Use rmw_serialization_support_init

Signed-off-by: methylDragon <methylDragon@gmail.com>

rclcpp/CMakeLists.txt

@@ -25,6 +25,7 @@ find_package(tracetools REQUIRED)
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
 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
@@ -48,6 +49,11 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
   src/rclcpp/detail/utilities.cpp
   src/rclcpp/duration.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message_type.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message_type_builder.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp
   src/rclcpp/event.cpp
   src/rclcpp/exceptions/exceptions.cpp
   src/rclcpp/executable_list.cpp
@@ -92,8 +98,9 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/parameter_value.cpp
   src/rclcpp/publisher_base.cpp
   src/rclcpp/qos.cpp
-  src/rclcpp/qos_event.cpp
+  src/rclcpp/event_handler.cpp
   src/rclcpp/qos_overriding_options.cpp
+  src/rclcpp/dynamic_subscription.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp

rclcpp/include/rclcpp/dynamic_subscription.hpp

@@ -0,0 +1,176 @@
+// 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__DYNAMIC_SUBSCRIPTION_HPP_
+#define RCLCPP__DYNAMIC_SUBSCRIPTION_HPP_
+
+#include <rosidl_dynamic_typesupport/identifier.h>
+
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rcpputils/shared_library.hpp"
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_support.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 messages whose type descriptions are obtained at runtime.
+/**
+ * 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.
+ *
+ * NOTE(methylDragon): No considerations for intra-process handling are made.
+ */
+class DynamicSubscription : public rclcpp::SubscriptionBase
+{
+public:
+  // cppcheck-suppress unknownMacro
+  RCLCPP_SMART_PTR_DEFINITIONS(DynamicSubscription)
+
+  template<typename AllocatorT = std::allocator<void>>
+  DynamicSubscription(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    rclcpp::dynamic_typesupport::DynamicMessageTypeSupport::SharedPtr type_support,
+    const std::string & topic_name,
+    const rclcpp::QoS & qos,
+    std::function<void(
+      rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr,
+      const rosidl_runtime_c__type_description__TypeDescription &
+    )> callback,
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
+    bool use_take_dynamic_message = true)
+  : SubscriptionBase(
+      node_base,
+      type_support->get_const_rosidl_message_type_support(),
+      topic_name,
+      options.to_rcl_subscription_options(
+        qos),
+      options.event_callbacks,
+      options.use_default_callbacks,
+      use_take_dynamic_message ? SubscriptionType::DYNAMIC_MESSAGE_DIRECT : SubscriptionType::DYNAMIC_MESSAGE_FROM_SERIALIZED),  // NOLINT
+    ts_(type_support),
+    callback_(callback),
+    serialization_support_(nullptr),
+    dynamic_message_(nullptr),
+    dynamic_message_type_(nullptr)
+  {
+    if (!type_support) {
+      throw std::runtime_error("DynamicMessageTypeSupport cannot be nullptr!");
+    }
+
+    if (type_support->get_const_rosidl_message_type_support().typesupport_identifier !=
+      rosidl_get_dynamic_typesupport_identifier())
+    {
+      throw std::runtime_error(
+              "DynamicSubscription must use dynamic type introspection type support!");
+    }
+
+    serialization_support_ = type_support->get_shared_dynamic_serialization_support();
+    dynamic_message_type_ = type_support->get_shared_dynamic_message_type()->clone_shared();
+    dynamic_message_ = type_support->get_shared_dynamic_message()->clone_shared();
+  }
+
+  // TODO(methylDragon):
+  /// Deferred type description constructor, only usable if the middleware implementation supports
+  /// type discovery
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicSubscription() = 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;
+
+
+  // DYNAMIC TYPE ==================================================================================
+  // TODO(methylDragon): Reorder later
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
+  get_shared_dynamic_message_type() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr get_shared_dynamic_message() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr create_dynamic_message() override;
+
+  RCLCPP_PUBLIC
+  void return_dynamic_message(
+    rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) override;
+
+  RCLCPP_PUBLIC
+  void handle_dynamic_message(
+    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+    const rclcpp::MessageInfo & message_info) override;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicSubscription)
+
+  rclcpp::dynamic_typesupport::DynamicMessageTypeSupport::SharedPtr ts_;
+  std::function<void(
+      rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr,
+      const rosidl_runtime_c__type_description__TypeDescription &
+    )> callback_;
+
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr serialization_support_;
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr dynamic_message_;
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr dynamic_message_type_;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_SUBSCRIPTION_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/detail/dynamic_message_impl.hpp

@@ -0,0 +1,327 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_IMPL_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_IMPL_HPP_
+
+#include <rosidl_dynamic_typesupport/types.h>
+#include <rosidl_dynamic_typesupport/api/dynamic_data.h>
+
+#include <cstdint>
+#include <cstddef>
+#include <memory>
+#include <string>
+
+#include "rclcpp/exceptions.hpp"
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#endif
+
+
+#define __DYNAMIC_MESSAGE_GET_VALUE_BY_ID_FN(ValueT, FunctionT) \
+  template<> \
+  ValueT \
+  DynamicMessage::get_value<ValueT>(rosidl_dynamic_typesupport_member_id_t id) \
+  { \
+    ValueT out; \
+    rosidl_dynamic_typesupport_dynamic_data_get_ ## FunctionT ## _value( \
+      &rosidl_dynamic_data_, id, &out); \
+    return out; \
+  }
+
+#define __DYNAMIC_MESSAGE_GET_VALUE_BY_NAME_FN(ValueT, FunctionT) \
+  template<> \
+  ValueT \
+  DynamicMessage::get_value<ValueT>(const std::string & name) \
+  { \
+    return get_value<ValueT>(get_member_id(name)); \
+  }
+
+#define __DYNAMIC_MESSAGE_SET_VALUE_BY_ID_FN(ValueT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessage::set_value<ValueT>(rosidl_dynamic_typesupport_member_id_t id, ValueT value) \
+  { \
+    rosidl_dynamic_typesupport_dynamic_data_set_ ## FunctionT ## _value( \
+      &rosidl_dynamic_data_, id, value); \
+  }
+
+#define __DYNAMIC_MESSAGE_SET_VALUE_BY_NAME_FN(ValueT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessage::set_value<ValueT>(const std::string & name, ValueT value) \
+  { \
+    set_value<ValueT>(get_member_id(name), value); \
+  }
+
+#define __DYNAMIC_MESSAGE_INSERT_VALUE(ValueT, FunctionT) \
+  template<> \
+  rosidl_dynamic_typesupport_member_id_t \
+  DynamicMessage::insert_value<ValueT>(ValueT value) \
+  { \
+    rosidl_dynamic_typesupport_member_id_t out; \
+    rosidl_dynamic_typesupport_dynamic_data_insert_ ## FunctionT ## _value( \
+      &rosidl_dynamic_data_, value, &out); \
+    return out; \
+  }
+
+#define DYNAMIC_MESSAGE_DEFINITIONS(ValueT, FunctionT) \
+  __DYNAMIC_MESSAGE_GET_VALUE_BY_ID_FN(ValueT, FunctionT) \
+  __DYNAMIC_MESSAGE_GET_VALUE_BY_NAME_FN(ValueT, FunctionT) \
+  __DYNAMIC_MESSAGE_SET_VALUE_BY_ID_FN(ValueT, FunctionT) \
+  __DYNAMIC_MESSAGE_SET_VALUE_BY_NAME_FN(ValueT, FunctionT) \
+  __DYNAMIC_MESSAGE_INSERT_VALUE(ValueT, FunctionT)
+
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/**
+ * Since we're in a ROS layer, these should support all ROS interface C++ types as found in:
+ * https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html
+ *
+ * Explicitly:
+ * - Basic types:        bool, byte, char
+ * - Float types:        float, double
+ * - Int types:          int8_t, int16_t, int32_t, int64_t
+ * - Unsigned int types: uint8_t, uint16_t, uint32_t, uint64_t
+ * - String types:       std::string, std::u16string
+ */
+
+DYNAMIC_MESSAGE_DEFINITIONS(bool, bool);
+// DYNAMIC_MESSAGE_DEFINITIONS(std::byte, byte);
+DYNAMIC_MESSAGE_DEFINITIONS(char, char);
+DYNAMIC_MESSAGE_DEFINITIONS(float, float32);
+DYNAMIC_MESSAGE_DEFINITIONS(double, float64);
+DYNAMIC_MESSAGE_DEFINITIONS(int8_t, int8);
+DYNAMIC_MESSAGE_DEFINITIONS(int16_t, int16);
+DYNAMIC_MESSAGE_DEFINITIONS(int32_t, int32);
+DYNAMIC_MESSAGE_DEFINITIONS(int64_t, int64);
+DYNAMIC_MESSAGE_DEFINITIONS(uint8_t, uint8);
+DYNAMIC_MESSAGE_DEFINITIONS(uint16_t, uint16);
+DYNAMIC_MESSAGE_DEFINITIONS(uint32_t, uint32);
+DYNAMIC_MESSAGE_DEFINITIONS(uint64_t, uint64);
+// DYNAMIC_MESSAGE_DEFINITIONS(std::string, std::string);
+// DYNAMIC_MESSAGE_DEFINITIONS(std::u16string, std::u16string);
+
+// Byte and String getters have a different implementation and are defined below
+
+
+// BYTE ============================================================================================
+template<>
+std::byte
+DynamicMessage::get_value<std::byte>(rosidl_dynamic_typesupport_member_id_t id)
+{
+  unsigned char out;
+  rosidl_dynamic_typesupport_dynamic_data_get_byte_value(&get_rosidl_dynamic_data(), id, &out);
+  return static_cast<std::byte>(out);
+}
+
+
+template<>
+std::byte
+DynamicMessage::get_value<std::byte>(const std::string & name)
+{
+  return get_value<std::byte>(get_member_id(name));
+}
+
+
+template<>
+void
+DynamicMessage::set_value<std::byte>(
+  rosidl_dynamic_typesupport_member_id_t id, const std::byte value)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_byte_value(
+    &rosidl_dynamic_data_, id, static_cast<unsigned char>(value));
+}
+
+
+template<>
+void
+DynamicMessage::set_value<std::byte>(const std::string & name, const std::byte value)
+{
+  set_value<std::byte>(get_member_id(name), value);
+}
+
+
+template<>
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_value<std::byte>(const std::byte value)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_byte_value(
+    &rosidl_dynamic_data_, static_cast<unsigned char>(value), &out);
+  return out;
+}
+
+
+// STRINGS =========================================================================================
+template<>
+std::string
+DynamicMessage::get_value<std::string>(rosidl_dynamic_typesupport_member_id_t id)
+{
+  size_t buf_length;
+  char * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_string_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length);
+  auto out = std::string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+template<>
+std::u16string
+DynamicMessage::get_value<std::u16string>(rosidl_dynamic_typesupport_member_id_t id)
+{
+  size_t buf_length;
+  char16_t * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_wstring_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length);
+  auto out = std::u16string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+template<>
+std::string
+DynamicMessage::get_value<std::string>(const std::string & name)
+{
+  return get_value<std::string>(get_member_id(name));
+}
+
+
+template<>
+std::u16string
+DynamicMessage::get_value<std::u16string>(const std::string & name)
+{
+  return get_value<std::u16string>(get_member_id(name));
+}
+
+
+template<>
+void
+DynamicMessage::set_value<std::string>(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string value)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_string_value(
+    &rosidl_dynamic_data_, id, value.c_str(), value.size());
+}
+
+
+template<>
+void
+DynamicMessage::set_value<std::u16string>(
+  rosidl_dynamic_typesupport_member_id_t id, const std::u16string value)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_wstring_value(
+    &rosidl_dynamic_data_, id, value.c_str(), value.size());
+}
+
+
+template<>
+void
+DynamicMessage::set_value<std::string>(const std::string & name, const std::string value)
+{
+  set_value<std::string>(get_member_id(name), value);
+}
+
+
+template<>
+void
+DynamicMessage::set_value<std::u16string>(const std::string & name, const std::u16string value)
+{
+  set_value<std::u16string>(get_member_id(name), value);
+}
+
+
+template<>
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_value<std::string>(const std::string value)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_string_value(
+    &rosidl_dynamic_data_, value.c_str(), value.size(), &out);
+  return out;
+}
+
+
+template<>
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_value<std::u16string>(const std::u16string value)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_wstring_value(
+    &rosidl_dynamic_data_, value.c_str(), value.size(), &out);
+  return out;
+}
+
+
+// THROW FOR UNSUPPORTED TYPES =====================================================================
+template<typename ValueT>
+ValueT
+DynamicMessage::get_value(rosidl_dynamic_typesupport_member_id_t id)
+{
+  throw rclcpp::exceptions::UnimplementedError("get_value is not implemented for input type");
+}
+
+
+template<typename ValueT>
+ValueT
+DynamicMessage::get_value(const std::string & name)
+{
+  throw rclcpp::exceptions::UnimplementedError("get_value is not implemented for input type");
+}
+
+
+template<typename ValueT>
+void
+DynamicMessage::set_value(
+  rosidl_dynamic_typesupport_member_id_t id, ValueT value)
+{
+  throw rclcpp::exceptions::UnimplementedError("set_value is not implemented for input type");
+}
+
+
+template<typename ValueT>
+void
+DynamicMessage::set_value(const std::string & name, ValueT value)
+{
+  throw rclcpp::exceptions::UnimplementedError("set_value is not implemented for input type");
+}
+
+
+template<typename ValueT>
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_value(ValueT value)
+{
+  throw rclcpp::exceptions::UnimplementedError("insert_value is not implemented for input type");
+}
+
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#undef __DYNAMIC_MESSAGE_GET_VALUE_BY_ID_FN
+#undef __DYNAMIC_MESSAGE_GET_VALUE_BY_NAME_FN
+#undef __DYNAMIC_MESSAGE_SET_VALUE_BY_ID_FN
+#undef __DYNAMIC_MESSAGE_SET_VALUE_BY_NAME_FN
+#undef __DYNAMIC_MESSAGE_INSERT_VALUE
+#undef DYNAMIC_MESSAGE_DEFINITIONS
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_IMPL_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/detail/dynamic_message_type_builder_impl.hpp

@@ -0,0 +1,189 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_TYPE_BUILDER_IMPL_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_TYPE_BUILDER_IMPL_HPP_
+
+#include <rosidl_dynamic_typesupport/types.h>
+#include <rosidl_dynamic_typesupport/api/dynamic_type.h>
+
+#include <cstdint>
+#include <cstddef>
+#include <memory>
+#include <string>
+
+#include "rclcpp/exceptions.hpp"
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
+#endif
+
+
+#define __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_MEMBER_FN(MemberT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessageTypeBuilder::add_member<MemberT>( \
+    rosidl_dynamic_typesupport_member_id_t id, \
+    const std::string & name, \
+    const std::string & default_value) \
+  { \
+    rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## _member( \
+      &rosidl_dynamic_type_builder_, \
+      id, name.c_str(), name.size(), default_value.c_str(), default_value.size()); \
+  }
+
+#define __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_ARRAY_MEMBER_FN(MemberT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessageTypeBuilder::add_array_member<MemberT>( \
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, \
+    size_t array_length, \
+    const std::string & default_value) \
+  { \
+    rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## _array_member( \
+      &rosidl_dynamic_type_builder_, \
+      id, name.c_str(), name.size(), default_value.c_str(), default_value.size(), \
+      array_length); \
+  }
+
+#define __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_UNBOUNDED_SEQUENCE_MEMBER_FN(MemberT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessageTypeBuilder::add_unbounded_sequence_member<MemberT>( \
+    rosidl_dynamic_typesupport_member_id_t id, \
+    const std::string & name, \
+    const std::string & default_value) \
+  { \
+    rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## \
+    _unbounded_sequence_member( \
+      &rosidl_dynamic_type_builder_, \
+      id, name.c_str(), name.size(), default_value.c_str(), default_value.size()); \
+  }
+
+#define __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_BOUNDED_SEQUENCE_MEMBER_FN(MemberT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessageTypeBuilder::add_bounded_sequence_member<MemberT>( \
+    rosidl_dynamic_typesupport_member_id_t id, \
+    const std::string & name, \
+    size_t sequence_bound, \
+    const std::string & default_value) \
+  { \
+    rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## _bounded_sequence_member( \
+      &rosidl_dynamic_type_builder_, \
+      id, name.c_str(), name.size(), default_value.c_str(), default_value.size(), \
+      sequence_bound); \
+  }
+
+#define DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(MemberT, FunctionT) \
+  __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_MEMBER_FN(MemberT, FunctionT) \
+  __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_ARRAY_MEMBER_FN(MemberT, FunctionT) \
+  __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_UNBOUNDED_SEQUENCE_MEMBER_FN(MemberT, FunctionT) \
+  __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_BOUNDED_SEQUENCE_MEMBER_FN(MemberT, FunctionT) \
+
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/**
+ * Since we're in a ROS layer, these should support all ROS interface C++ types as found in:
+ * https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html
+ *
+ * Explicitly:
+ * - Basic types:        bool, byte, char
+ * - Float types:        float, double
+ * - Int types:          int8_t, int16_t, int32_t, int64_t
+ * - Unsigned int types: uint8_t, uint16_t, uint32_t, uint64_t
+ * - String types:       std::string, std::u16string
+ */
+
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(bool, bool);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(std::byte, byte);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(char, char);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(float, float32);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(double, float64);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(int8_t, int8);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(int16_t, int16);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(int32_t, int32);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(int64_t, int64);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(uint8_t, uint8);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(uint16_t, uint16);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(uint32_t, uint32);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(uint64_t, uint64);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(std::string, string);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(std::u16string, wstring);
+
+
+// THROW FOR UNSUPPORTED TYPES =====================================================================
+template<typename MemberT>
+void
+DynamicMessageTypeBuilder::add_member(
+  rosidl_dynamic_typesupport_member_id_t id,
+  const std::string & name,
+  const std::string & default_value)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "add_member is not implemented for input type");
+}
+
+
+template<typename MemberT>
+void
+DynamicMessageTypeBuilder::add_array_member(
+  rosidl_dynamic_typesupport_member_id_t id,
+  const std::string & name,
+  size_t array_length, const std::string & default_value)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "add_array_member is not implemented for input type");
+}
+
+
+template<typename MemberT>
+void
+DynamicMessageTypeBuilder::add_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id,
+  const std::string & name,
+  const std::string & default_value)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "add_unbounded_sequence_member is not implemented for input type");
+}
+
+
+template<typename MemberT>
+void
+DynamicMessageTypeBuilder::add_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id,
+  const std::string & name,
+  size_t sequence_bound,
+  const std::string & default_value)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "add_bounded_sequence_member is not implemented for input type");
+}
+
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#undef __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_MEMBER_FN
+#undef __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_ARRAY_MEMBER_FN
+#undef __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_UNBOUNDED_SEQUENCE_MEMBER_FN
+#undef __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_BOUNDED_SEQUENCE_MEMBER_FN
+#undef DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_TYPE_BUILDER_IMPL_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp

@@ -0,0 +1,432 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_
+
+#include <rcl/allocator.h>
+#include <rcl/types.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+class DynamicMessageType;
+class DynamicMessageTypeBuilder;
+
+/// Utility wrapper class for rosidl_dynamic_typesupport_dynamic_data_t
+/**
+ * This class:
+ * - Exposes getter methods for the struct
+ * - Exposes the underlying serialization support API
+ *
+ * Ownership:
+ * - This class borrows the rosidl_dynamic_typesupport_serialization_support_t stored in the passed
+ *   DynamicSerializationSupport. So it cannot outlive the DynamicSerializationSupport.
+ * - The DynamicSerializationSupport's rosidl_dynamic_typesupport_serialization_support_t pointer
+ *   must point to the same location in memory as the stored raw pointer!
+ *
+ * Note: This class is meant to map to the lower level rosidl_dynamic_typesupport_dynamic_data_t,
+ *       even though rosidl_dynamic_typesupport_dynamic_data_t is equivalent to
+ *       rosidl_dynamic_typesupport_dynamic_data_t, exposing the fundamental methods available to
+ *       rosidl_dynamic_typesupport_dynamic_data_t, allowing the user to access the data's fields.
+ */
+class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessage)
+
+  // CONSTRUCTION ==================================================================================
+  // Most constructors require a passed in DynamicSerializationSupport::SharedPtr, to extend the
+  // lifetime of the serialization support (if the constructor cannot otherwise get it from args).
+  //
+  // In cases where a dynamic data pointer is passed, the serialization support composed by
+  // the data should be the exact same object managed by the DynamicSerializationSupport,
+  // otherwise the lifetime management will not work properly.
+
+  /// Construct a new DynamicMessage with the provided dynamic type builder, using its allocator
+  RCLCPP_PUBLIC
+  explicit DynamicMessage(std::shared_ptr<DynamicMessageTypeBuilder> dynamic_type_builder);
+
+  /// Construct a new DynamicMessage with the provided dynamic type builder and allocator
+  RCLCPP_PUBLIC
+  DynamicMessage(
+    std::shared_ptr<DynamicMessageTypeBuilder> dynamic_type_builder,
+    rcl_allocator_t allocator);
+
+  /// Construct a new DynamicMessage with the provided dynamic type, using its allocator
+  RCLCPP_PUBLIC
+  explicit DynamicMessage(std::shared_ptr<DynamicMessageType> dynamic_type);
+
+  /// Construct a new DynamicMessage with the provided dynamic type and allocator
+  RCLCPP_PUBLIC
+  DynamicMessage(
+    std::shared_ptr<DynamicMessageType> dynamic_type,
+    rcl_allocator_t allocator);
+
+  /// Assume ownership of struct
+  RCLCPP_PUBLIC
+  DynamicMessage(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    rosidl_dynamic_typesupport_dynamic_data_t && rosidl_dynamic_data);
+
+  /// Loaning constructor
+  /// Must only be called with a rosidl dynaimc data object obtained from loaning!
+  // NOTE(methylDragon): I'd put this in protected, but I need this exposed to
+  //                     enable_shared_from_this...
+  RCLCPP_PUBLIC
+  DynamicMessage(
+    DynamicMessage::SharedPtr parent_data,
+    rosidl_dynamic_typesupport_dynamic_data_t && rosidl_loaned_data);
+
+  // NOTE(methylDragon): Deliberately no constructor from description to nudge users towards using
+  //                     construction from dynamic type/builder, which is more efficient
+
+  /// Move constructor
+  RCLCPP_PUBLIC
+  DynamicMessage(DynamicMessage && other) noexcept;
+
+  /// Move assignment
+  RCLCPP_PUBLIC
+  DynamicMessage & operator=(DynamicMessage && other) noexcept;
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessage();
+
+
+  // GETTERS =======================================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_serialization_library_identifier() const;
+
+  RCLCPP_PUBLIC
+  const std::string
+  get_name() const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_dynamic_data_t &
+  get_rosidl_dynamic_data();
+
+  RCLCPP_PUBLIC
+  const rosidl_dynamic_typesupport_dynamic_data_t &
+  get_rosidl_dynamic_data() const;
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support();
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::ConstSharedPtr
+  get_shared_dynamic_serialization_support() const;
+
+  RCLCPP_PUBLIC
+  size_t
+  get_item_count() const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  get_member_id(size_t index) const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  get_member_id(const std::string & name) const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  get_array_index(size_t index) const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  get_array_index(const std::string & name) const;
+
+
+  // METHODS =======================================================================================
+  RCLCPP_PUBLIC
+  DynamicMessage
+  clone(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  clone_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage
+  init_from_type(
+    DynamicMessageType & type, rcl_allocator_t allocator = rcl_get_default_allocator()) const;
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  init_from_type_shared(
+    DynamicMessageType & type, rcl_allocator_t allocator = rcl_get_default_allocator()) const;
+
+  RCLCPP_PUBLIC
+  bool
+  equals(const DynamicMessage & other) const;
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  loan_value(
+    rosidl_dynamic_typesupport_member_id_t id,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  loan_value(
+    const std::string & name,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  void
+  clear_all_values();
+
+  RCLCPP_PUBLIC
+  void
+  clear_nonkey_values();
+
+  RCLCPP_PUBLIC
+  void
+  clear_value(rosidl_dynamic_typesupport_member_id_t id);
+
+  RCLCPP_PUBLIC
+  void
+  clear_value(const std::string & name);
+
+  RCLCPP_PUBLIC
+  void
+  clear_sequence();
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_sequence_data();
+
+  RCLCPP_PUBLIC
+  void
+  remove_sequence_data(rosidl_dynamic_typesupport_member_id_t index);
+
+  RCLCPP_PUBLIC
+  bool
+  serialize(rcl_serialized_message_t & buffer);
+
+  RCLCPP_PUBLIC
+  bool
+  deserialize(rcl_serialized_message_t & buffer);
+
+
+  // MEMBER ACCESS TEMPLATES =======================================================================
+  /**
+   * Since we're in a ROS layer, these should support all ROS interface C++ types as found in:
+   * https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html
+   *
+   * Explicitly:
+   * - Basic types:        bool, byte, char
+   * - Float types:        float, double
+   * - Int types:          int8_t, int16_t, int32_t, int64_t
+   * - Unsigned int types: uint8_t, uint16_t, uint32_t, uint64_t
+   * - String types:       std::string, std::u16string
+   */
+
+  template<typename ValueT>
+  ValueT
+  get_value(rosidl_dynamic_typesupport_member_id_t id);
+
+  template<typename ValueT>
+  ValueT
+  get_value(const std::string & name);
+
+  template<typename ValueT>
+  void
+  set_value(rosidl_dynamic_typesupport_member_id_t id, ValueT value);
+
+  template<typename ValueT>
+  void
+  set_value(const std::string & name, ValueT value);
+
+  template<typename ValueT>
+  rosidl_dynamic_typesupport_member_id_t
+  insert_value(ValueT value);
+
+
+  // FIXED STRING MEMBER ACCESS ====================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_fixed_string_value(rosidl_dynamic_typesupport_member_id_t id, size_t string_length);
+
+  RCLCPP_PUBLIC
+  const std::string
+  get_fixed_string_value(const std::string & name, size_t string_length);
+
+  RCLCPP_PUBLIC
+  const std::u16string
+  get_fixed_wstring_value(rosidl_dynamic_typesupport_member_id_t id, size_t wstring_length);
+
+  RCLCPP_PUBLIC
+  const std::u16string
+  get_fixed_wstring_value(const std::string & name, size_t wstring_length);
+
+  RCLCPP_PUBLIC
+  void
+  set_fixed_string_value(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string value, size_t string_length);
+
+  RCLCPP_PUBLIC
+  void
+  set_fixed_string_value(const std::string & name, const std::string value, size_t string_length);
+
+  RCLCPP_PUBLIC
+  void
+  set_fixed_wstring_value(
+    rosidl_dynamic_typesupport_member_id_t id, const std::u16string value, size_t wstring_length);
+
+  RCLCPP_PUBLIC
+  void
+  set_fixed_wstring_value(
+    const std::string & name, const std::u16string value, size_t wstring_length);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_fixed_string_value(const std::string value, size_t string_length);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_fixed_wstring_value(const std::u16string value, size_t wstring_length);
+
+
+  // BOUNDED STRING MEMBER ACCESS ==================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_bounded_string_value(rosidl_dynamic_typesupport_member_id_t id, size_t string_bound);
+
+  RCLCPP_PUBLIC
+  const std::string
+  get_bounded_string_value(const std::string & name, size_t string_bound);
+
+  RCLCPP_PUBLIC
+  const std::u16string
+  get_bounded_wstring_value(rosidl_dynamic_typesupport_member_id_t id, size_t wstring_bound);
+
+  RCLCPP_PUBLIC
+  const std::u16string
+  get_bounded_wstring_value(const std::string & name, size_t wstring_bound);
+
+  RCLCPP_PUBLIC
+  void
+  set_bounded_string_value(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string value, size_t string_bound);
+
+  RCLCPP_PUBLIC
+  void
+  set_bounded_string_value(const std::string & name, const std::string value, size_t string_bound);
+
+  RCLCPP_PUBLIC
+  void
+  set_bounded_wstring_value(
+    rosidl_dynamic_typesupport_member_id_t id, const std::u16string value, size_t wstring_bound);
+
+  RCLCPP_PUBLIC
+  void
+  set_bounded_wstring_value(
+    const std::string & name, const std::u16string value, size_t wstring_bound);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_bounded_string_value(const std::string value, size_t string_bound);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_bounded_wstring_value(const std::u16string value, size_t wstring_bound);
+
+
+  // NESTED MEMBER ACCESS ==========================================================================
+  RCLCPP_PUBLIC
+  DynamicMessage
+  get_complex_value(
+    rosidl_dynamic_typesupport_member_id_t id,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage
+  get_complex_value(
+    const std::string & name,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  get_complex_value_shared(
+    rosidl_dynamic_typesupport_member_id_t id,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  get_complex_value_shared(
+    const std::string & name,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  void
+  set_complex_value(rosidl_dynamic_typesupport_member_id_t id, DynamicMessage & value);
+
+  RCLCPP_PUBLIC
+  void
+  set_complex_value(const std::string & name, DynamicMessage & value);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_complex_value_copy(const DynamicMessage & value);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_complex_value(DynamicMessage & value);
+
+protected:
+  // NOTE(methylDragon):
+  // This is just here to extend the lifetime of the serialization support
+  // It isn't actually used by the builder since the builder should compose its own support
+  //
+  // ... Though ideally it should be the exact same support as the one stored in the
+  // DynamicSerializationSupport
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data_;
+  bool is_loaned_;
+
+  // Used for returning the loaned value, and lifetime management
+  DynamicMessage::SharedPtr parent_data_;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicMessage)
+
+  RCLCPP_PUBLIC
+  DynamicMessage();
+
+  RCLCPP_PUBLIC
+  bool
+  match_serialization_support_(
+    const DynamicSerializationSupport & serialization_support,
+    const rosidl_dynamic_typesupport_dynamic_data_t & dynamic_data);
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type.hpp

@@ -0,0 +1,197 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_
+
+#include <rcl/allocator.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+class DynamicMessage;
+class DynamicMessageTypeBuilder;
+
+/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_t`
+/**
+ * This class:
+ * - Exposes getter methods for the struct
+ * - Exposes the underlying serialization support API
+ *
+ * Ownership:
+ * - This class borrows the `rosidl_dynamic_typesupport_serialization_support_t` stored in the
+ *   passed `DynamicSerializationSupport`.
+ *   So it cannot outlive the `DynamicSerializationSupport`.
+ * - The `DynamicSerializationSupport`'s `rosidl_dynamic_typesupport_serialization_support_t`
+ *   pointer must point to the same location in memory as the stored raw pointer!
+ *
+ * This class is meant to map to the lower level `rosidl_dynamic_typesupport_dynamic_type_t`,
+ * which can be constructed via `DynamicMessageTypeBuilder`, which maps to
+ * `rosidl_dynamic_typesupport_dynamic_type_builder_t`.
+ *
+ *  The usual method of obtaining a `DynamicMessageType` is through construction of
+ *  `rosidl_message_type_support_t` via `rcl_dynamic_message_type_support_handle_create()`, then
+ *  taking ownership of its contents. But `DynamicMessageTypeBuilder` can also be used to obtain
+ *  `DynamicMessageType` by constructing it bottom-up instead, since it exposes the lower_level
+ *  rosidl methods.
+ */
+class DynamicMessageType : public std::enable_shared_from_this<DynamicMessageType>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageType)
+
+  // CONSTRUCTION ==================================================================================
+  // Most constructors require a passed in `DynamicSerializationSupport::SharedPtr`, to extend the
+  // lifetime of the serialization support (if the constructor cannot otherwise get it from args).
+  //
+  // In cases where a dynamic type pointer is passed, the serialization support composed by
+  // the type should be the exact same object managed by the `DynamicSerializationSupport`,
+  // otherwise the lifetime management will not work properly.
+
+  /// Construct a new `DynamicMessageType` with the provided dynamic type builder,
+  /// using its allocator
+  RCLCPP_PUBLIC
+  explicit DynamicMessageType(std::shared_ptr<DynamicMessageTypeBuilder> dynamic_type_builder);
+
+  /// Construct a new `DynamicMessageType` with the provided dynamic type builder and allocator
+  RCLCPP_PUBLIC
+  DynamicMessageType(
+    std::shared_ptr<DynamicMessageTypeBuilder> dynamic_type_builder,
+    rcl_allocator_t allocator);
+
+  /// Assume ownership of struct
+  RCLCPP_PUBLIC
+  DynamicMessageType(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    rosidl_dynamic_typesupport_dynamic_type_t && rosidl_dynamic_type);
+
+  /// From description
+  RCLCPP_PUBLIC
+  DynamicMessageType(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// Move constructor
+  RCLCPP_PUBLIC
+  DynamicMessageType(DynamicMessageType && other) noexcept;
+
+  /// Move assignment
+  RCLCPP_PUBLIC
+  DynamicMessageType & operator=(DynamicMessageType && other) noexcept;
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessageType();
+
+  /// Swaps the serialization support if `serialization_support` is populated
+  /**
+   * The user can call this with another description to reconfigure the type without changing the
+   * serialization support
+   */
+  RCLCPP_PUBLIC
+  void
+  init_from_description(
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator(),
+    DynamicSerializationSupport::SharedPtr serialization_support = nullptr);
+
+  // GETTERS =======================================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_serialization_library_identifier() const;
+
+  RCLCPP_PUBLIC
+  const std::string
+  get_name() const;
+
+  RCLCPP_PUBLIC
+  size_t
+  get_member_count() const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_dynamic_type_t &
+  get_rosidl_dynamic_type();
+
+  RCLCPP_PUBLIC
+  const rosidl_dynamic_typesupport_dynamic_type_t &
+  get_rosidl_dynamic_type() const;
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support();
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::ConstSharedPtr
+  get_shared_dynamic_serialization_support() const;
+
+
+  // METHODS =======================================================================================
+  RCLCPP_PUBLIC
+  DynamicMessageType
+  clone(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessageType::SharedPtr
+  clone_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  bool
+  equals(const DynamicMessageType & other) const;
+
+  RCLCPP_PUBLIC
+  DynamicMessage
+  build_dynamic_message(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<DynamicMessage>
+  build_dynamic_message_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+protected:
+  // NOTE(methylDragon):
+  // This is just here to extend the lifetime of the serialization support
+  // It isn't actually used by the builder since the builder should compose its own support
+  //
+  // ... Though ideally it should be the exact same support as the one stored in the
+  // `DynamicSerializationSupport`
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type_;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicMessageType)
+
+  RCLCPP_PUBLIC
+  DynamicMessageType();
+
+  RCLCPP_PUBLIC
+  bool
+  match_serialization_support_(
+    const DynamicSerializationSupport & serialization_support,
+    const rosidl_dynamic_typesupport_dynamic_type_t & rosidl_dynamic_type);
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp

@@ -0,0 +1,409 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
+
+#include <rcl/allocator.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+class DynamicMessage;
+class DynamicMessageType;
+
+/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_builder_t *`
+/**
+ * This class:
+ * - Manages the lifetime of the raw pointer.
+ * - Exposes getter methods to get the raw pointer and shared pointers
+ * - Exposes the underlying serialization support API
+ *
+ * Ownership:
+ * - This class borrows the rosidl_dynamic_typesupport_serialization_support_t stored in the passed
+ *   `DynamicSerializationSupport`.
+ *   So it cannot outlive the `DynamicSerializationSupport`.
+ * - The `DynamicSerializationSupport`'s `rosidl_dynamic_typesupport_serialization_support_t`
+ *   pointer must point to the same location in memory as the stored raw pointer!
+ *
+ * This class is meant to map to rosidl_dynamic_typesupport_dynamic_type_builder_t, facilitating the
+ * construction of dynamic types bottom-up in the C++ layer.
+ *
+ * The usual method of obtaining a `DynamicMessageType` is through construction of
+ * `rosidl_message_type_support_t` via `rcl_dynamic_message_type_support_handle_create()`, then
+ * taking ownership of its contents.
+ * But `DynamicMessageTypeBuilder` can also be used to obtain `DynamicMessageType` by constructing
+ * it bottom-up instead, since it exposes the lower_level rosidl methods.
+ */
+class DynamicMessageTypeBuilder : public std::enable_shared_from_this<DynamicMessageTypeBuilder>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeBuilder)
+
+  // CONSTRUCTION ==================================================================================
+  // All constructors require a passed in `DynamicSerializationSupport::SharedPtr`, to extend the
+  // lifetime of the serialization support.
+  //
+  // In cases where a dynamic type builder pointer is passed, the serialization support composed by
+  // the builder should be the exact same object managed by the `DynamicSerializationSupport`,
+  // otherwise the lifetime management will not work properly.
+
+  /// Construct a new `DynamicMessageTypeBuilder` with the provided serialization support using its
+  /// allocator
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const std::string & name);
+
+  /// Construct a new `DynamicMessageTypeBuilder` with the provided serialization support and
+  /// allocator
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const std::string & name,
+    rcl_allocator_t allocator);
+
+  /// Assume ownership of struct
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    rosidl_dynamic_typesupport_dynamic_type_builder_t && dynamic_type_builder);
+
+  /// From description
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// Move constructor
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder(DynamicMessageTypeBuilder && other) noexcept;
+
+  /// Move assignment
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder & operator=(DynamicMessageTypeBuilder && other) noexcept;
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessageTypeBuilder();
+
+  /// Swaps the serialization support if serialization_support is populated
+  /**
+   * The user can call this with another description to reconfigure the type without changing the
+   * serialization support
+   */
+  RCLCPP_PUBLIC
+  void
+  init_from_description(
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator(),
+    DynamicSerializationSupport::SharedPtr serialization_support = nullptr);
+
+
+  // GETTERS =======================================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_serialization_library_identifier() const;
+
+  RCLCPP_PUBLIC
+  const std::string
+  get_name() const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_dynamic_type_builder_t &
+  get_rosidl_dynamic_type_builder();
+
+  RCLCPP_PUBLIC
+  const rosidl_dynamic_typesupport_dynamic_type_builder_t &
+  get_rosidl_dynamic_type_builder() const;
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support();
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::ConstSharedPtr
+  get_shared_dynamic_serialization_support() const;
+
+
+  // METHODS =======================================================================================
+  RCLCPP_PUBLIC
+  void
+  set_name(const std::string & name);
+
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder
+  clone(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder::SharedPtr
+  clone_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  void
+  clear(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage
+  build_dynamic_message(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  build_dynamic_message_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessageType
+  build_dynamic_message_type(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessageType::SharedPtr
+  build_dynamic_message_type_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+
+  // ADD MEMBERS TEMPLATES =========================================================================
+  /**
+   * Since we're in a ROS layer, these should support all ROS interface C++ types as found in:
+   * https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html
+   *
+   * Explicitly:
+   * - Basic types:        bool, byte, char
+   * - Float types:        float, double
+   * - Int types:          int8_t, int16_t, int32_t, int64_t
+   * - Unsigned int types: uint8_t, uint16_t, uint32_t, uint64_t
+   * - String types:       std::string, std::u16string
+   */
+
+  template<typename MemberT>
+  void
+  add_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    const std::string & default_value = "");
+
+  template<typename MemberT>
+  void
+  add_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t array_length,
+    const std::string & default_value = "");
+
+  template<typename MemberT>
+  void
+  add_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    const std::string & default_value = "");
+
+  template<typename MemberT>
+  void
+  add_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t sequence_bound,
+    const std::string & default_value = "");
+
+
+  // ADD FIXED STRING MEMBERS ======================================================================
+  RCLCPP_PUBLIC
+  void
+  add_fixed_string_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_length,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_wstring_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_length,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_string_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t string_length, size_t array_length, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_wstring_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t wstring_length, size_t array_length, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_string_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_length,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_wstring_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_length,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_string_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t string_length, size_t sequence_bound, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_wstring_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t wstring_length, size_t sequence_bound, const std::string & default_value = "");
+
+
+  // ADD BOUNDED STRING MEMBERS ====================================================================
+  RCLCPP_PUBLIC
+  void
+  add_bounded_string_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_bound,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_wstring_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_bound,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_string_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t string_bound, size_t array_length, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_wstring_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t wstring_bound, size_t array_length, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_string_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_bound,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_wstring_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_bound,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_string_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t string_bound, size_t sequence_bound, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_wstring_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t wstring_bound, size_t sequence_bound, const std::string & default_value = "");
+
+
+  // ADD NESTED MEMBERS ============================================================================
+  RCLCPP_PUBLIC
+  void
+  add_complex_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageType & nested_type, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageType & nested_type, size_t array_length, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageType & nested_type, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageType & nested_type, size_t sequence_bound,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageTypeBuilder & nested_type_builder, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_array_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageTypeBuilder & nested_type_builder, size_t array_length,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_unbounded_sequence_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageTypeBuilder & nested_type_builder, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_bounded_sequence_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageTypeBuilder & nested_type_builder, size_t sequence_bound,
+    const std::string & default_value = "");
+
+protected:
+  // NOTE(methylDragon):
+  // This is just here to extend the lifetime of the serialization support
+  // It isn't actually used by the builder since the builder should compose its own support
+  //
+  // ... Though ideally it should be the exact same support as the one stored in the
+  // `DynamicSerializationSupport`
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder_;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicMessageTypeBuilder)
+
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder();
+
+  RCLCPP_PUBLIC
+  void
+  init_from_serialization_support_(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const std::string & name,
+    rcl_allocator_t allocator);
+
+  RCLCPP_PUBLIC
+  bool
+  match_serialization_support_(
+    const DynamicSerializationSupport & serialization_support,
+    const rosidl_dynamic_typesupport_dynamic_type_builder_t & dynamic_type_builder);
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp

@@ -0,0 +1,166 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_
+
+#include <rcl/allocator.h>
+
+#include <rosidl_dynamic_typesupport/dynamic_message_type_support_struct.h>
+#include <rosidl_dynamic_typesupport/types.h>
+#include <rosidl_runtime_c/message_type_support_struct.h>
+#include <rosidl_runtime_c/type_description/type_description__struct.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/// Utility wrapper class for `rosidl_message_type_support_t` containing managed
+/// instances of the typesupport handle impl.
+/**
+ *
+ * NOTE: This class is the recommended way to obtain the dynamic message type
+ *       support struct, instead of `rcl_dynamic_message_type_support_handle_init()`,
+ *       because this class will manage the lifetimes for you.
+ *
+ *       Do NOT call rcl_dynamic_message_type_support_handle_fini
+ *
+ * This class:
+ * - Exposes getter methods for the struct
+ * - Stores shared pointers to wrapper classes that expose the underlying
+ *   serialization support API
+ *
+ * Ownership:
+ * - This class, similarly to the `rosidl_dynamic_typesupport_serialization_support_t`, must outlive
+ *   all downstream usages of the serialization support.
+ */
+class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMessageTypeSupport>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeSupport)
+
+  // CONSTRUCTION ==================================================================================
+  /// From description
+  /// Does NOT take ownership of the description (copies instead.)
+  /// Constructs type support top-down (calling `rcl_dynamic_message_type_support_handle_create()`)
+  RCLCPP_PUBLIC
+  DynamicMessageTypeSupport(
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    const std::string & serialization_library_name = "",
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// From description, for provided serialization support
+  /// Does NOT take ownership of the description (copies instead.)
+  /// Constructs type support top-down (calling `rosidl_dynamic_message_type_support_handle_init()`)
+  RCLCPP_PUBLIC
+  DynamicMessageTypeSupport(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// Assume ownership of managed types
+  /// Does NOT take ownership of the description (copies instead.)
+  ///
+  /// The serialization support used to construct all managed SharedPtrs must match.
+  /// The structure of the provided `description` must match the `dynamic_message_type`
+  /// The structure of the provided `dynamic_message_type` must match the `dynamic_message
+  ///
+  /// In this case, the user would have constructed the type support bototm-up (by creating the
+  /// respective dynamic members.)
+  RCLCPP_PUBLIC
+  DynamicMessageTypeSupport(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    DynamicMessageType::SharedPtr dynamic_message_type,
+    DynamicMessage::SharedPtr dynamic_message,
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessageTypeSupport();
+
+
+  // GETTERS =======================================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_serialization_library_identifier() const;
+
+  RCLCPP_PUBLIC
+  const rosidl_message_type_support_t &
+  get_const_rosidl_message_type_support();
+
+  RCLCPP_PUBLIC
+  const rosidl_message_type_support_t &
+  get_const_rosidl_message_type_support() const;
+
+  RCLCPP_PUBLIC
+  const rosidl_runtime_c__type_description__TypeDescription &
+  get_rosidl_runtime_c_type_description() const;
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support();
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::ConstSharedPtr
+  get_shared_dynamic_serialization_support() const;
+
+  RCLCPP_PUBLIC
+  DynamicMessageType::SharedPtr
+  get_shared_dynamic_message_type();
+
+  RCLCPP_PUBLIC
+  DynamicMessageType::ConstSharedPtr
+  get_shared_dynamic_message_type() const;
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  get_shared_dynamic_message();
+
+  RCLCPP_PUBLIC
+  DynamicMessage::ConstSharedPtr
+  get_shared_dynamic_message() const;
+
+protected:
+  RCLCPP_DISABLE_COPY(DynamicMessageTypeSupport)
+
+  RCLCPP_PUBLIC
+  rosidl_message_type_support_t &
+  get_rosidl_message_type_support();
+
+private:
+  RCLCPP_PUBLIC
+  DynamicMessageTypeSupport();
+
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+  DynamicMessageType::SharedPtr dynamic_message_type_;
+  DynamicMessage::SharedPtr dynamic_message_;
+
+  rosidl_message_type_support_t rosidl_message_type_support_;
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp

@@ -0,0 +1,98 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_
+
+#include <rcl/allocator.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/// Utility wrapper class for rosidl_dynamic_typesupport_serialization_support_t
+/**
+ * This class:
+ * - Exposes getter methods for the struct
+ * - Exposes the underlying serialization support API
+ *
+ * Ownership:
+ * - This class, similarly to the rosidl_dynamic_typesupport_serialization_support_t, must outlive
+ *   all downstream usages of the serialization support.
+ */
+class DynamicSerializationSupport : public std::enable_shared_from_this<DynamicSerializationSupport>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicSerializationSupport)
+
+  // CONSTRUCTION ==================================================================================
+  RCLCPP_PUBLIC
+  explicit DynamicSerializationSupport(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// Get the rmw middleware implementation specific serialization support (configured by name)
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport(
+    const std::string & serialization_library_name,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// Assume ownership of struct
+  RCLCPP_PUBLIC
+  explicit DynamicSerializationSupport(
+    rosidl_dynamic_typesupport_serialization_support_t && rosidl_serialization_support);
+
+  /// Move constructor
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport(DynamicSerializationSupport && other) noexcept;
+
+  /// Move assignment
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport & operator=(DynamicSerializationSupport && other) noexcept;
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicSerializationSupport();
+
+
+  // GETTERS =======================================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_serialization_library_identifier() const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_serialization_support_t &
+  get_rosidl_serialization_support();
+
+  RCLCPP_PUBLIC
+  const rosidl_dynamic_typesupport_serialization_support_t &
+  get_rosidl_serialization_support() const;
+
+protected:
+  RCLCPP_DISABLE_COPY(DynamicSerializationSupport)
+
+private:
+  rosidl_dynamic_typesupport_serialization_support_t rosidl_serialization_support_;
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_

rclcpp/include/rclcpp/event_handler.hpp

@@ -0,0 +1,311 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EVENT_HANDLER_HPP_
+#define RCLCPP__EVENT_HANDLER_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 "rmw/events_statuses/incompatible_type.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
+{
+
+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;
+
+using IncompatibleTypeInfo = rmw_incompatible_type_status_t;
+using MatchedInfo = rmw_matched_status_t;
+
+using QOSDeadlineRequestedCallbackType = std::function<void (QOSDeadlineRequestedInfo &)>;
+using QOSDeadlineOfferedCallbackType = std::function<void (QOSDeadlineOfferedInfo &)>;
+using QOSLivelinessChangedCallbackType = std::function<void (QOSLivelinessChangedInfo &)>;
+using QOSLivelinessLostCallbackType = std::function<void (QOSLivelinessLostInfo &)>;
+using QOSMessageLostCallbackType = std::function<void (QOSMessageLostInfo &)>;
+using QOSOfferedIncompatibleQoSCallbackType = std::function<void (QOSOfferedIncompatibleQoSInfo &)>;
+using QOSRequestedIncompatibleQoSCallbackType =
+  std::function<void (QOSRequestedIncompatibleQoSInfo &)>;
+
+using IncompatibleTypeCallbackType = std::function<void (IncompatibleTypeInfo &)>;
+using PublisherMatchedCallbackType = std::function<void (MatchedInfo &)>;
+using SubscriptionMatchedCallbackType = std::function<void (MatchedInfo &)>;
+
+/// Contains callbacks for various types of events a Publisher can receive from the middleware.
+struct PublisherEventCallbacks
+{
+  QOSDeadlineOfferedCallbackType deadline_callback;
+  QOSLivelinessLostCallbackType liveliness_callback;
+  QOSOfferedIncompatibleQoSCallbackType incompatible_qos_callback;
+  IncompatibleTypeCallbackType incompatible_type_callback;
+  PublisherMatchedCallbackType matched_callback;
+};
+
+/// Contains callbacks for non-message events that a Subscription can receive from the middleware.
+struct SubscriptionEventCallbacks
+{
+  QOSDeadlineRequestedCallbackType deadline_callback;
+  QOSLivelinessChangedCallbackType liveliness_callback;
+  QOSRequestedIncompatibleQoSCallbackType incompatible_qos_callback;
+  QOSMessageLostCallbackType message_lost_callback;
+  IncompatibleTypeCallbackType incompatible_type_callback;
+  SubscriptionMatchedCallbackType matched_callback;
+};
+
+class UnsupportedEventTypeException : public exceptions::RCLErrorBase, public std::runtime_error
+{
+public:
+  RCLCPP_PUBLIC
+  UnsupportedEventTypeException(
+    rcl_ret_t ret,
+    const rcl_error_state_t * error_state,
+    const std::string & prefix);
+
+  RCLCPP_PUBLIC
+  UnsupportedEventTypeException(
+    const exceptions::RCLErrorBase & base_exc,
+    const std::string & prefix);
+};
+
+class EventHandlerBase : public Waitable
+{
+public:
+  enum class EntityType : std::size_t
+  {
+    Event,
+  };
+
+  RCLCPP_PUBLIC
+  virtual ~EventHandlerBase();
+
+  /// Get the number of ready events
+  RCLCPP_PUBLIC
+  size_t
+  get_number_of_ready_events() override;
+
+  /// Add the Waitable to a wait set.
+  RCLCPP_PUBLIC
+  void
+  add_to_wait_set(rcl_wait_set_t * wait_set) override;
+
+  /// Check if the Waitable is ready.
+  RCLCPP_PUBLIC
+  bool
+  is_ready(rcl_wait_set_t * wait_set) override;
+
+  /// 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::EventHandlerBase@" << 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::EventHandlerBase@" << 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<decltype(new_callback), 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<
+        decltype(on_new_event_callback_), 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);
+
+  std::recursive_mutex callback_mutex_;
+  std::function<void(size_t)> on_new_event_callback_{nullptr};
+
+  rcl_event_t event_handle_;
+  size_t wait_set_event_index_;
+};
+
+using QOSEventHandlerBase [[deprecated("Use rclcpp::EventHandlerBase")]] = EventHandlerBase;
+
+template<typename EventCallbackT, typename ParentHandleT>
+class EventHandler : public EventHandlerBase
+{
+public:
+  template<typename InitFuncT, typename EventTypeEnum>
+  EventHandler(
+    const EventCallbackT & callback,
+    InitFuncT init_func,
+    ParentHandleT parent_handle,
+    EventTypeEnum event_type)
+  : parent_handle_(parent_handle), event_callback_(callback)
+  {
+    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) {
+      if (ret == RCL_RET_UNSUPPORTED) {
+        UnsupportedEventTypeException exc(ret, rcl_get_error_state(), "Failed to initialize event");
+        rcl_reset_error();
+        throw exc;
+      } else {
+        rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to initialize event");
+      }
+    }
+  }
+
+  /// Take data so that the callback cannot be scheduled again
+  std::shared_ptr<void>
+  take_data() 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 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();
+  }
+
+private:
+  using EventCallbackInfoT = typename std::remove_reference<typename
+      rclcpp::function_traits::function_traits<EventCallbackT>::template argument_type<0>>::type;
+
+  ParentHandleT parent_handle_;
+  EventCallbackT event_callback_;
+};
+
+template<typename EventCallbackT, typename ParentHandleT>
+using QOSEventHandler [[deprecated("Use rclcpp::EventHandler")]] = EventHandler<EventCallbackT,
+    ParentHandleT>;
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EVENT_HANDLER_HPP_

rclcpp/include/rclcpp/executor.hpp

@@ -315,6 +315,16 @@ public:
   virtual void
   spin_all(std::chrono::nanoseconds max_duration);
 
+
+  /// Collect work once and execute the next available work, optionally within a duration.
+  /**
+   * This function can be overridden.  The default implementation is suitable for
+   * a single-thread model of execution.
+   * Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function
+   * to block (which may have unintended consequences).
+   * \param[in] timeout The maximum amount of time to spend waiting for work.
+   *   `-1` is potentially block forever waiting for work.
+   */
   RCLCPP_PUBLIC
   virtual void
   spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
@@ -413,12 +423,29 @@ public:
   is_spinning();
 
 protected:
+  /// Add a node to executor, execute the next available unit of work, and remove the node.
+  /**
+   * Implementation of spin_node_once using std::chrono::nanoseconds
+   * \param[in] node Shared pointer to the node to add.
+   * \param[in] timeout How long to wait for work to become available. Negative values cause
+   *   spin_node_once to block indefinitely (the default behavior). A timeout of 0 causes this
+   *   function to be non-blocking.
+   */
   RCLCPP_PUBLIC
   void
   spin_node_once_nanoseconds(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
     std::chrono::nanoseconds timeout);
 
+  /// Collect work and execute available work, optionally within a duration.
+  /**
+   * Implementation of spin_some and spin_all.
+   * The exhaustive flag controls if the function will re-collect available work within the duration.
+   *
+   * \param[in] max_duration The maximum amount of time to spend executing work, or 0 for no limit.
+   * \param[in] exhaustive when set to true, continue to collect work and execute (spin_all)
+   *                       when set to false, return when all collected work is executed (spin_some)
+   */
   RCLCPP_PUBLIC
   void
   spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
@@ -433,30 +460,60 @@ protected:
   void
   execute_any_executable(AnyExecutable & any_exec);
 
+  /// Run subscription executable.
+  /**
+   * Do necessary setup and tear-down as well as executing the subscription.
+   * \param[in] subscription Subscription to execute
+   */
   RCLCPP_PUBLIC
   static void
   execute_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription);
 
+  /// Run timer executable.
+  /**
+   * Do necessary setup and tear-down as well as executing the timer callback.
+   * \param[in] timer Timer to execute
+   */
   RCLCPP_PUBLIC
   static void
   execute_timer(rclcpp::TimerBase::SharedPtr timer);
 
+  /// Run service server executable.
+  /**
+   * Do necessary setup and tear-down as well as executing the service server callback.
+   * \param[in] service Service to execute
+   */
   RCLCPP_PUBLIC
   static void
   execute_service(rclcpp::ServiceBase::SharedPtr service);
 
+  /// Run service client executable.
+  /**
+   * Do necessary setup and tear-down as well as executing the service client callback.
+   * \param[in] service Service to execute
+   */
   RCLCPP_PUBLIC
   static void
   execute_client(rclcpp::ClientBase::SharedPtr client);
 
