraProcessT>(
         callback,
-        options_.get_allocator(),
+        options.get_allocator(),
         context,
         this->get_topic_name(),  // important to get like this, as it has the fully-qualified name
         qos_profile,
-        resolve_intra_process_buffer_type(options_.intra_process_buffer_type, callback));
+        resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback));
       TRACEPOINT(
         rclcpp_subscription_init,
-        static_cast<const void *>(get_subscription_handle().get()),
-        static_cast<const void *>(subscription_intra_process_.get()));
+        (const void *)get_subscription_handle().get(),
+        (const void *)subscription_intra_process.get());
 
       // Add it to the intra process manager.
       using rclcpp::experimental::IntraProcessManager;
       auto ipm = context->get_sub_context<IntraProcessManager>();
-      uint64_t intra_process_subscription_id = ipm->add_subscription(subscription_intra_process_);
+      uint64_t intra_process_subscription_id = ipm->add_subscription(subscription_intra_process);
       this->setup_intra_process(intra_process_subscription_id, ipm);
     }
 
@@ -232,12 +195,12 @@ public:
 
     TRACEPOINT(
       rclcpp_subscription_init,
-      static_cast<const void *>(get_subscription_handle().get()),
-      static_cast<const void *>(this));
+      (const void *)get_subscription_handle().get(),
+      (const void *)this);
     TRACEPOINT(
       rclcpp_subscription_callback_added,
-      static_cast<const void *>(this),
-      static_cast<const void *>(&any_callback_));
+      (const void *)this,
+      (const void *)&any_callback_);
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
     // in subsequent tracepoints.
@@ -277,34 +240,11 @@ public:
    * \throws any rcl errors from rcl_take, \sa rclcpp::exceptions::throw_from_rcl_error()
    */
   bool
-  take(ROSMessageType & message_out, rclcpp::MessageInfo & message_info_out)
+  take(CallbackMessageT & message_out, rclcpp::MessageInfo & message_info_out)
   {
     return this->take_type_erased(static_cast<void *>(&message_out), message_info_out);
   }
 
-  /// Take the next message from the inter-process subscription.
-  /**
-   * This version takes a SubscribedType which is different from the
-   * ROSMessageType when a rclcpp::TypeAdapter is in used.
-   *
-   * \sa take(ROSMessageType &, rclcpp::MessageInfo &)
-   */
-  template<typename TakeT>
-  std::enable_if_t<
-    !rosidl_generator_traits::is_message<TakeT>::value &&
-    std::is_same_v<TakeT, SubscribedType>,
-    bool
-  >
-  take(TakeT & message_out, rclcpp::MessageInfo & message_info_out)
-  {
-    ROSMessageType local_message;
-    bool taken = this->take_type_erased(static_cast<void *>(&local_message), message_info_out);
-    if (taken) {
-      rclcpp::TypeAdapter<MessageT>::convert_to_custom(local_message, message_out);
-    }
-    return taken;
-  }
-
   std::shared_ptr<void>
   create_message() override
   {
@@ -331,33 +271,17 @@ public:
       // we should ignore this copy of the message.
       return;
     }
-    auto typed_message = std::static_pointer_cast<ROSMessageType>(message);
-
-    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();
-    }
-
+    auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
     any_callback_.dispatch(typed_message, message_info);
 
     if (subscription_topic_statistics_) {
-      const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now);
+      const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(
+        std::chrono::system_clock::now());
       const auto time = rclcpp::Time(nanos.time_since_epoch().count());
       subscription_topic_statistics_->handle_message(*typed_message, time);
     }
   }
 
-  void
-  handle_serialized_message(
-    const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
-    const rclcpp::MessageInfo & message_info) override
-  {
-    // TODO(wjwwood): enable topic statistics for serialized messages
-    any_callback_.dispatch(serialized_message, message_info);
-  }
-
   void
   handle_loaned_message(
     void * loaned_message,
@@ -369,10 +293,10 @@ public:
       return;
     }
 
-    auto typed_message = static_cast<ROSMessageType *>(loaned_message);
+    auto typed_message = static_cast<CallbackMessageT *>(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;});
+    auto sptr = std::shared_ptr<CallbackMessageT>(
+      typed_message, [](CallbackMessageT * msg) {(void) msg;});
 
     std::chrono::time_point<std::chrono::system_clock> now;
     if (subscription_topic_statistics_) {
@@ -397,7 +321,7 @@ public:
   void
   return_message(std::shared_ptr<void> & message) override
   {
-    auto typed_message = std::static_pointer_cast<ROSMessageType>(message);
+    auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
     message_memory_strategy_->return_message(typed_message);
   }
 
@@ -420,16 +344,15 @@ public:
 private:
   RCLCPP_DISABLE_COPY(Subscription)
 
-  AnySubscriptionCallback<MessageT, AllocatorT> any_callback_;
+  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_callback_;
   /// Copy of original options passed during construction.
   /**
    * It is important to save a copy of this so that the rmw payload which it
    * may contain is kept alive for the duration of the subscription.
    */
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> options_;
-  typename message_memory_strategy::MessageMemoryStrategy<ROSMessageType, AllocatorT>::SharedPtr
+  typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, AllocatorT>::SharedPtr
     message_memory_strategy_;
-
   /// Component which computes and publishes topic statistics for this subscriber
   SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics_{nullptr};
 };

rclcpp/include/rclcpp/subscription_base.hpp

@@ -17,29 +17,23 @@
 
 #include <atomic>
 #include <memory>
-#include <mutex>
 #include <string>
 #include <unordered_map>
 #include <vector>
 #include <utility>
 
-#include "rcl/event_callback.h"
 #include "rcl/subscription.h"
 
-#include "rmw/impl/cpp/demangle.hpp"
 #include "rmw/rmw.h"
 
 #include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/detail/cpp_callback_trampoline.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_info.hpp"
-#include "rclcpp/network_flow_endpoint.hpp"
 #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"
 
@@ -67,15 +61,12 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
 
-  /// Constructor.
+  /// Default constructor.
   /**
-   * This accepts rcl_subscription_options_t instead of rclcpp::SubscriptionOptions because
-   * rclcpp::SubscriptionOptions::to_rcl_subscription_options depends on the message type.
-   *
    * \param[in] node_base NodeBaseInterface pointer used in parts of the setup.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
-   * \param[in] subscription_options Options for the subscription.
+   * \param[in] subscription_options options for the subscription.
    * \param[in] is_serialized is true if the message will be delivered still serialized
    */
   RCLCPP_PUBLIC
@@ -86,7 +77,7 @@ public:
     const rcl_subscription_options_t & subscription_options,
     bool is_serialized = false);
 
-  /// Destructor.
+  /// Default destructor.
   RCLCPP_PUBLIC
   virtual ~SubscriptionBase();
 
@@ -104,16 +95,15 @@ public:
   get_subscription_handle() const;
 
   /// Get all the QoS event handlers associated with this subscription.
-  /** \return The map of QoS event handlers. */
+  /** \return The vector of QoS event handlers. */
   RCLCPP_PUBLIC
-  const
-  std::unordered_map<rcl_subscription_event_type_t, std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
+  const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
   get_event_handlers() const;
 
   /// Get the actual QoS settings, after the defaults have been determined.
   /**
    * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
-   * can only be resolved after the creation of the subscription, and it
+   * can only be resolved after the creation of the publisher, and it
    * depends on the underlying rmw implementation.
    * If the underlying setting in use can't be represented in ROS terms,
    * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
@@ -189,13 +179,6 @@ public:
   void
   handle_message(std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) = 0;
 
-  RCLCPP_PUBLIC
-  virtual
-  void
-  handle_serialized_message(
-    const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
-    const rclcpp::MessageInfo & message_info) = 0;
-
   RCLCPP_PUBLIC
   virtual
   void
@@ -280,252 +263,6 @@ public:
   bool
   exchange_in_use_by_wait_set_state(void * pointer_to_subscription_part, bool in_use_state);
 