+  /// Block until more work becomes avilable or timeout is reached.
   /**
+   * Builds a set of waitable entities, which are passed to the middleware.
+   * After building wait set, waits on middleware to notify.
+   * \param[in] timeout duration to wait for new work to become available.
    * \throws std::runtime_error if the wait set can be cleared
    */
   RCLCPP_PUBLIC
   void
   wait_for_work(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
+  /// Find node associated with a callback group
+  /**
+   * \param[in] weak_groups_to_nodes map of callback groups to nodes
+   * \param[in] group callback group to find assocatiated node
+   * \return Pointer to associated node if found, else nullptr
+   */
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
@@ -475,6 +532,11 @@ protected:
     const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
 
+  /// Find the callback group associated with a timer
+  /**
+   * \param[in] timer Timer to find associated callback group
+   * \return Pointer to callback group node if found, else nullptr
+   */
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
@@ -502,16 +564,54 @@ protected:
     WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
     bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
 
+  /// Check for executable in ready state and populate union structure.
+  /**
+   * \param[out] any_executable populated union structure of ready executable
+   * \return true if an executable was ready and any_executable was populated,
+   *   otherwise false
+   */
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
 
+  /// Check for executable in ready state and populate union structure.
+  /**
+   * This is the implementation of get_next_ready_executable that takes into
+   * account the current state of callback groups' association with nodes and
+   * executors.
+   *
+   * This checks in a particular order for available work:
+   *   * Timers
+   *   * Subscriptions
+   *   * Services
+   *   * Clients
+   *   * Waitable
+   *
+   * If the next executable is not associated with this executor/node pair,
+   * then this method will return false.
+   *
+   * \param[out] any_executable populated union structure of ready executable
+   * \param[in] weak_groups_to_nodes mapping of callback groups to nodes
+   * \return true if an executable was ready and any_executable was populated,
+   *   otherwise false
+   */
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable_from_map(
     AnyExecutable & any_executable,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
+  /// Wait for executable in ready state and populate union structure.
+  /**
+   * If an executable is ready, it will return immediately, otherwise
+   * block based on the timeout for work to become ready.
+   *
+   * \param[out] any_executable populated union structure of ready executable
+   * \param[in] timeout duration of time to wait for work, a negative value
+   *   (the defualt behavior), will make this function block indefinitely
+   * \return true if an executable was ready and any_executable was populated,
+   *   otherwise false
+   */
   RCLCPP_PUBLIC
   bool
   get_next_executable(

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -454,6 +454,8 @@ private:
         if (std::next(it) == subscription_ids.end()) {
           // If this is the last subscription, give up ownership
           subscription->provide_intra_process_data(std::move(message));
+          // Last message delivered, break from for loop
+          break;
         } else {
           // Copy the message since we have additional subscriptions to serve
           Deleter deleter = message.get_deleter();
@@ -493,6 +495,8 @@ private:
           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));
+            // Last message delivered, break from for loop
+            break;
           } else {
             // Copy the message since we have additional subscriptions to serve
             Deleter deleter = message.get_deleter();

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -84,7 +84,7 @@ public:
       options.to_rcl_subscription_options(qos),
       options.event_callbacks,
       options.use_default_callbacks,
-      true),
+      SubscriptionType::SERIALIZED_MESSAGE),
     callback_(callback),
     ts_lib_(ts_lib)
   {}
@@ -123,6 +123,32 @@ public:
   RCLCPP_PUBLIC
   void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
 
+
+  // DYNAMIC TYPE ==================================================================================
+  // TODO(methylDragon): Reorder later
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr get_shared_dynamic_message_type()
+  override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr get_shared_dynamic_message() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr create_dynamic_message() override;
+
+  RCLCPP_PUBLIC
+  void return_dynamic_message(
+    rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) override;
+
+  RCLCPP_PUBLIC
+  void handle_dynamic_message(
+    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+    const rclcpp::MessageInfo & message_info) override;
+
 private:
   RCLCPP_DISABLE_COPY(GenericSubscription)
 

rclcpp/include/rclcpp/logger.hpp

@@ -170,6 +170,24 @@ public:
   RCLCPP_PUBLIC
   void
   set_level(Level level);
+
+  /// Get effective level for current logger.
+  /**
+   * The effective level is determined as the severity level of
+   * the logger if it is set, otherwise it is the first specified severity
+   * level of the logger's ancestors, starting with its closest ancestor.
+   * The ancestor hierarchy is signified by logger names being separated by dots:
+   * a logger named `x` is an ancestor of `x.y`, and both `x` and `x.y` are
+   * ancestors of `x.y.z`, etc.
+   * If the level has not been set for the logger nor any of its
+   * ancestors, the default level is used.
+   *
+   * \throws rclcpp::exceptions::RCLError if any error happens.
+   * \return Level for the current logger.
+   */
+  RCLCPP_PUBLIC
+  Level
+  get_effective_level() const;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/publisher_base.hpp

@@ -33,7 +33,7 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/network_flow_endpoint.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/qos_event.hpp"
+#include "rclcpp/event_handler.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rcpputils/time.hpp"
@@ -124,7 +124,7 @@ public:
   /** \return The map of QoS event handlers. */
   RCLCPP_PUBLIC
   const
-  std::unordered_map<rcl_publisher_event_type_t, std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
+  std::unordered_map<rcl_publisher_event_type_t, std::shared_ptr<rclcpp::EventHandlerBase>> &
   get_event_handlers() const;
 
   /// Get subscription count
@@ -276,7 +276,7 @@ public:
    * 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
+   * \sa rclcpp::EventHandlerBase::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
@@ -327,7 +327,7 @@ protected:
     const EventCallbackT & callback,
     const rcl_publisher_event_type_t event_type)
   {
-    auto handler = std::make_shared<QOSEventHandler<EventCallbackT,
+    auto handler = std::make_shared<EventHandler<EventCallbackT,
         std::shared_ptr<rcl_publisher_t>>>(
       callback,
       rcl_publisher_event_init,
@@ -339,12 +339,15 @@ protected:
   RCLCPP_PUBLIC
   void default_incompatible_qos_callback(QOSOfferedIncompatibleQoSInfo & info) const;
 
+  RCLCPP_PUBLIC
+  void default_incompatible_type_callback(IncompatibleTypeInfo & info) const;
+
   std::shared_ptr<rcl_node_t> rcl_node_handle_;
 
   std::shared_ptr<rcl_publisher_t> publisher_handle_;
 
   std::unordered_map<rcl_publisher_event_type_t,
-    std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
+    std::shared_ptr<rclcpp::EventHandlerBase>> event_handlers_;
 
   using IntraProcessManagerWeakPtr =
     std::weak_ptr<rclcpp::experimental::IntraProcessManager>;

rclcpp/include/rclcpp/publisher_options.hpp

@@ -26,7 +26,7 @@
 #include "rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/qos_event.hpp"
+#include "rclcpp/event_handler.hpp"
 #include "rclcpp/qos_overriding_options.hpp"
 
 namespace rclcpp

rclcpp/include/rclcpp/qos_event.hpp

@@ -15,279 +15,8 @@
 #ifndef RCLCPP__QOS_EVENT_HPP_
 #define RCLCPP__QOS_EVENT_HPP_
 
-#include <functional>
-#include <memory>
-#include <mutex>
-#include <stdexcept>
-#include <string>
+#warning This header is obsolete, please include rclcpp/event_handler.hpp instead
 
-#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
-{
-
-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;
-
-using QOSDeadlineRequestedCallbackType = std::function<void (QOSDeadlineRequestedInfo &)>;
-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 &)>;
-
-/// Contains callbacks for various types of events a Publisher can receive from the middleware.
-struct PublisherEventCallbacks
-{
-  QOSDeadlineOfferedCallbackType deadline_callback;
-  QOSLivelinessLostCallbackType liveliness_callback;
-  QOSOfferedIncompatibleQoSCallbackType incompatible_qos_callback;
-};
-
-/// Contains callbacks for non-message events that a Subscription can receive from the middleware.
-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
-{
-public:
-  RCLCPP_PUBLIC
-  UnsupportedEventTypeException(
-    rcl_ret_t ret,
-    const rcl_error_state_t * error_state,
-    const std::string & prefix);
-
-  RCLCPP_PUBLIC
-  UnsupportedEventTypeException(
-    const exceptions::RCLErrorBase & base_exc,
-    const std::string & prefix);
-};
-
-class QOSEventHandlerBase : public Waitable
-{
-public:
-  enum class EntityType : std::size_t
-  {
-    Event,
-  };
-
-  RCLCPP_PUBLIC
-  virtual ~QOSEventHandlerBase();
-
-  /// Get the number of ready events
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_ready_events() override;
-
-  /// Add the Waitable to a wait set.
-  RCLCPP_PUBLIC
-  void
-  add_to_wait_set(rcl_wait_set_t * wait_set) override;
-
-  /// Check if the Waitable is ready.
-  RCLCPP_PUBLIC
-  bool
-  is_ready(rcl_wait_set_t * wait_set) override;
-
-  /// 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<decltype(new_callback), 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<
-        decltype(on_new_event_callback_), 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);
-
-  std::recursive_mutex callback_mutex_;
-  std::function<void(size_t)> on_new_event_callback_{nullptr};
-
-  rcl_event_t event_handle_;
-  size_t wait_set_event_index_;
-};
-
-template<typename EventCallbackT, typename ParentHandleT>
-class QOSEventHandler : public QOSEventHandlerBase
-{
-public:
-  template<typename InitFuncT, typename EventTypeEnum>
-  QOSEventHandler(
-    const EventCallbackT & callback,
-    InitFuncT init_func,
-    ParentHandleT parent_handle,
-    EventTypeEnum event_type)
-  : parent_handle_(parent_handle), event_callback_(callback)
-  {
-    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) {
-      if (ret == RCL_RET_UNSUPPORTED) {
-        UnsupportedEventTypeException exc(ret, rcl_get_error_state(), "Failed to initialize event");
-        rcl_reset_error();
-        throw exc;
-      } else {
-        rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to initialize event");
-      }
-    }
-  }
-
-  /// Take data so that the callback cannot be scheduled again
-  std::shared_ptr<void>
-  take_data() 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 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();
-  }
-
-private:
-  using EventCallbackInfoT = typename std::remove_reference<typename
-      rclcpp::function_traits::function_traits<EventCallbackT>::template argument_type<0>>::type;
-
-  ParentHandleT parent_handle_;
-  EventCallbackT event_callback_;
-};
-
-}  // namespace rclcpp
+#include "rclcpp/event_handler.hpp"
 
 #endif  // RCLCPP__QOS_EVENT_HPP_

rclcpp/include/rclcpp/rclcpp.hpp

@@ -117,6 +117,21 @@
  * - Allocator related items:
  *   - rclcpp/allocator/allocator_common.hpp
  *   - rclcpp/allocator/allocator_deleter.hpp
+ * - Dynamic typesupport wrappers
+ *   - rclcpp::dynamic_typesupport::DynamicMessage
+ *   - rclcpp::dynamic_typesupport::DynamicMessageType
+ *   - rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder
+ *   - rclcpp::dynamic_typesupport::DynamicSerializationSupport
+ *   - rclcpp/dynamic_typesupport/dynamic_message.hpp
+ *   - rclcpp/dynamic_typesupport/dynamic_message_type.hpp
+ *   - rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp
+ *   - rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp
+ * - Dynamic typesupport
+ *   - rclcpp::dynamic_typesupport::DynamicMessageTypeSupport
+ *   - rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp
+ * - Dynamic subscription
+ *   - rclcpp::DynamicSubscription
+ *   - rclcpp/dynamic_subscription.hpp
  * - Generic publisher
  *   - rclcpp::Node::create_generic_publisher()
  *   - rclcpp::GenericPublisher
@@ -167,4 +182,6 @@
 #include "rclcpp/waitable.hpp"
 #include "rclcpp/wait_set.hpp"
 
+#include "rclcpp/dynamic_subscription.hpp"
+
 #endif  // RCLCPP__RCLCPP_HPP_

rclcpp/include/rclcpp/scope_exit.hpp

@@ -1,56 +0,0 @@
-// Copyright 2015 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.
-
-// Based on: http://the-witness.net/news/2012/11/scopeexit-in-c11/
-// But I changed the lambda to include by reference rather than value, see:
-// http://the-witness.net/news/2012/11/scopeexit-in-c11/comment-page-1/#comment-86873
-
-#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"
-
-namespace rclcpp
-{
-
-template<typename Callable>
-struct ScopeExit
-{
-  explicit ScopeExit(Callable callable)
-  : callable_(callable) {}
-  ~ScopeExit() {callable_();}
-
-private:
-  Callable callable_;
-};
-
-template<typename Callable>
-ScopeExit<Callable>
-make_scope_exit(Callable callable)
-{
-  return ScopeExit<Callable>(callable);
-}
-
-}  // namespace rclcpp
-
-#define RCLCPP_SCOPE_EXIT(code) \
-  auto RCLCPP_STRING_JOIN(scope_exit_, __LINE__) = rclcpp::make_scope_exit([&]() {code;})
-
-#endif  // RCLCPP__SCOPE_EXIT_HPP_

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -17,6 +17,7 @@
 
 #include <memory>
 #include <vector>
+#include <utility>
 
 #include "rcl/allocator.h"
 
@@ -120,8 +121,8 @@ public:
       }
     }
     for (size_t i = 0; i < waitable_handles_.size(); ++i) {
-      if (!waitable_handles_[i]->is_ready(wait_set)) {
-        waitable_handles_[i].reset();
+      if (waitable_handles_[i]->is_ready(wait_set)) {
+        waitable_triggered_handles_.emplace_back(std::move(waitable_handles_[i]));
       }
     }
 
@@ -145,10 +146,7 @@ public:
       timer_handles_.end()
     );
 
-    waitable_handles_.erase(
-      std::remove(waitable_handles_.begin(), waitable_handles_.end(), nullptr),
-      waitable_handles_.end()
-    );
+    waitable_handles_.clear();
   }
 
   bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
@@ -392,8 +390,9 @@ public:
     rclcpp::AnyExecutable & any_exec,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
   {
-    auto it = waitable_handles_.begin();
-    while (it != waitable_handles_.end()) {
+    auto & waitable_handles = waitable_triggered_handles_;
+    auto it = waitable_handles.begin();
+    while (it != waitable_handles.end()) {
       std::shared_ptr<Waitable> & waitable = *it;
       if (waitable) {
         // Find the group for this handle and see if it can be serviced
@@ -401,7 +400,7 @@ public:
         if (!group) {
           // Group was not found, meaning the waitable is not valid...
           // Remove it from the ready list and continue looking
-          it = waitable_handles_.erase(it);
+          it = waitable_handles.erase(it);
           continue;
         }
         if (!group->can_be_taken_from().load()) {
@@ -414,11 +413,11 @@ public:
         any_exec.waitable = waitable;
         any_exec.callback_group = group;
         any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
-        waitable_handles_.erase(it);
+        waitable_handles.erase(it);
         return;
       }
       // Else, the waitable is no longer valid, remove it and continue
-      it = waitable_handles_.erase(it);
+      it = waitable_handles.erase(it);
     }
   }
 
@@ -499,6 +498,8 @@ private:
   VectorRebind<std::shared_ptr<const rcl_timer_t>> timer_handles_;
   VectorRebind<std::shared_ptr<Waitable>> waitable_handles_;
 
+  VectorRebind<std::shared_ptr<Waitable>> waitable_triggered_handles_;
+
   std::shared_ptr<VoidAlloc> allocator_;
 };
 

rclcpp/include/rclcpp/subscription.hpp

@@ -144,7 +144,7 @@ public:
       // NOTE(methylDragon): Passing these args separately is necessary for event binding
       options.event_callbacks,
       options.use_default_callbacks,
-      callback.is_serialized_message_callback()),
+      callback.is_serialized_message_callback() ? SubscriptionType::SERIALIZED_MESSAGE : SubscriptionType::ROS_MESSAGE),  // NOLINT
     any_callback_(callback),
     options_(options),
     message_memory_strategy_(message_memory_strategy)
@@ -388,6 +388,57 @@ public:
     return any_callback_.use_take_shared_method();
   }
 
+  // DYNAMIC TYPE ==================================================================================
+  // TODO(methylDragon): Reorder later
+  // TODO(methylDragon): Implement later...
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
+  get_shared_dynamic_message_type() override
+  {
+    throw rclcpp::exceptions::UnimplementedError(
+            "get_shared_dynamic_message_type is not implemented for Subscription");
+  }
+
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+  get_shared_dynamic_message() override
+  {
+    throw rclcpp::exceptions::UnimplementedError(
+            "get_shared_dynamic_message is not implemented for Subscription");
+  }
+
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support() override
+  {
+    throw rclcpp::exceptions::UnimplementedError(
+            "get_shared_dynamic_serialization_support is not implemented for Subscription");
+  }
+
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+  create_dynamic_message() override
+  {
+    throw rclcpp::exceptions::UnimplementedError(
+            "create_dynamic_message is not implemented for Subscription");
+  }
+
+  void
+  return_dynamic_message(
+    rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) override
+  {
+    (void) message;
+    throw rclcpp::exceptions::UnimplementedError(
+            "return_dynamic_message is not implemented for Subscription");
+  }
+
+  void
+  handle_dynamic_message(
+    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+    const rclcpp::MessageInfo & message_info) override
+  {
+    (void) message;
+    (void) message_info;
+    throw rclcpp::exceptions::UnimplementedError(
+            "handle_dynamic_message is not implemented for Subscription");
+  }
+
 private:
   RCLCPP_DISABLE_COPY(Subscription)
 

rclcpp/include/rclcpp/subscription_base.hpp

@@ -31,13 +31,16 @@
 
 #include "rclcpp/any_subscription_callback.hpp"
 #include "rclcpp/detail/cpp_callback_trampoline.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.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/event_handler.hpp"
 #include "rclcpp/serialized_message.hpp"
 #include "rclcpp/subscription_content_filter_options.hpp"
 #include "rclcpp/type_support_decl.hpp"
@@ -60,6 +63,14 @@ namespace experimental
 class IntraProcessManager;
 }  // namespace experimental
 