-  /// Get network flow endpoints
-  /**
-   * Describes network flow endpoints that this subscription is receiving messages on
-   * \return vector of NetworkFlowEndpoint
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::NetworkFlowEndpoint>
-  get_network_flow_endpoints() const;
-
-  /// Set a callback to be called when each new message is received.
-  /**
-   * The callback receives a size_t which is the number of messages received
-   * since the last time this callback was called.
-   * Normally this is 1, but can be > 1 if messages were received before any
-   * callback was set.
-   *
-   * Since this callback is called from the middleware, you should aim to make
-   * it fast and not blocking.
-   * If you need to do a lot of work or wait for some other event, you should
-   * spin it off to another thread, otherwise you risk blocking the middleware.
-   *
-   * 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 subscription
-   * or other information, you may use a lambda with captures or std::bind.
-   *
-   * \sa rmw_subscription_set_on_new_message_callback
-   * \sa rcl_subscription_set_on_new_message_callback
-   *
-   * \param[in] callback functor to be called when a new message is received
-   */
-  void
-  set_on_new_message_callback(std::function<void(size_t)> callback)
-  {
-    if (!callback) {
-      throw std::invalid_argument(
-              "The callback passed to set_on_new_message_callback "
-              "is not callable.");
-    }
-
-    auto new_callback =
-      [callback, this](size_t number_of_messages) {
-        try {
-          callback(number_of_messages);
-        } catch (const std::exception & exception) {
-          RCLCPP_ERROR_STREAM(
-            node_logger_,
-            "rclcpp::SubscriptionBase@" << this <<
-              " caught " << rmw::impl::cpp::demangle(exception) <<
-              " exception in user-provided callback for the 'on new message' callback: " <<
-              exception.what());
-        } catch (...) {
-          RCLCPP_ERROR_STREAM(
-            node_logger_,
-            "rclcpp::SubscriptionBase@" << this <<
-              " caught unhandled exception in user-provided callback " <<
-              "for the 'on new message' callback");
-        }
-      };
-
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-
-    // Set it temporarily to the new callback, while we replace the old one.
-    // This two-step setting, prevents a gap where the old std::function has
-    // been replaced but the middleware hasn't been told about the new one yet.
-    set_on_new_message_callback(
-      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
-      static_cast<const void *>(&new_callback));
-
-    // Store the std::function to keep it in scope, also overwrites the existing one.
-    on_new_message_callback_ = new_callback;
-
-    // Set it again, now using the permanent storage.
-    set_on_new_message_callback(
-      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
-      static_cast<const void *>(&on_new_message_callback_));
-  }
-
-  /// Unset the callback registered for new messages, if any.
-  void
-  clear_on_new_message_callback()
-  {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-
-    if (on_new_message_callback_) {
-      set_on_new_message_callback(nullptr, nullptr);
-      on_new_message_callback_ = nullptr;
-    }
-  }
-
-  /// Set a callback to be called when each new intra-process message is received.
-  /**
-   * The callback receives a size_t which is the number of messages received
-   * since the last time this callback was called.
-   * Normally this is 1, but can be > 1 if messages were received 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 subscription
-   * or other information, you may use a lambda with captures or std::bind.
-   *
-   * \sa rclcpp::SubscriptionIntraProcessBase::set_on_ready_callback
-   *
-   * \param[in] callback functor to be called when a new message is received
-   */
-  void
-  set_on_new_intra_process_message_callback(std::function<void(size_t)> callback)
-  {
-    if (!use_intra_process_) {
-      RCLCPP_WARN(
-        rclcpp::get_logger("rclcpp"),
-        "Calling set_on_new_intra_process_message_callback for subscription with IPC disabled");
-      return;
-    }
-
-    if (!callback) {
-      throw std::invalid_argument(
-              "The callback passed to set_on_new_intra_process_message_callback "
-              "is not callable.");
-    }
-
-    // The on_ready_callback signature has an extra `int` argument used to disambiguate between
-    // possible different entities within a generic waitable.
-    // We hide that detail to users of this method.
-    std::function<void(size_t, int)> new_callback = std::bind(callback, std::placeholders::_1);
-    subscription_intra_process_->set_on_ready_callback(new_callback);
-  }
-
-  /// Unset the callback registered for new intra-process messages, if any.
-  void
-  clear_on_new_intra_process_message_callback()
-  {
-    if (!use_intra_process_) {
-      RCLCPP_WARN(
-        rclcpp::get_logger("rclcpp"),
-        "Calling clear_on_new_intra_process_message_callback for subscription with IPC disabled");
-      return;
-    }
-
-    subscription_intra_process_->clear_on_ready_callback();
-  }
-
-  /// Set a callback to be called when each new qos event instance occurs.
-  /**
-   * The callback receives a size_t which is the number of events that occurred
-   * since the last time this callback was called.
-   * Normally this is 1, but can be > 1 if events occurred before any
-   * callback was set.
-   *
-   * Since this callback is called from the middleware, you should aim to make
-   * it fast and not blocking.
-   * If you need to do a lot of work or wait for some other event, you should
-   * spin it off to another thread, otherwise you risk blocking the middleware.
-   *
-   * Calling it again will clear any previously set callback.
-   *
-   * An exception will be thrown if the callback is not callable.
-   *
-   * This function is thread-safe.
-   *
-   * If you want more information available in the callback, like the qos event
-   * or other information, you may use a lambda with captures or std::bind.
-   *
-   * \sa rclcpp::QOSEventHandlerBase::set_on_ready_callback
-   *
-   * \param[in] callback functor to be called when a new event occurs
-   * \param[in] event_type identifier for the qos event we want to attach the callback to
-   */
-  void
-  set_on_new_qos_event_callback(
-    std::function<void(size_t)> callback,
-    rcl_subscription_event_type_t event_type)
-  {
-    if (event_handlers_.count(event_type) == 0) {
-      RCLCPP_WARN(
-        rclcpp::get_logger("rclcpp"),
-        "Calling set_on_new_qos_event_callback for non registered subscription event_type");
-      return;
-    }
-
-    if (!callback) {
-      throw std::invalid_argument(
-              "The callback passed to set_on_new_qos_event_callback "
-              "is not callable.");
-    }
-
-    // The on_ready_callback signature has an extra `int` argument used to disambiguate between
-    // possible different entities within a generic waitable.
-    // We hide that detail to users of this method.
-    std::function<void(size_t, int)> new_callback = std::bind(callback, std::placeholders::_1);
-    event_handlers_[event_type]->set_on_ready_callback(new_callback);
-  }
-
-  /// Unset the callback registered for new qos events, if any.
-  void
-  clear_on_new_qos_event_callback(rcl_subscription_event_type_t event_type)
-  {
-    if (event_handlers_.count(event_type) == 0) {
-      RCLCPP_WARN(
-        rclcpp::get_logger("rclcpp"),
-        "Calling clear_on_new_qos_event_callback for non registered event_type");
-      return;
-    }
-
-    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
@@ -540,7 +277,7 @@ protected:
       get_subscription_handle(),
       event_type);
     qos_events_in_use_by_wait_set_.insert(std::make_pair(handler.get(), false));
-    event_handlers_.insert(std::make_pair(event_type, handler));
+    event_handlers_.emplace_back(handler);
   }
 
   RCLCPP_PUBLIC
@@ -550,24 +287,17 @@ protected:
   bool
   matches_any_intra_process_publishers(const rmw_gid_t * sender_gid) const;
 
-  RCLCPP_PUBLIC
-  void
-  set_on_new_message_callback(rcl_event_callback_t callback, const void * user_data);
-
   rclcpp::node_interfaces::NodeBaseInterface * const node_base_;
 
   std::shared_ptr<rcl_node_t> node_handle_;
   std::shared_ptr<rcl_subscription_t> subscription_handle_;
   std::shared_ptr<rcl_subscription_t> intra_process_subscription_handle_;
-  rclcpp::Logger node_logger_;
 
-  std::unordered_map<rcl_subscription_event_type_t,
-    std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
+  std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
 
   bool use_intra_process_;
   IntraProcessManagerWeakPtr weak_ipm_;
   uint64_t intra_process_subscription_id_;
-  std::shared_ptr<rclcpp::experimental::SubscriptionIntraProcessBase> subscription_intra_process_;
 
 private:
   RCLCPP_DISABLE_COPY(SubscriptionBase)
@@ -579,9 +309,6 @@ private:
   std::atomic<bool> intra_process_subscription_waitable_in_use_by_wait_set_{false};
   std::unordered_map<rclcpp::QOSEventHandlerBase *,
     std::atomic<bool>> qos_events_in_use_by_wait_set_;
-
-  std::recursive_mutex callback_mutex_;
-  std::function<void(size_t)> on_new_message_callback_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/subscription_content_filter_options.hpp

@@ -1,38 +0,0 @@
-// 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_factory.hpp