+enum class SubscriptionType : uint8_t
+{
+  ROS_MESSAGE = 1,  // take message as ROS message and handle as ROS message
+  SERIALIZED_MESSAGE = 2,  // take message as serialized and handle as serialized
+  DYNAMIC_MESSAGE_DIRECT = 3,  // take message as DynamicMessage and handle as DynamicMessage
+  DYNAMIC_MESSAGE_FROM_SERIALIZED = 4  // take message as serialized and handle as DynamicMessage
+};
+
 /// Virtual base class for subscriptions. This pattern allows us to iterate over different template
 /// specializations of Subscription, among other things.
 class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
@@ -76,7 +87,7 @@ public:
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] subscription_options Options for the subscription.
-   * \param[in] is_serialized is true if the message will be delivered still serialized
+   * \param[in] subscription_type Enum flag to change how the message will be received and delivered
    */
   RCLCPP_PUBLIC
   SubscriptionBase(
@@ -86,7 +97,7 @@ public:
     const rcl_subscription_options_t & subscription_options,
     const SubscriptionEventCallbacks & event_callbacks,
     bool use_default_callbacks,
-    bool is_serialized = false);
+    SubscriptionType subscription_type = SubscriptionType::ROS_MESSAGE);
 
   /// Destructor.
   RCLCPP_PUBLIC
@@ -115,7 +126,7 @@ public:
   /** \return The map of QoS event handlers. */
   RCLCPP_PUBLIC
   const
-  std::unordered_map<rcl_subscription_event_type_t, std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
+  std::unordered_map<rcl_subscription_event_type_t, std::shared_ptr<rclcpp::EventHandlerBase>> &
   get_event_handlers() const;
 
   /// Get the actual QoS settings, after the defaults have been determined.
@@ -227,13 +238,13 @@ public:
   const rosidl_message_type_support_t &
   get_message_type_support_handle() const;
 
-  /// Return if the subscription is serialized
+  /// Return the type of the subscription.
   /**
-   * \return `true` if the subscription is serialized, `false` otherwise
+   * \return `SubscriptionType`, which adjusts how messages are received and delivered.
    */
   RCLCPP_PUBLIC
-  bool
-  is_serialized() const;
+  SubscriptionType
+  get_subscription_type() const;
 
   /// Get matching publisher count.
   /** \return The number of publishers on this topic. */
@@ -457,7 +468,7 @@ public:
    * 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
+   * \sa rclcpp::EventHandlerBase::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
@@ -535,6 +546,49 @@ public:
   rclcpp::ContentFilterOptions
   get_content_filter() const;
 
+  // DYNAMIC TYPE ==================================================================================
+  // TODO(methylDragon): Reorder later
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
+  get_shared_dynamic_message_type() = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+  get_shared_dynamic_message() = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support() = 0;
+
+  /// Borrow a new serialized message (this clones!)
+  /** \return Shared pointer to a rclcpp::dynamic_typesupport::DynamicMessage. */
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+  create_dynamic_message() = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  return_dynamic_message(rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  handle_dynamic_message(
+    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+    const rclcpp::MessageInfo & message_info) = 0;
+
+  RCLCPP_PUBLIC
+  bool
+  take_dynamic_message(
+    rclcpp::dynamic_typesupport::DynamicMessage & message_out,
+    rclcpp::MessageInfo & message_info_out);
+  // ===============================================================================================
+
 protected:
   template<typename EventCallbackT>
   void
@@ -542,7 +596,7 @@ protected:
     const EventCallbackT & callback,
     const rcl_subscription_event_type_t event_type)
   {
-    auto handler = std::make_shared<QOSEventHandler<EventCallbackT,
+    auto handler = std::make_shared<EventHandler<EventCallbackT,
         std::shared_ptr<rcl_subscription_t>>>(
       callback,
       rcl_subscription_event_init,
@@ -555,6 +609,9 @@ protected:
   RCLCPP_PUBLIC
   void default_incompatible_qos_callback(QOSRequestedIncompatibleQoSInfo & info) const;
 
+  RCLCPP_PUBLIC
+  void default_incompatible_type_callback(IncompatibleTypeInfo & info) const;
+
   RCLCPP_PUBLIC
   bool
   matches_any_intra_process_publishers(const rmw_gid_t * sender_gid) const;
@@ -565,13 +622,17 @@ protected:
 
   rclcpp::node_interfaces::NodeBaseInterface * const node_base_;
 
+  // TODO(methylDragon): Remove if we don't need this
+  // rclcpp::node_interfaces::NodeGraphInterface * const node_graph_;
+  // rclcpp::node_interfaces::NodeServicesInterface * const node_services_;
+
   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::shared_ptr<rclcpp::EventHandlerBase>> event_handlers_;
 
   bool use_intra_process_;
   IntraProcessManagerWeakPtr weak_ipm_;
@@ -584,11 +645,11 @@ private:
   RCLCPP_DISABLE_COPY(SubscriptionBase)
 
   rosidl_message_type_support_t type_support_;
-  bool is_serialized_;
+  SubscriptionType subscription_type_;
 
   std::atomic<bool> subscription_in_use_by_wait_set_{false};
   std::atomic<bool> intra_process_subscription_waitable_in_use_by_wait_set_{false};
-  std::unordered_map<rclcpp::QOSEventHandlerBase *,
+  std::unordered_map<rclcpp::EventHandlerBase *,
     std::atomic<bool>> qos_events_in_use_by_wait_set_;
 
   std::recursive_mutex callback_mutex_;

rclcpp/include/rclcpp/subscription_options.hpp

@@ -26,7 +26,7 @@
 #include "rclcpp/intra_process_buffer_type.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/qos_event.hpp"
+#include "rclcpp/event_handler.hpp"
 #include "rclcpp/qos_overriding_options.hpp"
 #include "rclcpp/subscription_content_filter_options.hpp"
 #include "rclcpp/topic_statistics_state.hpp"

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -516,7 +516,7 @@ public:
    * the waitable to be removed, but it will cause the associated entity pointer
    * to be nullptr when introspecting this waitable after waiting.
    *
-   * Note that rclcpp::QOSEventHandlerBase are just a special case of
+   * Note that rclcpp::EventHandlerBase is just a special case of
    * rclcpp::Waitable and can be added with this function.
    *
    * \param[in] waitable Waitable to be added.

rclcpp/package.xml

@@ -39,6 +39,7 @@
   <depend>rcpputils</depend>
   <depend>rcutils</depend>
   <depend>rmw</depend>
+  <depend>rosidl_dynamic_typesupport</depend>
   <depend>statistics_msgs</depend>
   <depend>tracetools</depend>
 

rclcpp/src/rclcpp/context.cpp

@@ -219,7 +219,7 @@ Context::init(
     if (0u == count) {
       ret = rcl_logging_configure_with_output_handler(
         &rcl_context_->global_arguments,
-        rcl_init_options_get_allocator(init_options_.get_rcl_init_options()),
+        rcl_init_options_get_allocator(init_options.get_rcl_init_options()),
         rclcpp_logging_output_handler);
       if (RCL_RET_OK != ret) {
         rcl_context_.reset();

rclcpp/src/rclcpp/dynamic_subscription.cpp

@@ -0,0 +1,113 @@
+// 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.
+
+#include "rclcpp/dynamic_subscription.hpp"
+
+#include <memory>
+#include <string>
+
+#include "rcl/subscription.h"
+
+#include "rclcpp/exceptions.hpp"
+
+namespace rclcpp
+{
+
+std::shared_ptr<void> DynamicSubscription::create_message()
+{
+  return create_serialized_message();
+}
+
+std::shared_ptr<rclcpp::SerializedMessage> DynamicSubscription::create_serialized_message()
+{
+  return std::make_shared<rclcpp::SerializedMessage>(0);
+}
+
+void DynamicSubscription::handle_message(std::shared_ptr<void> &, const rclcpp::MessageInfo &)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "handle_message is not implemented for DynamicSubscription");
+}
+
+void DynamicSubscription::handle_serialized_message(
+  const std::shared_ptr<rclcpp::SerializedMessage> &, const rclcpp::MessageInfo &)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "handle_serialized_message is not implemented for DynamicSubscription");
+}
+
+void DynamicSubscription::handle_loaned_message(void *, const rclcpp::MessageInfo &)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "handle_loaned_message is not implemented for DynamicSubscription");
+}
+
+void DynamicSubscription::return_message(std::shared_ptr<void> & message)
+{
+  auto typed_message = std::static_pointer_cast<rclcpp::SerializedMessage>(message);
+  return_serialized_message(typed_message);
+}
+
+void DynamicSubscription::return_serialized_message(
+  std::shared_ptr<rclcpp::SerializedMessage> & message)
+{
+  message.reset();
+}
+
+
+// DYNAMIC TYPE ====================================================================================
+// TODO(methylDragon): Re-order later
+
+// Does not clone
+rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
+DynamicSubscription::get_shared_dynamic_message_type()
+{
+  return dynamic_message_type_;
+}
+
+// Does not clone
+rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+DynamicSubscription::get_shared_dynamic_message()
+{
+  return dynamic_message_;
+}
+
+rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+DynamicSubscription::get_shared_dynamic_serialization_support()
+{
+  return serialization_support_;
+}
+
+rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+DynamicSubscription::create_dynamic_message()
+{
+  return dynamic_message_->init_from_type_shared(*dynamic_message_type_);
+}
+
+void
+DynamicSubscription::return_dynamic_message(
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message)
+{
+  message.reset();
+}
+
+void DynamicSubscription::handle_dynamic_message(
+  const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+  const rclcpp::MessageInfo & message_info)
+{
+  (void) message_info;
+  callback_(message, ts_->get_rosidl_runtime_c_type_description());
+}
+
+}  // namespace rclcpp