@@ -25,14 +25,14 @@
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
 #include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/get_message_type_support_handle.hpp"
+#include "rclcpp/intra_process_buffer_type.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/subscription_options.hpp"
 #include "rclcpp/subscription_traits.hpp"
-#include "rclcpp/topic_statistics/subscription_topic_statistics.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/topic_statistics/subscription_topic_statistics.hpp"
 
 namespace rclcpp
 {
@@ -74,23 +74,26 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType,
-  typename ROSMessageType = typename SubscriptionT::ROSMessageType
->
+  typename CallbackMessageT =
+  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >>
 SubscriptionFactory
 create_subscription_factory(
   CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
   typename MessageMemoryStrategyT::SharedPtr msg_mem_strat,
-  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>
+  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
   subscription_topic_stats = nullptr
 )
 {
   auto allocator = options.get_allocator();
 
   using rclcpp::AnySubscriptionCallback;
-  AnySubscriptionCallback<MessageT, AllocatorT> any_subscription_callback(*allocator);
+  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_subscription_callback(allocator);
   any_subscription_callback.set(std::forward<CallbackT>(callback));
 
   SubscriptionFactory factory {
@@ -104,9 +107,9 @@ create_subscription_factory(
       using rclcpp::Subscription;
       using rclcpp::SubscriptionBase;
 
-      auto sub = Subscription<MessageT, AllocatorT>::make_shared(
+      auto sub = Subscription<CallbackMessageT, AllocatorT>::make_shared(
         node_base,
-        rclcpp::get_message_type_support_handle<MessageT>(),
+        *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
         topic_name,
         qos,
         any_subscription_callback,

rclcpp/include/rclcpp/subscription_options.hpp

@@ -18,7 +18,6 @@
 #include <chrono>
 #include <memory>
 #include <string>
-#include <type_traits>
 #include <vector>
 
 #include "rclcpp/callback_group.hpp"
@@ -27,8 +26,6 @@
 #include "rclcpp/intra_process_setting.hpp"
 #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"
 
@@ -47,11 +44,6 @@ struct SubscriptionOptionsBase
   /// True to ignore local publications.
   bool ignore_local_publications = false;
 
-  /// Require middleware to generate unique network flow endpoints
-  /// Disabled by default
-  rmw_unique_network_flow_endpoints_requirement_t require_unique_network_flow_endpoints =
-    RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED;
-
   /// The callback group for this subscription. NULL to use the default callback group.
   rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
 
@@ -80,24 +72,16 @@ struct SubscriptionOptionsBase
   };
 
   TopicStatisticsOptions topic_stats_options;
-
-  QosOverridingOptions qos_overriding_options;
-
-  ContentFilterOptions content_filter_options;
 };
 
 /// Structure containing optional configuration for Subscriptions.
 template<typename Allocator>
 struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
 {
-  static_assert(
-    std::is_void_v<typename std::allocator_traits<Allocator>::value_type>,
-    "Subscription allocator value type must be void");
-
   /// Optional custom allocator.
   std::shared_ptr<Allocator> allocator = nullptr;
 
-  SubscriptionOptionsWithAllocator() {}
+  SubscriptionOptionsWithAllocator<Allocator>() {}
 
   /// Constructor using base class as input.
   explicit SubscriptionOptionsWithAllocator(
@@ -115,68 +99,30 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
   to_rcl_subscription_options(const rclcpp::QoS & qos) const
   {
     rcl_subscription_options_t result = rcl_subscription_get_default_options();
-    result.allocator = this->get_rcl_allocator();
+    using AllocatorTraits = std::allocator_traits<Allocator>;
+    using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
+    auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
+    result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
     result.qos = qos.get_rmw_qos_profile();
     result.rmw_subscription_options.ignore_local_publications = this->ignore_local_publications;
-    result.rmw_subscription_options.require_unique_network_flow_endpoints =
-      this->require_unique_network_flow_endpoints;
 
     // Apply payload to rcl_subscription_options if necessary.
     if (rmw_implementation_payload && rmw_implementation_payload->has_been_customized()) {
       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;
   }
 
+  /// Get the allocator, creating one if needed.
   std::shared_ptr<Allocator>
   get_allocator() const
   {
     if (!this->allocator) {
-      if (!allocator_storage_) {
-        allocator_storage_ = std::make_shared<Allocator>();
-      }
-      return allocator_storage_;
+      return std::make_shared<Allocator>();
     }
     return this->allocator;
   }
-
-private:
-  using PlainAllocator =
-    typename std::allocator_traits<Allocator>::template rebind_alloc<char>;
-
-  rcl_allocator_t
-  get_rcl_allocator() const
-  {
-    if (!plain_allocator_storage_) {
-      plain_allocator_storage_ =
-        std::make_shared<PlainAllocator>(*this->get_allocator());
-    }
-    return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
-  }
-
-  // This is a temporal workaround, to make sure that get_allocator()
-  // always returns a copy of the same allocator.
-  mutable std::shared_ptr<Allocator> allocator_storage_;
-
-  // This is a temporal workaround, to keep the plain allocator that backs
-  // up the rcl allocator returned in rcl_subscription_options_t alive.
-  mutable std::shared_ptr<PlainAllocator> plain_allocator_storage_;
 };
 
 using SubscriptionOptions = SubscriptionOptionsWithAllocator<std::allocator<void>>;

rclcpp/include/rclcpp/subscription_traits.hpp

@@ -64,7 +64,7 @@ struct is_serialized_callback
 template<typename MessageT>
 struct extract_message_type
 {
-  using type = typename std::remove_cv_t<std::remove_reference_t<MessageT>>;
+  using type = typename std::remove_cv<MessageT>::type;
 };
 
 template<typename MessageT>

rclcpp/include/rclcpp/time_source.hpp

@@ -25,7 +25,6 @@
 #include "rcl_interfaces/msg/parameter_event.hpp"
 