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message.cpp

@@ -0,0 +1,769 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rosidl_dynamic_typesupport/api/dynamic_type.h>
+#include <rosidl_dynamic_typesupport/api/dynamic_data.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rcl/allocator.h"
+#include "rcl/types.h"
+#include "rcutils/logging_macros.h"
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/exceptions.hpp"
+
+
+using rclcpp::dynamic_typesupport::DynamicMessage;
+using rclcpp::dynamic_typesupport::DynamicMessageType;
+using rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder;
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_IMPL_HPP_
+// Template specialization implementations
+#include "rclcpp/dynamic_typesupport/detail/dynamic_message_impl.hpp"
+#endif
+
+
+// CONSTRUCTION ==================================================================================
+DynamicMessage::DynamicMessage(const DynamicMessageTypeBuilder::SharedPtr dynamic_type_builder)
+: DynamicMessage::DynamicMessage(
+    dynamic_type_builder, dynamic_type_builder->get_rosidl_dynamic_type_builder().allocator) {}
+
+
+DynamicMessage::DynamicMessage(
+  const DynamicMessageTypeBuilder::SharedPtr dynamic_type_builder,
+  rcl_allocator_t allocator)
+: serialization_support_(dynamic_type_builder->get_shared_dynamic_serialization_support()),
+  rosidl_dynamic_data_(rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data()),
+  is_loaned_(false),
+  parent_data_(nullptr)
+{
+  if (!serialization_support_) {
+    throw std::runtime_error("dynamic message could not bind serialization support!");
+  }
+  if (!dynamic_type_builder) {
+    throw std::runtime_error("dynamic message type builder cannot be nullptr!");
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    dynamic_type_builder->get_rosidl_dynamic_type_builder();
+
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type_builder(
+    &rosidl_dynamic_type_builder, &allocator, &get_rosidl_dynamic_data());
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic data object from dynamic type builder");
+  }
+}
+
+
+DynamicMessage::DynamicMessage(const DynamicMessageType::SharedPtr dynamic_type)
+: DynamicMessage::DynamicMessage(
+    dynamic_type, dynamic_type->get_rosidl_dynamic_type().allocator) {}
+
+
+DynamicMessage::DynamicMessage(
+  const DynamicMessageType::SharedPtr dynamic_type,
+  rcl_allocator_t allocator)
+: serialization_support_(dynamic_type->get_shared_dynamic_serialization_support()),
+  rosidl_dynamic_data_(rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data()),
+  is_loaned_(false),
+  parent_data_(nullptr)
+{
+  if (!serialization_support_) {
+    throw std::runtime_error("dynamic type could not bind serialization support!");
+  }
+  if (!dynamic_type) {
+    throw std::runtime_error("dynamic message type cannot be nullptr!");
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type =
+    dynamic_type->get_rosidl_dynamic_type();
+
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type(
+    &rosidl_dynamic_type, &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not init new dynamic data object from dynamic type") +
+            rcl_get_error_string().str);
+  }
+}
+
+
+DynamicMessage::DynamicMessage(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  rosidl_dynamic_typesupport_dynamic_data_t && rosidl_dynamic_data)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_data_(std::move(rosidl_dynamic_data)),
+  is_loaned_(false),
+  parent_data_(nullptr)
+{
+  if (serialization_support) {
+    if (!match_serialization_support_(*serialization_support, rosidl_dynamic_data)) {
+      throw std::runtime_error(
+              "serialization support library identifier does not match dynamic data's!");
+    }
+  }
+}
+
+
+DynamicMessage::DynamicMessage(
+  DynamicMessage::SharedPtr parent_data,
+  rosidl_dynamic_typesupport_dynamic_data_t && rosidl_loaned_data)
+: serialization_support_(parent_data->get_shared_dynamic_serialization_support()),
+  rosidl_dynamic_data_(std::move(rosidl_loaned_data)),
+  is_loaned_(true),
+  parent_data_(nullptr)
+{
+  if (!parent_data) {
+    throw std::runtime_error("parent dynamic data cannot be nullptr!");
+  }
+  if (serialization_support_) {
+    if (!match_serialization_support_(*serialization_support_, rosidl_loaned_data)) {
+      throw std::runtime_error(
+              "serialization support library identifier does not match loaned dynamic data's!");
+    }
+  }
+  parent_data_ = parent_data;
+}
+
+
+DynamicMessage::DynamicMessage(DynamicMessage && other) noexcept
+: serialization_support_(std::exchange(other.serialization_support_, nullptr)),
+  rosidl_dynamic_data_(std::exchange(
+      other.rosidl_dynamic_data_,
+      rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data())),
+  is_loaned_(other.is_loaned_),
+  parent_data_(std::exchange(other.parent_data_, nullptr))
+{}
+
+
+DynamicMessage &
+DynamicMessage::operator=(DynamicMessage && other) noexcept
+{
+  std::swap(serialization_support_, other.serialization_support_);
+  std::swap(rosidl_dynamic_data_, other.rosidl_dynamic_data_);
+  is_loaned_ = other.is_loaned_;
+  std::swap(parent_data_, other.parent_data_);
+  return *this;
+}
+
+
+DynamicMessage::~DynamicMessage()
+{
+  if (!is_loaned_) {
+    if (rosidl_dynamic_typesupport_dynamic_data_fini(&get_rosidl_dynamic_data()) !=
+      RCUTILS_RET_OK)
+    {
+      RCUTILS_LOG_ERROR("could not fini rosidl dynamic data");
+    }
+    return;
+  }
+
+  // Loaned case
+  if (!parent_data_) {
+    RCUTILS_LOG_ERROR("dynamic data is loaned, but parent is missing!!");
+  } else {
+    rosidl_dynamic_typesupport_dynamic_data_return_loaned_value(
+      &parent_data_->get_rosidl_dynamic_data(), &get_rosidl_dynamic_data());
+  }
+}
+
+
+bool
+DynamicMessage::match_serialization_support_(
+  const DynamicSerializationSupport & serialization_support,
+  const rosidl_dynamic_typesupport_dynamic_data_t & rosidl_dynamic_type_data)
+{
+  if (serialization_support.get_serialization_library_identifier() != std::string(
+      rosidl_dynamic_type_data.serialization_support->serialization_library_identifier))
+  {
+    RCUTILS_LOG_ERROR("serialization support library identifier does not match dynamic data's");
+    return false;
+  }
+  return true;
+}
+
+
+// GETTERS =======================================================================================
+const std::string
+DynamicMessage::get_serialization_library_identifier() const
+{
+  return std::string(
+    get_rosidl_dynamic_data().serialization_support->serialization_library_identifier);
+}
+
+
+const std::string
+DynamicMessage::get_name() const
+{
+  size_t buf_length;
+  const char * buf;
+  if (
+    rosidl_dynamic_typesupport_dynamic_data_get_name(
+      &get_rosidl_dynamic_data(), &buf,
+      &buf_length) !=
+    RCUTILS_RET_OK)
+  {
+    throw std::runtime_error(
+            std::string("could not get name for dynamic data") + rcl_get_error_string().str);
+  }
+  return std::string(buf, buf_length);
+}
+
+
+rosidl_dynamic_typesupport_dynamic_data_t &
+DynamicMessage::get_rosidl_dynamic_data()
+{
+  return rosidl_dynamic_data_;
+}
+
+
+const rosidl_dynamic_typesupport_dynamic_data_t &
+DynamicMessage::get_rosidl_dynamic_data() const
+{
+  return rosidl_dynamic_data_;
+}
+
+
+DynamicSerializationSupport::SharedPtr
+DynamicMessage::get_shared_dynamic_serialization_support()
+{
+  return serialization_support_;
+}
+
+
+DynamicSerializationSupport::ConstSharedPtr
+DynamicMessage::get_shared_dynamic_serialization_support() const
+{
+  return serialization_support_;
+}
+
+
+size_t
+DynamicMessage::get_item_count() const
+{
+  size_t item_count;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_get_item_count(
+    &get_rosidl_dynamic_data(), &item_count);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not get item count of dynamic data");
+  }
+  return item_count;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::get_member_id(size_t index) const
+{
+  rosidl_dynamic_typesupport_member_id_t member_id;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_get_member_id_at_index(
+    &get_rosidl_dynamic_data(), index, &member_id);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not member id of dynamic data element by index");
+  }
+  return member_id;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::get_member_id(const std::string & name) const
+{
+  rosidl_dynamic_typesupport_member_id_t member_id;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_get_member_id_by_name(
+    &get_rosidl_dynamic_data(), name.c_str(), name.size(), &member_id);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not member id of dynamic data element by name");
+  }
+  return member_id;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::get_array_index(size_t index) const
+{
+  rosidl_dynamic_typesupport_member_id_t array_index;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_get_array_index(
+    &get_rosidl_dynamic_data(), index, &array_index);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not array index of dynamic data element by index");
+  }
+  return array_index;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::get_array_index(const std::string & name) const
+{
+  return get_array_index(get_member_id(name));
+}
+
+
+// METHODS =======================================================================================
+DynamicMessage
+DynamicMessage::clone(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_clone(
+    &get_rosidl_dynamic_data(), &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic data: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessage(get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_data));
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::clone_shared(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_clone(
+    &get_rosidl_dynamic_data(), &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic data: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessage::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_data));
+}
+
+
+DynamicMessage
+DynamicMessage::init_from_type(DynamicMessageType & type, rcl_allocator_t allocator) const
+{
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type(
+    &type.get_rosidl_dynamic_type(), &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic data object from dynamic type");
+  }
+  return DynamicMessage(serialization_support_, std::move(rosidl_dynamic_data));
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::init_from_type_shared(DynamicMessageType & type, rcl_allocator_t allocator) const
+{
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type(
+    &type.get_rosidl_dynamic_type(), &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic data object from dynamic type");
+  }
+  return DynamicMessage::make_shared(serialization_support_, std::move(rosidl_dynamic_data));
+}
+
+
+bool
+DynamicMessage::equals(const DynamicMessage & other) const
+{
+  if (get_serialization_library_identifier() != other.get_serialization_library_identifier()) {
+    throw std::runtime_error("library identifiers don't match");
+  }
+  bool equals;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_equals(
+    &get_rosidl_dynamic_data(), &other.get_rosidl_dynamic_data(), &equals);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not equate dynamic messages");
+  }
+  return equals;
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::loan_value(
+  rosidl_dynamic_typesupport_member_id_t id,
+  rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_loan_value(
+    &get_rosidl_dynamic_data(), id, &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not loan dynamic data: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessage::make_shared(shared_from_this(), std::move(rosidl_dynamic_data));
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::loan_value(const std::string & name, rcl_allocator_t allocator)
+{
+  return loan_value(get_member_id(name), allocator);
+}
+
+
+void
+DynamicMessage::clear_all_values()
+{
+  rosidl_dynamic_typesupport_dynamic_data_clear_all_values(&get_rosidl_dynamic_data());
+}
+
+
+void
+DynamicMessage::clear_nonkey_values()
+{
+  rosidl_dynamic_typesupport_dynamic_data_clear_nonkey_values(&get_rosidl_dynamic_data());
+}
+
+
+void
+DynamicMessage::clear_value(rosidl_dynamic_typesupport_member_id_t id)
+{
+  rosidl_dynamic_typesupport_dynamic_data_clear_value(&get_rosidl_dynamic_data(), id);
+}
+
+
+void
+DynamicMessage::clear_value(const std::string & name)
+{
+  clear_value(get_member_id(name));
+}
+
+
+void
+DynamicMessage::clear_sequence()
+{
+  rosidl_dynamic_typesupport_dynamic_data_clear_sequence_data(&get_rosidl_dynamic_data());
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_sequence_data()
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_sequence_data(&get_rosidl_dynamic_data(), &out);
+  return out;
+}
+
+
+void
+DynamicMessage::remove_sequence_data(rosidl_dynamic_typesupport_member_id_t index)
+{
+  rosidl_dynamic_typesupport_dynamic_data_remove_sequence_data(
+    &get_rosidl_dynamic_data(), index);
+}
+
+
+bool
+DynamicMessage::serialize(rcl_serialized_message_t & buffer)
+{
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_serialize(
+    &get_rosidl_dynamic_data(), &buffer);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could serialize loan dynamic data: ") + rcl_get_error_string().str);
+  }
+  return true;
+}
+
+
+bool
+DynamicMessage::deserialize(rcl_serialized_message_t & buffer)
+{
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_deserialize(
+    &get_rosidl_dynamic_data(), &buffer);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could deserialize loan dynamic data: ") + rcl_get_error_string().str);
+  }
+  return true;
+}
+
+
+// MEMBER ACCESS ===================================================================================
+// Defined in "detail/dynamic_message_impl.hpp"
+
+
+// FIXED STRING MEMBER ACCESS ======================================================================
+const std::string
+DynamicMessage::get_fixed_string_value(
+  rosidl_dynamic_typesupport_member_id_t id, size_t string_length)
+{
+  size_t buf_length;
+  char * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_fixed_string_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length, string_length);
+  auto out = std::string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+const std::string
+DynamicMessage::get_fixed_string_value(const std::string & name, size_t string_length)
+{
+  return get_fixed_string_value(get_member_id(name), string_length);
+}
+
+
+const std::u16string
+DynamicMessage::get_fixed_wstring_value(
+  rosidl_dynamic_typesupport_member_id_t id, size_t wstring_length)
+{
+  size_t buf_length;
+  char16_t * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_fixed_wstring_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length, wstring_length);
+  auto out = std::u16string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+const std::u16string
+DynamicMessage::get_fixed_wstring_value(const std::string & name, size_t wstring_length)
+{
+  return get_fixed_wstring_value(get_member_id(name), wstring_length);
+}
+
+
+void
+DynamicMessage::set_fixed_string_value(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string value, size_t string_length)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_fixed_string_value(
+    &get_rosidl_dynamic_data(), id, value.c_str(), value.size(), string_length);
+}
+
+
+void
+DynamicMessage::set_fixed_string_value(
+  const std::string & name, const std::string value, size_t string_length)
+{
+  set_fixed_string_value(get_member_id(name), value, string_length);
+}
+
+
+void
+DynamicMessage::set_fixed_wstring_value(
+  rosidl_dynamic_typesupport_member_id_t id, const std::u16string value, size_t wstring_length)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_fixed_wstring_value(
+    &get_rosidl_dynamic_data(), id, value.c_str(), value.size(), wstring_length);
+}
+
+
+void
+DynamicMessage::set_fixed_wstring_value(
+  const std::string & name, const std::u16string value, size_t wstring_length)
+{
+  set_fixed_wstring_value(get_member_id(name), value, wstring_length);
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_fixed_string_value(const std::string value, size_t string_length)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_fixed_string_value(
+    &get_rosidl_dynamic_data(), value.c_str(), value.size(), string_length, &out);
+  return out;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_fixed_wstring_value(const std::u16string value, size_t wstring_length)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_fixed_wstring_value(
+    &get_rosidl_dynamic_data(), value.c_str(), value.size(), wstring_length, &out);
+  return out;
+}
+
+
+// BOUNDED STRING MEMBER ACCESS ====================================================================
+const std::string
+DynamicMessage::get_bounded_string_value(
+  rosidl_dynamic_typesupport_member_id_t id, size_t string_bound)
+{
+  size_t buf_length;
+  char * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_bounded_string_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length, string_bound);
+  auto out = std::string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+const std::string
+DynamicMessage::get_bounded_string_value(const std::string & name, size_t string_bound)
+{
+  return get_bounded_string_value(get_member_id(name), string_bound);
+}
+
+
+const std::u16string
+DynamicMessage::get_bounded_wstring_value(
+  rosidl_dynamic_typesupport_member_id_t id, size_t wstring_bound)
+{
+  size_t buf_length;
+  char16_t * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_bounded_wstring_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length, wstring_bound);
+  auto out = std::u16string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+const std::u16string
+DynamicMessage::get_bounded_wstring_value(const std::string & name, size_t wstring_bound)
+{
+  return get_bounded_wstring_value(get_member_id(name), wstring_bound);
+}
+
+
+void
+DynamicMessage::set_bounded_string_value(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string value, size_t string_bound)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_bounded_string_value(
+    &get_rosidl_dynamic_data(), id, value.c_str(), value.size(), string_bound);
+}
+
+
+void
+DynamicMessage::set_bounded_string_value(
+  const std::string & name, const std::string value, size_t string_bound)
+{
+  set_bounded_string_value(get_member_id(name), value, string_bound);
+}
+
+
+void
+DynamicMessage::set_bounded_wstring_value(
+  rosidl_dynamic_typesupport_member_id_t id, const std::u16string value, size_t wstring_bound)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_bounded_wstring_value(
+    &get_rosidl_dynamic_data(), id, value.c_str(), value.size(), wstring_bound);
+}
+
+
+void
+DynamicMessage::set_bounded_wstring_value(
+  const std::string & name, const std::u16string value, size_t wstring_bound)
+{
+  set_bounded_wstring_value(get_member_id(name), value, wstring_bound);
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_bounded_string_value(const std::string value, size_t string_bound)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_bounded_string_value(
+    &get_rosidl_dynamic_data(), value.c_str(), value.size(), string_bound, &out);
+  return out;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_bounded_wstring_value(const std::u16string value, size_t wstring_bound)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_bounded_wstring_value(
+    &get_rosidl_dynamic_data(), value.c_str(), value.size(), wstring_bound, &out);
+  return out;
+}
+
+
+// NESTED MEMBER ACCESS ============================================================================
+DynamicMessage
+DynamicMessage::get_complex_value(
+  rosidl_dynamic_typesupport_member_id_t id, rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_data_t out =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rosidl_dynamic_typesupport_dynamic_data_get_complex_value(
+    &get_rosidl_dynamic_data(), id, &allocator, &out);
+  return DynamicMessage(get_shared_dynamic_serialization_support(), std::move(out));
+}
+
+
+DynamicMessage
+DynamicMessage::get_complex_value(const std::string & name, rcl_allocator_t allocator)
+{
+  return get_complex_value(get_member_id(name), allocator);
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::get_complex_value_shared(
+  rosidl_dynamic_typesupport_member_id_t id, rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_data_t out =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rosidl_dynamic_typesupport_dynamic_data_get_complex_value(
+    &get_rosidl_dynamic_data(), id, &allocator, &out);
+  return DynamicMessage::make_shared(get_shared_dynamic_serialization_support(), std::move(out));
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::get_complex_value_shared(const std::string & name, rcl_allocator_t allocator)
+{
+  return get_complex_value_shared(get_member_id(name), allocator);
+}
+
+
+void
+DynamicMessage::set_complex_value(
+  rosidl_dynamic_typesupport_member_id_t id, DynamicMessage & value)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_complex_value(
+    &get_rosidl_dynamic_data(), id, &value.get_rosidl_dynamic_data());
+}
+
+
+void
+DynamicMessage::set_complex_value(const std::string & name, DynamicMessage & value)
+{
+  set_complex_value(get_member_id(name), value);
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_complex_value_copy(const DynamicMessage & value)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_complex_value_copy(
+    &get_rosidl_dynamic_data(), &value.get_rosidl_dynamic_data(), &out);
+  return out;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_complex_value(DynamicMessage & value)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_complex_value(
+    &get_rosidl_dynamic_data(), &value.get_rosidl_dynamic_data(), &out);
+  return out;
+}

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type.cpp

@@ -0,0 +1,281 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rosidl_dynamic_typesupport/api/dynamic_data.h>
+#include <rosidl_dynamic_typesupport/api/dynamic_type.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rcutils/logging_macros.h"
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/exceptions.hpp"
+
+
+using rclcpp::dynamic_typesupport::DynamicMessage;
+using rclcpp::dynamic_typesupport::DynamicMessageType;
+using rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder;
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+
+// CONSTRUCTION ====================================================================================
+DynamicMessageType::DynamicMessageType(DynamicMessageTypeBuilder::SharedPtr dynamic_type_builder)
+: DynamicMessageType::DynamicMessageType(
+    dynamic_type_builder, dynamic_type_builder->get_rosidl_dynamic_type_builder().allocator) {}
+
+
+DynamicMessageType::DynamicMessageType(
+  DynamicMessageTypeBuilder::SharedPtr dynamic_type_builder,
+  rcl_allocator_t allocator)
+: serialization_support_(dynamic_type_builder->get_shared_dynamic_serialization_support()),
+  rosidl_dynamic_type_(rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type())
+{
+  if (!serialization_support_) {
+    throw std::runtime_error("dynamic type could not bind serialization support!");
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    dynamic_type_builder->get_rosidl_dynamic_type_builder();
+
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_init_from_dynamic_type_builder(
+    &rosidl_dynamic_type_builder, &allocator, &get_rosidl_dynamic_type());
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic type object");
+  }
+}
+
+
+DynamicMessageType::DynamicMessageType(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  rosidl_dynamic_typesupport_dynamic_type_t && rosidl_dynamic_type)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_type_(std::move(rosidl_dynamic_type))
+{
+  if (serialization_support) {
+    if (!match_serialization_support_(*serialization_support, rosidl_dynamic_type)) {
+      throw std::runtime_error(
+              "serialization support library identifier does not match dynamic type's!");
+    }
+  }
+}
+
+
+DynamicMessageType::DynamicMessageType(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_type_(rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type())
+{
+  init_from_description(description, allocator, serialization_support);
+}
+
+
+DynamicMessageType::DynamicMessageType(DynamicMessageType && other) noexcept
+: serialization_support_(std::exchange(other.serialization_support_, nullptr)),
+  rosidl_dynamic_type_(std::exchange(
+      other.rosidl_dynamic_type_, rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type()))
+{}
+
+
+DynamicMessageType &
+DynamicMessageType::operator=(DynamicMessageType && other) noexcept
+{
+  std::swap(serialization_support_, other.serialization_support_);
+  std::swap(rosidl_dynamic_type_, other.rosidl_dynamic_type_);
+  return *this;
+}
+
+
+DynamicMessageType::~DynamicMessageType()
+{
+  if (rosidl_dynamic_typesupport_dynamic_type_fini(&get_rosidl_dynamic_type()) != RCUTILS_RET_OK) {
+    RCUTILS_LOG_ERROR("could not fini rosidl dynamic type");
+  }
+}
+
+
+void
+DynamicMessageType::init_from_description(
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator,
+  DynamicSerializationSupport::SharedPtr serialization_support)
+{
+  if (serialization_support) {
+    // Swap serialization support if serialization support is given
+    serialization_support_ = serialization_support;
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_init_from_description(
+    &serialization_support_->get_rosidl_serialization_support(),
+    &description,
+    &allocator,
+    &rosidl_dynamic_type);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic type object");
+  }
+
+  rosidl_dynamic_type_ = std::move(rosidl_dynamic_type);
+}
+
+
+bool
+DynamicMessageType::match_serialization_support_(
+  const DynamicSerializationSupport & serialization_support,
+  const rosidl_dynamic_typesupport_dynamic_type_t & rosidl_dynamic_type)
+{
+  if (serialization_support.get_serialization_library_identifier() != std::string(
+      rosidl_dynamic_type.serialization_support->serialization_library_identifier))
+  {
+    RCUTILS_LOG_ERROR(
+      "serialization support library identifier does not match dynamic type's (%s vs %s)",
+      serialization_support.get_serialization_library_identifier().c_str(),
+      rosidl_dynamic_type.serialization_support->serialization_library_identifier);
+    return false;
+  }
+  return true;
+}
+
+
+// GETTERS =========================================================================================
+const std::string
+DynamicMessageType::get_serialization_library_identifier() const
+{
+  return std::string(
+    get_rosidl_dynamic_type().serialization_support->serialization_library_identifier);
+}
+
+
+const std::string
+DynamicMessageType::get_name() const
+{
+  size_t buf_length;
+  const char * buf;
+  rosidl_dynamic_typesupport_dynamic_type_get_name(&get_rosidl_dynamic_type(), &buf, &buf_length);
+  return std::string(buf, buf_length);
+}
+
+
+size_t
+DynamicMessageType::get_member_count() const
+{
+  size_t out;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_get_member_count(
+    &get_rosidl_dynamic_type(), &out);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not get member count: ") + rcl_get_error_string().str);
+  }
+  return out;
+}
+
+
+rosidl_dynamic_typesupport_dynamic_type_t &
+DynamicMessageType::get_rosidl_dynamic_type()
+{
+  return rosidl_dynamic_type_;
+}
+
+
+const rosidl_dynamic_typesupport_dynamic_type_t &
+DynamicMessageType::get_rosidl_dynamic_type() const
+{
+  return rosidl_dynamic_type_;
+}
+
+
+DynamicSerializationSupport::SharedPtr
+DynamicMessageType::get_shared_dynamic_serialization_support()
+{
+  return serialization_support_;
+}
+
+
+DynamicSerializationSupport::ConstSharedPtr
+DynamicMessageType::get_shared_dynamic_serialization_support() const
+{
+  return serialization_support_;
+}
+
+
+// METHODS =========================================================================================
+DynamicMessageType
+DynamicMessageType::clone(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_clone(
+    &get_rosidl_dynamic_type(), &allocator, &rosidl_dynamic_type);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic type: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessageType(
+    get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_type));
+}
+
+
+DynamicMessageType::SharedPtr
+DynamicMessageType::clone_shared(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_clone(
+    &get_rosidl_dynamic_type(), &allocator, &rosidl_dynamic_type);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic type: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessageType::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_type));
+}
+
+
+bool
+DynamicMessageType::equals(const DynamicMessageType & other) const
+{
+  if (get_serialization_library_identifier() != other.get_serialization_library_identifier()) {
+    throw std::runtime_error("library identifiers don't match");
+  }
+  bool out;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_equals(
+    &get_rosidl_dynamic_type(), &other.get_rosidl_dynamic_type(), &out);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not equate dynamic message types: ") + rcl_get_error_string().str);
+  }
+  return out;
+}
+
+
+DynamicMessage
+DynamicMessageType::build_dynamic_message(rcl_allocator_t allocator)
+{
+  return DynamicMessage(shared_from_this(), allocator);
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessageType::build_dynamic_message_shared(rcl_allocator_t allocator)
+{
+  return DynamicMessage::make_shared(shared_from_this(), allocator);
+}

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_builder.cpp

@@ -0,0 +1,614 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rosidl_dynamic_typesupport/api/dynamic_data.h>
+#include <rosidl_dynamic_typesupport/api/dynamic_type.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rcutils/logging_macros.h"
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/exceptions.hpp"
+
+using rclcpp::dynamic_typesupport::DynamicMessage;
+using rclcpp::dynamic_typesupport::DynamicMessageType;
+using rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder;
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_TYPE_BUILDER_IMPL_HPP_
+// Template specialization implementations
+#include "rclcpp/dynamic_typesupport/detail/dynamic_message_type_builder_impl.hpp"
+#endif
+
+// CONSTRUCTION ====================================================================================
+DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
+  DynamicSerializationSupport::SharedPtr serialization_support, const std::string & name)
+: DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
+    serialization_support,
+    name,
+    serialization_support->get_rosidl_serialization_support().allocator) {}
+
+
+DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  const std::string & name,
+  rcl_allocator_t allocator)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_type_builder_(
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder())
+{
+  init_from_serialization_support_(serialization_support, name, allocator);
+}
+
+
+DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  rosidl_dynamic_typesupport_dynamic_type_builder_t && rosidl_dynamic_type_builder)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_type_builder_(
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder())
+{
+  if (!serialization_support) {
+    throw std::runtime_error("serialization support cannot be nullptr!");
+  }
+  if (!match_serialization_support_(*serialization_support, rosidl_dynamic_type_builder)) {
+    throw std::runtime_error(
+            "serialization support library does not match dynamic type builder's!");
+  }
+}
+
+
+DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_type_builder_(
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder())
+{
+  if (!serialization_support) {
+    throw std::runtime_error("serialization support cannot be nullptr!");
+  }
+  init_from_description(description, allocator, serialization_support);
+}
+
+
+DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(DynamicMessageTypeBuilder && other) noexcept
+: serialization_support_(std::exchange(other.serialization_support_, nullptr)),
+  rosidl_dynamic_type_builder_(std::exchange(
+      other.rosidl_dynamic_type_builder_,
+      rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder())) {}
+
+
+DynamicMessageTypeBuilder &
+DynamicMessageTypeBuilder::operator=(DynamicMessageTypeBuilder && other) noexcept
+{
+  std::swap(serialization_support_, other.serialization_support_);
+  std::swap(rosidl_dynamic_type_builder_, other.rosidl_dynamic_type_builder_);
+  return *this;
+}
+
+
+DynamicMessageTypeBuilder::~DynamicMessageTypeBuilder()
+{
+  if (rosidl_dynamic_typesupport_dynamic_type_builder_fini(&get_rosidl_dynamic_type_builder()) !=
+    RCUTILS_RET_OK)
+  {
+    RCUTILS_LOG_ERROR("could not fini rosidl dynamic type builder");
+  }
+}
+
+
+void
+DynamicMessageTypeBuilder::init_from_description(
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator,
+  DynamicSerializationSupport::SharedPtr serialization_support)
+{
+  if (serialization_support) {
+    // Swap serialization support if serialization support is given
+    serialization_support_ = serialization_support;
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_init_from_description(
+    &serialization_support_->get_rosidl_serialization_support(),
+    &description,
+    &allocator,
+    &rosidl_dynamic_type_builder);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic type builder object");
+  }
+
+  rosidl_dynamic_type_builder_ = std::move(rosidl_dynamic_type_builder);
+}
+
+
+void
+DynamicMessageTypeBuilder::init_from_serialization_support_(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  const std::string & name,
+  rcl_allocator_t allocator)
+{
+  if (!serialization_support) {
+    throw std::runtime_error("serialization support cannot be nullptr!");
+  }
+  if (!&serialization_support->get_rosidl_serialization_support()) {
+    throw std::runtime_error("serialization support raw pointer cannot be nullptr!");
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_init(
+    &serialization_support->get_rosidl_serialization_support(),
+    name.c_str(), name.size(),
+    &allocator,
+    &rosidl_dynamic_type_builder);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not init dynamic type builder: ") + rcl_get_error_string().str);
+  }
+}
+
+
+bool
+DynamicMessageTypeBuilder::match_serialization_support_(
+  const DynamicSerializationSupport & serialization_support,
+  const rosidl_dynamic_typesupport_dynamic_type_builder_t & rosidl_dynamic_type_builder)
+{
+  if (serialization_support.get_serialization_library_identifier() != std::string(
+      rosidl_dynamic_type_builder.serialization_support->serialization_library_identifier))
+  {
+    RCUTILS_LOG_ERROR(
+      "serialization support library identifier does not match dynamic type builder's");
+    return false;
+  }
+  return true;
+}
+
+
+// GETTERS =======================================================================================
+const std::string
+DynamicMessageTypeBuilder::get_serialization_library_identifier() const
+{
+  return std::string(
+    get_rosidl_dynamic_type_builder().serialization_support->serialization_library_identifier);
+}
+
+
+const std::string
+DynamicMessageTypeBuilder::get_name() const
+{
+  size_t buf_length;
+  const char * buf;
+  rosidl_dynamic_typesupport_dynamic_type_builder_get_name(
+    &get_rosidl_dynamic_type_builder(), &buf, &buf_length);
+  return std::string(buf, buf_length);
+}
+
+
+rosidl_dynamic_typesupport_dynamic_type_builder_t &
+DynamicMessageTypeBuilder::get_rosidl_dynamic_type_builder()
+{
+  return rosidl_dynamic_type_builder_;
+}
+
+
+const rosidl_dynamic_typesupport_dynamic_type_builder_t &
+DynamicMessageTypeBuilder::get_rosidl_dynamic_type_builder() const
+{
+  return rosidl_dynamic_type_builder_;
+}
+
+
+DynamicSerializationSupport::SharedPtr
+DynamicMessageTypeBuilder::get_shared_dynamic_serialization_support()
+{
+  return serialization_support_;
+}
+
+
+DynamicSerializationSupport::ConstSharedPtr
+DynamicMessageTypeBuilder::get_shared_dynamic_serialization_support() const
+{
+  return serialization_support_;
+}
+
+
+// METHODS =======================================================================================
+void
+DynamicMessageTypeBuilder::set_name(const std::string & name)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_set_name(
+    &get_rosidl_dynamic_type_builder(), name.c_str(), name.size());
+}
+
+
+DynamicMessageTypeBuilder
+DynamicMessageTypeBuilder::clone(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_clone(
+    &get_rosidl_dynamic_type_builder(), &allocator, &rosidl_dynamic_type_builder);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic type builder: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessageTypeBuilder(
+    get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_type_builder));
+}
+
+
+DynamicMessageTypeBuilder::SharedPtr
+DynamicMessageTypeBuilder::clone_shared(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_clone(
+    &get_rosidl_dynamic_type_builder(), &allocator, &rosidl_dynamic_type_builder);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic type builder: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessageTypeBuilder::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_type_builder));
+}
+
+
+void
+DynamicMessageTypeBuilder::clear(rcl_allocator_t allocator)
+{
+  if (!serialization_support_) {
+    throw std::runtime_error(
+            "cannot call clear() on a dynamic type builder with uninitialized serialization support"
+    );
+  }
+
+  const std::string & name = get_name();
+  init_from_serialization_support_(serialization_support_, name, allocator);
+}
+
+
+DynamicMessage
+DynamicMessageTypeBuilder::build_dynamic_message(rcl_allocator_t allocator)
+{
+  return DynamicMessage(shared_from_this(), allocator);
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessageTypeBuilder::build_dynamic_message_shared(rcl_allocator_t allocator)
+{
+  return DynamicMessage::make_shared(shared_from_this(), allocator);
+}
+
+
+DynamicMessageType
+DynamicMessageTypeBuilder::build_dynamic_message_type(rcl_allocator_t allocator)
+{
+  return DynamicMessageType(shared_from_this(), allocator);
+}
+
+
+DynamicMessageType::SharedPtr
+DynamicMessageTypeBuilder::build_dynamic_message_type_shared(rcl_allocator_t allocator)
+{
+  return DynamicMessageType::make_shared(shared_from_this(), allocator);
+}
+
+
+// ADD MEMBERS =====================================================================================
+// Defined in "detail/dynamic_message_type_builder_impl.hpp"
+
+
+// ADD FIXED STRING MEMBERS ========================================================================
+void
+DynamicMessageTypeBuilder::add_fixed_string_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_length,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_string_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_wstring_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_length,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_wstring_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_string_array_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t string_length, size_t array_length, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_string_array_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_length, array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_wstring_array_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t wstring_length, size_t array_length, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_wstring_array_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_length, array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_string_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_length,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_string_unbounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_wstring_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_length,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_wstring_unbounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_string_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t string_length, size_t sequence_bound, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_string_bounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_length, sequence_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_wstring_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t wstring_length, size_t sequence_bound, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_wstring_bounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_length, sequence_bound);
+}
+
+
+// ADD BOUNDED STRING MEMBERS ======================================================================
+void
+DynamicMessageTypeBuilder::add_bounded_string_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_bound,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_string_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_wstring_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_bound,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_wstring_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_string_array_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t string_bound, size_t array_length, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_string_array_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_bound, array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_wstring_array_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t wstring_bound, size_t array_length, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_wstring_array_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_bound, array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_string_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_bound,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_string_unbounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_wstring_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_bound,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_wstring_unbounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_string_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t string_bound, size_t sequence_bound, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_string_bounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_bound, sequence_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_wstring_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t wstring_bound, size_t sequence_bound, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_wstring_bounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_bound, sequence_bound);
+}
+
+
+// ADD NESTED MEMBERS ==============================================================================
+void
+DynamicMessageTypeBuilder::add_complex_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageType & nested_type, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type.get_rosidl_dynamic_type());
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_array_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageType & nested_type, size_t array_length, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_array_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type.get_rosidl_dynamic_type(), array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageType & nested_type, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_unbounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type.get_rosidl_dynamic_type());
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageType & nested_type, size_t sequence_bound, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_bounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type.get_rosidl_dynamic_type(), sequence_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageTypeBuilder & nested_type_builder, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_member_builder(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type_builder.get_rosidl_dynamic_type_builder());
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_array_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageTypeBuilder & nested_type_builder, size_t array_length,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_array_member_builder(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type_builder.get_rosidl_dynamic_type_builder(), array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_unbounded_sequence_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageTypeBuilder & nested_type_builder, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_unbounded_sequence_member_builder(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type_builder.get_rosidl_dynamic_type_builder());
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_bounded_sequence_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageTypeBuilder & nested_type_builder, size_t sequence_bound,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_bounded_sequence_member_builder(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type_builder.get_rosidl_dynamic_type_builder(), sequence_bound);
+}

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp

@@ -0,0 +1,317 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rosidl_dynamic_typesupport/identifier.h>
+#include <rosidl_dynamic_typesupport/types.h>
+#include <rosidl_runtime_c/message_type_support_struct.h>
+#include <rosidl_runtime_c/type_description_utils.h>
+#include <rosidl_runtime_c/type_description/type_description__functions.h>
+#include <rosidl_runtime_c/type_description/type_description__struct.h>
+#include <rosidl_runtime_c/type_description/type_source__functions.h>
+#include <rosidl_runtime_c/type_description/type_source__struct.h>
+
+#include <memory>
+#include <string>
+
+#include "rcl/allocator.h"
+#include "rcl/dynamic_message_type_support.h"
+#include "rcl/type_hash.h"
+#include "rcl/types.h"
+#include "rcutils/logging_macros.h"
+#include "rcutils/types/rcutils_ret.h"
+#include "rmw/dynamic_message_type_support.h"
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+using rclcpp::dynamic_typesupport::DynamicMessage;
+using rclcpp::dynamic_typesupport::DynamicMessageType;
+using rclcpp::dynamic_typesupport::DynamicMessageTypeSupport;
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+// CONSTRUCTION ====================================================================================
+DynamicMessageTypeSupport::DynamicMessageTypeSupport(
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  const std::string & serialization_library_name,
+  rcl_allocator_t allocator)
+: serialization_support_(nullptr),
+  dynamic_message_type_(nullptr),
+  dynamic_message_(nullptr),
+  rosidl_message_type_support_(rosidl_get_zero_initialized_message_type_support_handle())
+{
+  rcl_ret_t ret;
+  if (serialization_library_name.empty()) {
+    ret = rcl_dynamic_message_type_support_handle_init(
+      nullptr, &description, &allocator, &rosidl_message_type_support_);
+  } else {
+    ret = rcl_dynamic_message_type_support_handle_init(
+      serialization_library_name.c_str(), &description, &allocator, &rosidl_message_type_support_);
+  }
+  if (ret != RCL_RET_OK) {
+    std::string error_msg =
+      std::string("error initializing rosidl message type support: ") + rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(error_msg);
+  }
+  if (rosidl_message_type_support_.typesupport_identifier !=
+    rosidl_get_dynamic_typesupport_identifier())
+  {
+    throw std::runtime_error("rosidl message type support is of the wrong type");
+  }
+
+  auto ts_impl = static_cast<rosidl_dynamic_message_type_support_impl_t *>(const_cast<void *>(
+      rosidl_message_type_support_.data));
+
+  serialization_support_ = DynamicSerializationSupport::make_shared(
+    std::move(ts_impl->serialization_support));
+
+  dynamic_message_type_ = DynamicMessageType::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(*ts_impl->dynamic_message_type));
+
+  dynamic_message_ = DynamicMessage::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(*ts_impl->dynamic_message));
+}
+
+DynamicMessageTypeSupport::DynamicMessageTypeSupport(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator)
+: serialization_support_(serialization_support),
+  dynamic_message_type_(nullptr),
+  dynamic_message_(nullptr),
+  rosidl_message_type_support_(rosidl_get_zero_initialized_message_type_support_handle())
+{
+  // Check null
+  if (!serialization_support) {
+    throw std::runtime_error("serialization_support cannot be nullptr.");
+  }
+
+  rosidl_type_hash_t type_hash;
+  rcutils_ret_t hash_ret = rcl_calculate_type_hash(
+    // TODO(methylDragon): Swap this out with the conversion function when it is ready
+    reinterpret_cast<const type_description_interfaces__msg__TypeDescription *>(&description),
+    &type_hash);
+  if (hash_ret != RCL_RET_OK) {
+    throw std::runtime_error("failed to get type hash");
+  }
+
+  rcutils_ret_t ret = rosidl_dynamic_message_type_support_handle_init(
+    &serialization_support->get_rosidl_serialization_support(),
+    &type_hash,       // type_hash
+    &description,     // type_description
+    nullptr,          // type_description_sources (not implemented for dynamic types)
+    &allocator,
+    &rosidl_message_type_support_);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init rosidl message type support");
+  }
+  if (rosidl_message_type_support_.typesupport_identifier !=
+    rosidl_get_dynamic_typesupport_identifier())
+  {
+    throw std::runtime_error("rosidl message type support is of the wrong type");
+  }
+
+  auto ts_impl = static_cast<const rosidl_dynamic_message_type_support_impl_t *>(
+    rosidl_message_type_support_.data);
+
+  dynamic_message_type_ = DynamicMessageType::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(*ts_impl->dynamic_message_type));
+
+  dynamic_message_ = DynamicMessage::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(*ts_impl->dynamic_message));
+}
+
+DynamicMessageTypeSupport::DynamicMessageTypeSupport(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  DynamicMessageType::SharedPtr dynamic_message_type,
+  DynamicMessage::SharedPtr dynamic_message,
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator)
+: serialization_support_(serialization_support),
+  dynamic_message_type_(dynamic_message_type),
+  dynamic_message_(dynamic_message),
+  rosidl_message_type_support_(rosidl_get_zero_initialized_message_type_support_handle())
+{
+  // Check null
+  if (!serialization_support) {
+    throw std::runtime_error("serialization_support cannot be nullptr.");
+  }
+  if (!dynamic_message_type) {
+    throw std::runtime_error("dynamic_message_type cannot be nullptr.");
+  }
+  if (!dynamic_message) {
+    throw std::runtime_error("dynamic_message cannot be nullptr.");
+  }
+
+  // Check identifiers
+  if (serialization_support->get_serialization_library_identifier() !=
+    dynamic_message_type->get_serialization_library_identifier())
+  {
+    throw std::runtime_error(
+            "serialization support library identifier does not match "
+            "dynamic message type library identifier.");
+  }
+  if (dynamic_message_type->get_serialization_library_identifier() !=
+    dynamic_message->get_serialization_library_identifier())
+  {
+    throw std::runtime_error(
+            "dynamic message type library identifier does not match "
+            "dynamic message library identifier.");
+  }
+
+  rosidl_type_hash_t type_hash;
+  rcutils_ret_t hash_ret = rcl_calculate_type_hash(
+    // TODO(methylDragon): Swap this out with the conversion function when it is ready
+    //   from https://github.com/ros2/rcl/pull/1052
+    reinterpret_cast<const type_description_interfaces__msg__TypeDescription *>(&description),
+    &type_hash);
+  if (hash_ret != RCL_RET_OK) {
+    std::string error_msg = std::string("failed to get type hash: ") + rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(error_msg);
+  }
+
+  auto ts_impl = static_cast<rosidl_dynamic_message_type_support_impl_t *>(
+    allocator.zero_allocate(1, sizeof(rosidl_dynamic_message_type_support_impl_t), allocator.state)
+  );
+  if (!ts_impl) {
+    throw std::runtime_error("could not allocate rosidl_message_type_support_t");
+  }
+
+  ts_impl->allocator = allocator;
+  ts_impl->type_hash = type_hash;
+  if (!rosidl_runtime_c__type_description__TypeDescription__copy(
+      &description, &ts_impl->type_description))
+  {
+    throw std::runtime_error("could not copy type description");
+  }
+  // ts_impl->type_description_sources  = // Not used
+
+  ts_impl->serialization_support = serialization_support->get_rosidl_serialization_support();
+  ts_impl->dynamic_message_type = &dynamic_message_type->get_rosidl_dynamic_type();
+  ts_impl->dynamic_message = &dynamic_message->get_rosidl_dynamic_data();
+
+  rosidl_message_type_support_ = {
+    rosidl_get_dynamic_typesupport_identifier(),            // typesupport_identifier
+    ts_impl,                                                // data
+    get_message_typesupport_handle_function,                // func
+    // get_type_hash_func
+    rosidl_get_dynamic_message_type_support_type_hash_function,
+    // get_type_description_func
+    rosidl_get_dynamic_message_type_support_type_description_function,
+    // get_type_description_sources_func
+    rosidl_get_dynamic_message_type_support_type_description_sources_function
+  };
+}
+
+DynamicMessageTypeSupport::~DynamicMessageTypeSupport()
+{
+  // These must go first
+  serialization_support_.reset();
+  dynamic_message_type_.reset();
+  dynamic_message_.reset();
+
+  // Early return if type support isn't populated to avoid segfaults
+  if (!rosidl_message_type_support_.data) {
+    return;
+  }
+
+  // We only partially finalize the rosidl_message_type_support->data since its pointer members are
+  // managed by their respective SharedPtr wrapper classes.
+  auto ts_impl = static_cast<rosidl_dynamic_message_type_support_impl_t *>(
+    const_cast<void *>(rosidl_message_type_support_.data)
+  );
+  rcutils_allocator_t allocator = ts_impl->allocator;
+
+  rosidl_runtime_c__type_description__TypeDescription__fini(&ts_impl->type_description);
+  rosidl_runtime_c__type_description__TypeSource__Sequence__fini(
+    &ts_impl->type_description_sources);
+  allocator.deallocate(static_cast<void *>(ts_impl), allocator.state);  // Always C allocated
+}
+
+
+// GETTERS =========================================================================================
+const std::string
+DynamicMessageTypeSupport::get_serialization_library_identifier() const
+{
+  return serialization_support_->get_serialization_library_identifier();
+}
+
+rosidl_message_type_support_t &
+DynamicMessageTypeSupport::get_rosidl_message_type_support()
+{
+  return rosidl_message_type_support_;
+}
+
+const rosidl_message_type_support_t &
+DynamicMessageTypeSupport::get_const_rosidl_message_type_support()
+{
+  return rosidl_message_type_support_;
+}
+
+const rosidl_message_type_support_t &
+DynamicMessageTypeSupport::get_const_rosidl_message_type_support() const
+{
+  return rosidl_message_type_support_;
+}
+
+const rosidl_runtime_c__type_description__TypeDescription &
+DynamicMessageTypeSupport::get_rosidl_runtime_c_type_description() const
+{
+  auto ts_impl = static_cast<const rosidl_dynamic_message_type_support_impl_t *>(
+    get_const_rosidl_message_type_support().data
+  );
+  return ts_impl->type_description;
+}
+
+DynamicSerializationSupport::SharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_serialization_support()
+{
+  return serialization_support_;
+}
+
+DynamicSerializationSupport::ConstSharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_serialization_support() const
+{
+  return serialization_support_;
+}
+
+DynamicMessageType::SharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_message_type()
+{
+  return dynamic_message_type_;
+}
+
+DynamicMessageType::ConstSharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_message_type() const
+{
+  return dynamic_message_type_;
+}
+
+DynamicMessage::SharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_message()
+{
+  return dynamic_message_;
+}
+
+DynamicMessage::ConstSharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_message() const
+{
+  return dynamic_message_;
+}