 #include "rclcpp/node.hpp"
-#include "rclcpp/executors.hpp"
 #include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 
 
@@ -33,20 +32,6 @@ namespace rclcpp
 {
 class Clock;
 
-/**
- * Time source that will drive the attached clocks.
- *
- * If the attached node `use_sim_time` parameter is `true`, the attached clocks will
- * be updated based on messages received.
- *
- * The subscription to the clock topic created by the time source can have it's qos reconfigured
- * using parameter overrides, particularly the following ones are accepted:
- *
- * - qos_overrides./clock.depth
- * - qos_overrides./clock.durability
- * - qos_overrides./clock.history
- * - qos_overrides./clock.reliability
- */
 class TimeSource
 {
 public:
@@ -55,43 +40,25 @@ public:
    * The node will be attached to the time source.
    *
    * \param node std::shared pointer to a initialized node
-   * \param qos QoS that will be used when creating a `/clock` subscription.
-   * \param use_clock_thread whether to spin the attached node in a separate thread
    */
   RCLCPP_PUBLIC
-  explicit TimeSource(
-    rclcpp::Node::SharedPtr node,
-    const rclcpp::QoS & qos = rclcpp::ClockQoS(),
-    bool use_clock_thread = true);
+  explicit TimeSource(rclcpp::Node::SharedPtr node);
 
   /// Empty constructor
   /**
    * An Empty TimeSource class
-   *
-   * \param qos QoS that will be used when creating a `/clock` subscription.
-   * \param use_clock_thread whether to spin the attached node in a separate thread.
    */
   RCLCPP_PUBLIC
-  explicit TimeSource(
-    const rclcpp::QoS & qos = rclcpp::ClockQoS(),
-    bool use_clock_thread = true);
+  TimeSource();
 
-  // The TimeSource is uncopyable
-  TimeSource(const TimeSource &) = delete;
-  TimeSource & operator=(const TimeSource &) = delete;
-
-  // The TimeSource is moveable
-  TimeSource(TimeSource &&) = default;
-  TimeSource & operator=(TimeSource &&) = default;
-
-  /// Attach node to the time source.
+  /// Attack node to the time source.
   /**
    * \param node std::shared pointer to a initialized node
    */
   RCLCPP_PUBLIC
   void attachNode(rclcpp::Node::SharedPtr node);
 
-  /// Attach node to the time source.
+  /// Attack node to the time source.
   /**
    * If the parameter `use_sim_time` is `true` then the source time is the simulation time,
    * otherwise the source time is defined by the system.
@@ -126,33 +93,78 @@ public:
   RCLCPP_PUBLIC
   void attachClock(rclcpp::Clock::SharedPtr clock);
 
-  /// Detach a clock from the time source
+  /// Detach a clock to the time source
   RCLCPP_PUBLIC
   void detachClock(rclcpp::Clock::SharedPtr clock);
 
-  /// Get whether a separate clock thread is used or not
-  RCLCPP_PUBLIC
-  bool get_use_clock_thread();
-
-  /// Set whether to use a separate clock thread or not
-  RCLCPP_PUBLIC
-  void set_use_clock_thread(bool use_clock_thread);
-
-  /// Check if the clock thread is joinable
-  RCLCPP_PUBLIC
-  bool clock_thread_is_joinable();
-
   /// TimeSource Destructor
   RCLCPP_PUBLIC
   ~TimeSource();
 
 private:
-  class NodeState;
-  std::shared_ptr<NodeState> node_state_;
+  // Preserve the node reference
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
+  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
+  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
+  rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
 
-  // Preserve the arguments received by the constructor for reuse at runtime
-  bool constructed_use_clock_thread_;
-  rclcpp::QoS constructed_qos_;
+  // Store (and update on node attach) logger for logging.
+  Logger logger_;
+
+  // The subscription for the clock callback
+  using MessageT = rosgraph_msgs::msg::Clock;
+  using Alloc = std::allocator<void>;
+  using SubscriptionT = rclcpp::Subscription<MessageT, Alloc>;
+  std::shared_ptr<SubscriptionT> clock_subscription_;
+  std::mutex clock_sub_lock_;
+
+  // The clock callback itself
+  void clock_cb(const rosgraph_msgs::msg::Clock::SharedPtr msg);
+
+  // Create the subscription for the clock topic
+  void create_clock_sub();
+
+  // Destroy the subscription for the clock topic
+  void destroy_clock_sub();
+
+  // Parameter Event subscription
+  using ParamMessageT = rcl_interfaces::msg::ParameterEvent;
+  using ParamSubscriptionT = rclcpp::Subscription<ParamMessageT, Alloc>;
+  std::shared_ptr<ParamSubscriptionT> parameter_subscription_;
+
+  // Callback for parameter updates
+  void on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event);
+
+  // An enum to hold the parameter state
+  enum UseSimTimeParameterState {UNSET, SET_TRUE, SET_FALSE};
+  UseSimTimeParameterState parameter_state_;
+
+  // An internal method to use in the clock callback that iterates and enables all clocks
+  void enable_ros_time();
+  // An internal method to use in the clock callback that iterates and disables all clocks
+  void disable_ros_time();
+
+  // Internal helper functions used inside iterators
+  static void set_clock(
+    const builtin_interfaces::msg::Time::SharedPtr msg,
+    bool set_ros_time_enabled,
+    rclcpp::Clock::SharedPtr clock);
+
+  // Local storage of validity of ROS time
+  // This is needed when new clocks are added.
+  bool ros_time_active_;
+  // Last set message to be passed to newly registered clocks
+  rosgraph_msgs::msg::Clock::SharedPtr last_msg_set_;
+
+  // A lock to protect iterating the associated_clocks_ field.
+  std::mutex clock_list_lock_;
+  // A vector to store references to associated clocks.
+  std::vector<rclcpp::Clock::SharedPtr> associated_clocks_;
+  // A handler for the use_sim_time parameter callback.
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr sim_time_cb_handler_ = nullptr;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/timer.hpp

@@ -91,17 +91,6 @@ public:
   void
   reset();
 
-  /// Indicate that we're about to execute the callback.
-  /**
-   * The multithreaded executor takes advantage of this to avoid scheduling
-   * the callback multiple times.
-   *
-   * \return `true` if the callback should be executed, `false` if the timer was canceled.
-   */
-  RCLCPP_PUBLIC
-  virtual bool
-  call() = 0;
-
   /// Call the callback function when the timer signal is emitted.
   RCLCPP_PUBLIC
   virtual void
@@ -113,8 +102,7 @@ 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
-   * or std::chrono::nanoseconds::max() if the timer is canceled.
+   * \return A std::chrono::duration representing the relative time until the next callback.
    * \throws std::runtime_error if the rcl_timer_get_time_until_next_call returns a failure
    */
   RCLCPP_PUBLIC
@@ -188,12 +176,12 @@ public:
   {
     TRACEPOINT(
       rclcpp_timer_callback_added,
-      static_cast<const void *>(get_timer_handle().get()),
-      static_cast<const void *>(&callback_));
+      (const void *)get_timer_handle().get(),
+      (const void *)&callback_);
     TRACEPOINT(
       rclcpp_callback_register,
-      static_cast<const void *>(&callback_),
-      tracetools::get_symbol(callback_));
+      (const void *)&callback_,
+      get_symbol(callback_));
   }
 
   /// Default destructor.
@@ -203,32 +191,23 @@ public:
     cancel();
   }
 
-  /**
-   * \sa rclcpp::TimerBase::call
-   * \throws std::runtime_error if it failed to notify timer that callback will occurr
-   */
-  bool
-  call() override
-  {
-    rcl_ret_t ret = rcl_timer_call(timer_handle_.get());
-    if (ret == RCL_RET_TIMER_CANCELED) {
-      return false;
-    }
-    if (ret != RCL_RET_OK) {
-      throw std::runtime_error("Failed to notify timer that callback occurred");
-    }
-    return true;
-  }
-
   /**
    * \sa rclcpp::TimerBase::execute_callback
+   * \throws std::runtime_error if it failed to notify timer that callback occurred
    */
   void
   execute_callback() override
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(&callback_), false);
+    rcl_ret_t ret = rcl_timer_call(timer_handle_.get());
+    if (ret == RCL_RET_TIMER_CANCELED) {
+      return;
+    }
+    if (ret != RCL_RET_OK) {
+      throw std::runtime_error("Failed to notify timer that callback occurred");
+    }
+    TRACEPOINT(callback_start, (const void *)&callback_, false);
     execute_callback_delegate<>();
-    TRACEPOINT(callback_end, static_cast<const void *>(&callback_));
+    TRACEPOINT(callback_end, (const void *)&callback_);
   }
 
   // void specialization

rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp

@@ -127,7 +127,7 @@ public:
   /**
    * This method acquires a lock to prevent race conditions to collectors list.
    */
-  virtual void publish_message_and_reset_measurements()
+  virtual void publish_message()
   {
     std::vector<MetricsMessage> msgs;
     rclcpp::Time window_end{get_current_nanoseconds_since_epoch()};
@@ -136,7 +136,6 @@ public:
       std::lock_guard<std::mutex> lock(mutex_);
       for (auto & collector : subscriber_statistics_collectors_) {
         const auto collected_stats = collector->GetStatisticsResults();
-        collector->ClearCurrentMeasurements();
 
         auto message = libstatistics_collector::collector::GenerateStatisticMessage(
           node_name_,

rclcpp/include/rclcpp/type_adapter.hpp

@@ -1,201 +0,0 @@
-// Copyright 2021 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__TYPE_ADAPTER_HPP_
-#define RCLCPP__TYPE_ADAPTER_HPP_
-
-#include <type_traits>
-
-namespace rclcpp
-{
-
-/// Template structure used to adapt custom, user-defined types to ROS types.
-/**
- * Adapting a custom, user-defined type to a ROS type allows that custom type
- * to be used when publishing and subscribing in ROS.
- *
- * In order to adapt a custom type to a ROS type, the user must create a
- * template specialization of this structure for the custom type.
- * In that specialization they must:
- *
- *   - change `is_specialized` to `std::true_type`,
- *   - specify the custom type with `using custom_type = ...`,
- *   - specify the ROS type with `using ros_message_type = ...`,
- *   - provide static convert functions with the signatures:
- *     - static void convert_to_ros(const custom_type &, ros_message_type &)
- *     - static void convert_to_custom(const ros_message_type &, custom_type &)
- *
- * The convert functions must convert from one type to the other.
- *
- * For example, here is a theoretical example for adapting `std::string` to the
- * `std_msgs::msg::String` ROS message type:
- *
- *     template<>
- *     struct rclcpp::TypeAdapter<std::string, std_msgs::msg::String>
- *     {
- *       using is_specialized = std::true_type;
- *       using custom_type = std::string;
- *       using ros_message_type = std_msgs::msg::String;
- *
- *       static
- *       void
- *       convert_to_ros_message(
- *         const custom_type & source,
- *         ros_message_type & destination)
- *       {
- *         destination.data = source;
- *       }
- *
- *       static
- *       void
- *       convert_to_custom(
- *         const ros_message_type & source,
- *         custom_type & destination)
- *       {
- *         destination = source.data;
- *       }
- *     };
- *
- * The adapter can then be used when creating a publisher or subscription,
- * e.g.:
- *
- *     using MyAdaptedType = TypeAdapter<std::string, std_msgs::msg::String>;
- *     auto pub = node->create_publisher<MyAdaptedType>("topic", 10);
- *     auto sub = node->create_subscription<MyAdaptedType>(
- *       "topic",
- *       10,
- *       [](const std::string & msg) {...});
- *
- * You can also be more declarative by using the adapt_type::as metafunctions,
- * which are a bit less ambiguous to read:
- *
- *     using AdaptedType = rclcpp::adapt_type<std::string>::as<std_msgs::msg::String>;
- *     auto pub = node->create_publisher<AdaptedType>(...);
- *
- * If you wish, you may associate a custom type with a single ROS message type,
- * allowing you to be a bit more brief when creating entities, e.g.:
- *
- *     // First you must declare the association, this is similar to how you
- *     // would avoid using the namespace in C++ by doing `using std::vector;`.
- *     RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(std::string, std_msgs::msg::String);
- *
- *     // Then you can create things with just the custom type, and the ROS
- *     // message type is implied based on the previous statement.
- *     auto pub = node->create_publisher<std::string>(...);
- */
-template<typename CustomType, typename ROSMessageType = void, class Enable = void>
-struct TypeAdapter
-{
-  using is_specialized = std::false_type;
-  using custom_type = CustomType;
-  // In this case, the CustomType is the only thing given, or there is no specialization.
-  // Assign ros_message_type to CustomType for the former case.
-  using ros_message_type = CustomType;
-};
-
-/// Helper template to determine if a type is a TypeAdapter, false specialization.
-template<typename T>
-struct is_type_adapter : std::false_type {};
-
-/// Helper template to determine if a type is a TypeAdapter, true specialization.
-template<typename ... Ts>
-struct is_type_adapter<TypeAdapter<Ts...>>: std::true_type {};
-
-/// Identity specialization for TypeAdapter.
-template<typename T>
-struct TypeAdapter<T, void, std::enable_if_t<is_type_adapter<T>::value>>: T {};
-
-namespace detail
-{
-
-template<typename CustomType, typename ROSMessageType>
-struct assert_type_pair_is_specialized_type_adapter
-{
-  using type_adapter = TypeAdapter<CustomType, ROSMessageType>;
-  static_assert(
-    type_adapter::is_specialized::value,
-    "No type adapter for this custom type/ros message type pair");
-};
-
-}  // namespace detail
-
-/// Template metafunction that can make the type being adapted explicit.
-template<typename CustomType>
-struct adapt_type
-{
-  template<typename ROSMessageType>
-  using as = typename ::rclcpp::detail::assert_type_pair_is_specialized_type_adapter<
-    CustomType,
-    ROSMessageType
-    >::type_adapter;
-};
-
-/// Implicit type adapter used as a short hand way to create something with just the custom type.
-/**
- * This is used when creating a publisher or subscription using just the custom
- * type in conjunction with RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE().
- * For example:
- *
- *     #include "type_adapter_for_std_string_to_std_msgs_String.hpp"
- *
- *     RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(std::string, std_msgs::msg::String);
- *
- *     int main(...) {
- *       // ...
- *       auto pub = node->create_publisher<std::string>(...);
- *     }
- *
- * \sa TypeAdapter for more examples.
- */
-template<typename CustomType>
-struct ImplicitTypeAdapter
-{
-  using is_specialized = std::false_type;
-};
-
-/// Specialization of TypeAdapter for ImplicitTypeAdapter.
-/**
- * This allows for things like this:
- *
- *    RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(std::string, std_msgs::msg::String);
- *    auto pub = node->create_publisher<std::string>("topic", 10);
- *
- */
-template<typename T>
-struct TypeAdapter<T, void, std::enable_if_t<ImplicitTypeAdapter<T>::is_specialized::value>>
-  : ImplicitTypeAdapter<T>
-{};
-
-/// Assigns the custom type implicitly to the given custom type/ros message type pair.
-/**
- * Note: this macro needs to be used in the root namespace.
- * We cannot use ::rclcpp to protect against this, due to how GCC interprets the
- * syntax, see: https://stackoverflow.com/a/2781537
- *
- * \sa TypeAdapter
- * \sa ImplicitTypeAdapter
- */
-#define RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(CustomType, ROSMessageType) \
-  template<> \
-  struct rclcpp::ImplicitTypeAdapter<CustomType> \
-    : public rclcpp::TypeAdapter<CustomType, ROSMessageType> \
-  { \
-    static_assert( \
-      is_specialized::value, \
-      "Cannot use custom type as ros type when there is no TypeAdapter for that pair"); \
-  }
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__TYPE_ADAPTER_HPP_

rclcpp/include/rclcpp/typesupport_helpers.hpp

@@ -1,57 +0,0 @@
-// Copyright 2018, Bosch Software Innovations GmbH.
-// Copyright 2021, Apex.AI 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__TYPESUPPORT_HELPERS_HPP_
-#define RCLCPP__TYPESUPPORT_HELPERS_HPP_
-
-#include <memory>
-#include <string>
-#include <tuple>
-
-#include "rcpputils/shared_library.hpp"
-#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
-
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-/// Load the type support library for the given type.
-/**
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \return A shared library
- */
-RCLCPP_PUBLIC
-std::shared_ptr<rcpputils::SharedLibrary>
-get_typesupport_library(const std::string & type, const std::string & typesupport_identifier);
-
-/// Extract the type support handle from the library.
-/**
- * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \return A type support handle
- */
-RCLCPP_PUBLIC
-const rosidl_message_type_support_t *
-get_typesupport_handle(
-  const std::string & type,
-  const std::string & typesupport_identifier,
-  rcpputils::SharedLibrary & library);
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__TYPESUPPORT_HELPERS_HPP_

rclcpp/include/rclcpp/utilities.hpp

@@ -42,20 +42,6 @@ std::string to_string(T value)
 
 namespace rclcpp
 {
-
-/// Option to indicate which signal handlers rclcpp should install.
-enum class SignalHandlerOptions
-{
-  /// Install both sigint and sigterm, this is the default behavior.
-  All,
-  /// Install only a sigint handler.
-  SigInt,
-  /// Install only a sigterm handler.
-  SigTerm,
-  /// Do not install any signal handler.
-  None,
-};
-
 /// Initialize communications via the rmw implementation and set up a global signal handler.
 /**
  * Initializes the global context which is accessible via the function
@@ -64,19 +50,10 @@ enum class SignalHandlerOptions
  * rclcpp::install_signal_handlers().
  *
  * \sa rclcpp::Context::init() for more details on arguments and possible exceptions
- *
- * \param[in] argc number of command-line arguments to parse.
- * \param[in] argv array of command-line arguments to parse.
- * \param[in] init_options initialization options to apply.
- * \param[in] signal_handler_options option to indicate which signal handlers should be installed.
  */
 RCLCPP_PUBLIC
 void
-init(
-  int argc,
-  char const * const * argv,
-  const InitOptions & init_options = InitOptions(),
-  SignalHandlerOptions signal_handler_options = SignalHandlerOptions::All);
+init(int argc, char const * const argv[], const InitOptions & init_options = InitOptions());
 
 /// Install the global signal handler for rclcpp.
 /**
@@ -90,26 +67,17 @@ init(
  *
  * This function is thread-safe.
  *
- * \param[in] signal_handler_options option to indicate which signal handlers should be installed.
  * \return true if signal handler was installed by this function, false if already installed.
  */
 RCLCPP_PUBLIC
 bool
-install_signal_handlers(SignalHandlerOptions signal_handler_options = SignalHandlerOptions::All);
+install_signal_handlers();
 
 /// Return true if the signal handlers are installed, otherwise false.
 RCLCPP_PUBLIC
 bool
 signal_handlers_installed();
 
-/// Get the current signal handler options.
-/**
- * If no signal handler is installed, SignalHandlerOptions::None is returned.
- */
-RCLCPP_PUBLIC
-SignalHandlerOptions
-get_current_signal_handler_options();
-
 /// Uninstall the global signal handler for rclcpp.
 /**
  * This function does not necessarily need to be called, but can be used to
@@ -139,7 +107,7 @@ RCLCPP_PUBLIC
 std::vector<std::string>
 init_and_remove_ros_arguments(
   int argc,
-  char const * const * argv,
+  char const * const argv[],
   const InitOptions & init_options = InitOptions());
 
 /// Remove ROS-specific arguments from argument vector.
@@ -157,7 +125,7 @@ init_and_remove_ros_arguments(
  */
 RCLCPP_PUBLIC
 std::vector<std::string>
-remove_ros_arguments(int argc, char const * const * argv);
+remove_ros_arguments(int argc, char const * const argv[]);
 
 /// Check rclcpp's status.
 /**
@@ -175,6 +143,21 @@ RCLCPP_PUBLIC
 bool
 ok(rclcpp::Context::SharedPtr context = nullptr);
 
+/// Return true if init() has already been called for the given context.
+/**
+ * If nullptr is given for the context, then the global context is used, i.e.
+ * the context initialized by rclcpp::init().
+ *
+ * Deprecated, as it is no longer different from rcl_ok().
+ *
+ * \param[in] context Optional check for initialization of this Context.
+ * \return true if the context is initialized, and false otherwise
+ */
+[[deprecated("use the function ok() instead, which has the same usage.")]]
+RCLCPP_PUBLIC
+bool
+is_initialized(rclcpp::Context::SharedPtr context = nullptr);
+
 /// Shutdown rclcpp context, invalidating it for derived entities.
 /**
  * If nullptr is given for the context, then the global context is used, i.e.
@@ -321,15 +304,6 @@ 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_for_message.hpp

@@ -18,8 +18,6 @@
 #include <memory>
 #include <string>
 
-#include "rcpputils/scope_exit.hpp"
-
 #include "rclcpp/node.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/wait_set.hpp"
@@ -46,7 +44,7 @@ bool wait_for_message(
   std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1))
 {
   auto gc = std::make_shared<rclcpp::GuardCondition>(context);
-  auto shutdown_callback_handle = context->add_on_shutdown_callback(
+  auto shutdown_callback = context->on_shutdown(
     [weak_gc = std::weak_ptr<rclcpp::GuardCondition>{gc}]() {
       auto strong_gc = weak_gc.lock();
       if (strong_gc) {
@@ -56,7 +54,6 @@ bool wait_for_message(
 
   rclcpp::WaitSet wait_set;
   wait_set.add_subscription(subscription);
-  RCPPUTILS_SCOPE_EXIT(wait_set.remove_subscription(subscription); );
   wait_set.add_guard_condition(gc);
   auto ret = wait_set.wait(time_to_wait);
   if (ret.kind() != rclcpp::WaitResultKind::Ready) {
@@ -93,7 +90,7 @@ bool wait_for_message(
   const std::string & topic,
   std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1))
 {
-  auto sub = node->create_subscription<MsgT>(topic, 1, [](const std::shared_ptr<const MsgT>) {});
+  auto sub = node->create_subscription<MsgT>(topic, 1, [](const std::shared_ptr<MsgT>) {});
   return wait_for_message<MsgT, Rep, Period>(
     out, sub, node->get_node_options().context(), time_to_wait);
 }