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp

@@ -0,0 +1,98 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rcl/allocator.h>
+#include <rcutils/logging_macros.h>
+#include <rmw/dynamic_message_type_support.h>
+#include <rmw/ret_types.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/exceptions.hpp"
+
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+// CONSTRUCTION ====================================================================================
+DynamicSerializationSupport::DynamicSerializationSupport(rcl_allocator_t allocator)
+: DynamicSerializationSupport::DynamicSerializationSupport("", allocator) {}
+
+DynamicSerializationSupport::DynamicSerializationSupport(
+  const std::string & serialization_library_name,
+  rcl_allocator_t allocator)
+: rosidl_serialization_support_(
+    rosidl_dynamic_typesupport_get_zero_initialized_serialization_support())
+{
+  rmw_ret_t ret = RMW_RET_ERROR;
+
+  if (serialization_library_name.empty()) {
+    ret = rmw_serialization_support_init(NULL, &allocator, &rosidl_serialization_support_);
+  } else {
+    ret = rmw_serialization_support_init(
+      serialization_library_name.c_str(), &allocator, &rosidl_serialization_support_);
+  }
+  if (ret != RCL_RET_OK) {
+    std::string error_msg =
+      std::string("could not initialize new serialization support object: ") +
+      rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(error_msg);
+  }
+}
+
+DynamicSerializationSupport::DynamicSerializationSupport(
+  rosidl_dynamic_typesupport_serialization_support_t && rosidl_serialization_support)
+: rosidl_serialization_support_(std::move(rosidl_serialization_support)) {}
+
+DynamicSerializationSupport::DynamicSerializationSupport(
+  DynamicSerializationSupport && other) noexcept
+: rosidl_serialization_support_(std::exchange(
+      other.rosidl_serialization_support_,
+      rosidl_dynamic_typesupport_get_zero_initialized_serialization_support())) {}
+
+DynamicSerializationSupport &
+DynamicSerializationSupport::operator=(DynamicSerializationSupport && other) noexcept
+{
+  std::swap(rosidl_serialization_support_, other.rosidl_serialization_support_);
+  return *this;
+}
+
+DynamicSerializationSupport::~DynamicSerializationSupport()
+{
+  rosidl_dynamic_typesupport_serialization_support_fini(&rosidl_serialization_support_);
+}
+
+
+// GETTERS =========================================================================================
+const std::string
+DynamicSerializationSupport::get_serialization_library_identifier() const
+{
+  return std::string(
+    rosidl_dynamic_typesupport_serialization_support_get_library_identifier(
+      &rosidl_serialization_support_));
+}
+
+rosidl_dynamic_typesupport_serialization_support_t &
+DynamicSerializationSupport::get_rosidl_serialization_support()
+{
+  return rosidl_serialization_support_;
+}
+
+const rosidl_dynamic_typesupport_serialization_support_t &
+DynamicSerializationSupport::get_rosidl_serialization_support() const
+{
+  return rosidl_serialization_support_;
+}

rclcpp/src/rclcpp/event_handler.cpp

@@ -12,9 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <stdexcept>
 #include <string>
 
-#include "rclcpp/qos_event.hpp"
+#include "rcl/event.h"
+
+#include "rclcpp/event_handler.hpp"
+#include "rclcpp/exceptions/exceptions.hpp"
 
 namespace rclcpp
 {
@@ -33,7 +37,7 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(
   std::runtime_error(prefix + (prefix.empty() ? "" : ": ") + base_exc.formatted_message)
 {}
 
-QOSEventHandlerBase::~QOSEventHandlerBase()
+EventHandlerBase::~EventHandlerBase()
 {
   // Since the rmw event listener holds a reference to
   // this callback, we need to clear it on destruction of this class.
@@ -52,14 +56,14 @@ QOSEventHandlerBase::~QOSEventHandlerBase()
 
 /// Get the number of ready events.
 size_t
-QOSEventHandlerBase::get_number_of_ready_events()
+EventHandlerBase::get_number_of_ready_events()
 {
   return 1;
 }
 
 /// Add the Waitable to a wait set.
 void
-QOSEventHandlerBase::add_to_wait_set(rcl_wait_set_t * wait_set)
+EventHandlerBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 {
   rcl_ret_t ret = rcl_wait_set_add_event(wait_set, &event_handle_, &wait_set_event_index_);
   if (RCL_RET_OK != ret) {
@@ -69,13 +73,13 @@ QOSEventHandlerBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 
 /// Check if the Waitable is ready.
 bool
-QOSEventHandlerBase::is_ready(rcl_wait_set_t * wait_set)
+EventHandlerBase::is_ready(rcl_wait_set_t * wait_set)
 {
   return wait_set->events[wait_set_event_index_] == &event_handle_;
 }
 
 void
-QOSEventHandlerBase::set_on_new_event_callback(
+EventHandlerBase::set_on_new_event_callback(
   rcl_event_callback_t callback,
   const void * user_data)
 {
@@ -86,7 +90,7 @@ QOSEventHandlerBase::set_on_new_event_callback(
 
   if (RCL_RET_OK != ret) {
     using rclcpp::exceptions::throw_from_rcl_error;
-    throw_from_rcl_error(ret, "failed to set the on new message callback for QOS Event");
+    throw_from_rcl_error(ret, "failed to set the on new message callback for Event");
   }
 }
 

rclcpp/src/rclcpp/executor.cpp

@@ -24,6 +24,7 @@
 #include "rcl/error_handling.h"
 #include "rcpputils/scope_exit.hpp"
 
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/executor.hpp"
 #include "rclcpp/guard_condition.hpp"
@@ -558,13 +559,14 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
   }
 }
 
+template<typename Taker, typename Handler>
 static
 void
 take_and_do_error_handling(
   const char * action_description,
   const char * topic_or_service_name,
-  std::function<bool()> take_action,
-  std::function<void()> handle_action)
+  Taker take_action,
+  Handler handle_action)
 {
   bool taken = false;
   try {
@@ -597,70 +599,136 @@ take_and_do_error_handling(
 void
 Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
 {
+  using rclcpp::dynamic_typesupport::DynamicMessage;
+
   rclcpp::MessageInfo message_info;
   message_info.get_rmw_message_info().from_intra_process = false;
 
-  if (subscription->is_serialized()) {
-    // This is the case where a copy of the serialized message is taken from
-    // the middleware via inter-process communication.
-    std::shared_ptr<SerializedMessage> serialized_msg = subscription->create_serialized_message();
-    take_and_do_error_handling(
-      "taking a serialized message from topic",
-      subscription->get_topic_name(),
-      [&]() {return subscription->take_serialized(*serialized_msg.get(), message_info);},
-      [&]()
+  switch (subscription->get_subscription_type()) {
+    // Take ROS message
+    case rclcpp::SubscriptionType::ROS_MESSAGE:
       {
-        subscription->handle_serialized_message(serialized_msg, message_info);
-      });
-    subscription->return_serialized_message(serialized_msg);
-  } else if (subscription->can_loan_messages()) {
-    // This is the case where a loaned message is taken from the middleware via
-    // inter-process communication, given to the user for their callback,
-    // and then returned.
-    void * loaned_msg = nullptr;
-    // TODO(wjwwood): refactor this into methods on subscription when LoanedMessage
-    //   is extened to support subscriptions as well.
-    take_and_do_error_handling(
-      "taking a loaned message from topic",
-      subscription->get_topic_name(),
-      [&]()
-      {
-        rcl_ret_t ret = rcl_take_loaned_message(
-          subscription->get_subscription_handle().get(),
-          &loaned_msg,
-          &message_info.get_rmw_message_info(),
-          nullptr);
-        if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
-          return false;
-        } else if (RCL_RET_OK != ret) {
-          rclcpp::exceptions::throw_from_rcl_error(ret);
+        if (subscription->can_loan_messages()) {
+          // This is the case where a loaned message is taken from the middleware via
+          // inter-process communication, given to the user for their callback,
+          // and then returned.
+          void * loaned_msg = nullptr;
+          // TODO(wjwwood): refactor this into methods on subscription when LoanedMessage
+          //   is extened to support subscriptions as well.
+          take_and_do_error_handling(
+            "taking a loaned message from topic",
+            subscription->get_topic_name(),
+            [&]()
+            {
+              rcl_ret_t ret = rcl_take_loaned_message(
+                subscription->get_subscription_handle().get(),
+                &loaned_msg,
+                &message_info.get_rmw_message_info(),
+                nullptr);
+              if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
+                return false;
+              } else if (RCL_RET_OK != ret) {
+                rclcpp::exceptions::throw_from_rcl_error(ret);
+              }
+              return true;
+            },
+            [&]() {subscription->handle_loaned_message(loaned_msg, message_info);});
+          if (nullptr != loaned_msg) {
+            rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
+              subscription->get_subscription_handle().get(), loaned_msg);
+            if (RCL_RET_OK != ret) {
+              RCLCPP_ERROR(
+                rclcpp::get_logger("rclcpp"),
+                "rcl_return_loaned_message_from_subscription() failed for subscription on topic "
+                "'%s': %s",
+                subscription->get_topic_name(), rcl_get_error_string().str);
+            }
+            loaned_msg = nullptr;
+          }
+        } else {
+          // This case is taking a copy of the message data from the middleware via
+          // inter-process communication.
+          std::shared_ptr<void> message = subscription->create_message();
+          take_and_do_error_handling(
+            "taking a message from topic",
+            subscription->get_topic_name(),
+            [&]() {return subscription->take_type_erased(message.get(), message_info);},
+            [&]() {subscription->handle_message(message, message_info);});
+          subscription->return_message(message);
         }
-        return true;
-      },
-      [&]() {subscription->handle_loaned_message(loaned_msg, message_info);});
-    if (nullptr != loaned_msg) {
-      rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
-        subscription->get_subscription_handle().get(),
-        loaned_msg);
-      if (RCL_RET_OK != ret) {
-        RCLCPP_ERROR(
-          rclcpp::get_logger("rclcpp"),
-          "rcl_return_loaned_message_from_subscription() failed for subscription on topic '%s': %s",
-          subscription->get_topic_name(), rcl_get_error_string().str);
+        break;
+      }
+
+    // Take serialized message
+    case rclcpp::SubscriptionType::SERIALIZED_MESSAGE:
+      {
+        // This is the case where a copy of the serialized message is taken from
+        // the middleware via inter-process communication.
+        std::shared_ptr<SerializedMessage> serialized_msg =
+          subscription->create_serialized_message();
+        take_and_do_error_handling(
+          "taking a serialized message from topic",
+          subscription->get_topic_name(),
+          [&]() {return subscription->take_serialized(*serialized_msg.get(), message_info);},
+          [&]()
+          {
+            subscription->handle_serialized_message(serialized_msg, message_info);
+          });
+        subscription->return_serialized_message(serialized_msg);
+        break;
+      }
+
+    // DYNAMIC SUBSCRIPTION ========================================================================
+    // If a subscription is dynamic, then it will use its serialization-specific dynamic data.
+    //
+    // Two cases:
+    // - Dynamic type subscription using dynamic type stored in its own internal type support struct
+    // - Non-dynamic type subscription with no stored dynamic type
+    //   - Subscriptions of this type must be able to lookup the local message description to
+    //     generate a dynamic type at runtime!
+    //   - TODO(methylDragon): I won't be handling this case yet
+
+    // Take dynamic message directly from the middleware
+    case rclcpp::SubscriptionType::DYNAMIC_MESSAGE_DIRECT:
+      {
+        DynamicMessage::SharedPtr dynamic_message = subscription->create_dynamic_message();
+        take_and_do_error_handling(
+          "taking a dynamic message from topic",
+          subscription->get_topic_name(),
+          // This modifies the stored dynamic data in the DynamicMessage in-place
+          [&]() {return subscription->take_dynamic_message(*dynamic_message, message_info);},
+          [&]() {subscription->handle_dynamic_message(dynamic_message, message_info);});
+        subscription->return_dynamic_message(dynamic_message);
+        break;
+      }
+
+    // Take serialized and then convert to dynamic message
+    case rclcpp::SubscriptionType::DYNAMIC_MESSAGE_FROM_SERIALIZED:
+      {
+        std::shared_ptr<SerializedMessage> serialized_msg =
+          subscription->create_serialized_message();
+
+        // NOTE(methylDragon): Is this clone necessary? If I'm following the pattern, it seems so.
+        DynamicMessage::SharedPtr dynamic_message = subscription->create_dynamic_message();
+        take_and_do_error_handling(
+          "taking a serialized message from topic",
+          subscription->get_topic_name(),
+          [&]() {return subscription->take_serialized(*serialized_msg.get(), message_info);},
+          [&]()
+          {
+            bool ret = dynamic_message->deserialize(serialized_msg->get_rcl_serialized_message());
+            if (!ret) {
+              throw_from_rcl_error(ret, "Couldn't convert serialized message to dynamic data!");
+            }
+            subscription->handle_dynamic_message(dynamic_message, message_info);
+          }
+        );
+        subscription->return_serialized_message(serialized_msg);
+        subscription->return_dynamic_message(dynamic_message);
+        break;
       }
-      loaned_msg = nullptr;
-    }
-  } else {
-    // This case is taking a copy of the message data from the middleware via
-    // inter-process communication.
-    std::shared_ptr<void> message = subscription->create_message();
-    take_and_do_error_handling(
-      "taking a message from topic",
-      subscription->get_topic_name(),
-      [&]() {return subscription->take_type_erased(message.get(), message_info);},
-      [&]() {subscription->handle_message(message, message_info);});
-    subscription->return_message(message);
   }
+  return;
 }
 
 void

rclcpp/src/rclcpp/generic_subscription.cpp

@@ -43,8 +43,7 @@ void GenericSubscription::handle_message(
           "handle_message is not implemented for GenericSubscription");
 }
 
-void
-GenericSubscription::handle_serialized_message(
+void GenericSubscription::handle_serialized_message(
   const std::shared_ptr<rclcpp::SerializedMessage> & message,
   const rclcpp::MessageInfo &)
 {
@@ -72,4 +71,55 @@ void GenericSubscription::return_serialized_message(
   message.reset();
 }
 
+
+// DYNAMIC TYPE ====================================================================================
+// TODO(methylDragon): Reorder later
+rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
+GenericSubscription::get_shared_dynamic_message_type()
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "get_shared_dynamic_message_type is not implemented for GenericSubscription");
+}
+
+rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+GenericSubscription::get_shared_dynamic_message()
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "get_shared_dynamic_message is not implemented for GenericSubscription");
+}
+
+rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+GenericSubscription::get_shared_dynamic_serialization_support()
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "get_shared_dynamic_serialization_support is not implemented for GenericSubscription");
+}
+
+rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+GenericSubscription::create_dynamic_message()
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "create_dynamic_message is not implemented for GenericSubscription");
+}
+
+void
+GenericSubscription::return_dynamic_message(
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message)
+{
+  (void) message;
+  throw rclcpp::exceptions::UnimplementedError(
+          "return_dynamic_message is not implemented for GenericSubscription");
+}
+
+void
+GenericSubscription::handle_dynamic_message(
+  const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+  const rclcpp::MessageInfo & message_info)
+{
+  (void) message;
+  (void) message_info;
+  throw rclcpp::exceptions::UnimplementedError(
+          "handle_dynamic_message is not implemented for GenericSubscription");
+}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/logger.cpp

@@ -125,4 +125,18 @@ Logger::set_level(Level level)
   }
 }
 
+Logger::Level
+Logger::get_effective_level() const
+{
+  int logger_level = rcutils_logging_get_logger_effective_level(get_name());
+
+  if (logger_level < 0) {
+    exceptions::throw_from_rcl_error(
+      RCL_RET_ERROR, "Couldn't get logger level",
+      rcutils_get_error_state(), rcutils_reset_error);
+  }
+
+  return static_cast<Level>(logger_level);
+}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -651,7 +651,7 @@ NodeParameters::undeclare_parameter(const std::string & name)
   }
   if (!parameter_info->second.descriptor.dynamic_typing) {
     throw rclcpp::exceptions::InvalidParameterTypeException{
-            name, "cannot undeclare an statically typed parameter"};
+            name, "cannot undeclare a statically typed parameter"};
   }
 
   parameters_.erase(parameter_info);
@@ -824,7 +824,7 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
       auto it = parameters_.find(parameter.get_name());
       if (it != parameters_.end() && rclcpp::PARAMETER_NOT_SET != it->second.value.get_type()) {
         if (!it->second.descriptor.dynamic_typing) {
-          result.reason = "cannot undeclare an statically typed parameter";
+          result.reason = "cannot undeclare a statically typed parameter";
           result.successful = false;
           return result;
         }

rclcpp/src/rclcpp/publisher_base.cpp

@@ -37,7 +37,7 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/network_flow_endpoint.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/qos_event.hpp"
+#include "rclcpp/event_handler.hpp"
 
 using rclcpp::PublisherBase;
 
@@ -145,21 +145,48 @@ PublisherBase::bind_event_callbacks(
       event_callbacks.liveliness_callback,
       RCL_PUBLISHER_LIVELINESS_LOST);
   }
+
+  QOSOfferedIncompatibleQoSCallbackType incompatible_qos_cb;
   if (event_callbacks.incompatible_qos_callback) {
-    this->add_event_handler(
-      event_callbacks.incompatible_qos_callback,
-      RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
+    incompatible_qos_cb = event_callbacks.incompatible_qos_callback;
   } else if (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
+    incompatible_qos_cb = [this](QOSOfferedIncompatibleQoSInfo & info) {
+        this->default_incompatible_qos_callback(info);
+      };
+  }
+  try {
+    if (incompatible_qos_cb) {
+      this->add_event_handler(incompatible_qos_cb, RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
     }
+  } catch (const UnsupportedEventTypeException & /*exc*/) {
+    RCLCPP_DEBUG(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for incompatible qos; wrong callback type");
+  }
+
+  IncompatibleTypeCallbackType incompatible_type_cb;
+  if (event_callbacks.incompatible_type_callback) {
+    incompatible_type_cb = event_callbacks.incompatible_type_callback;
+  } else if (use_default_callbacks) {
+    // Register default callback when not specified
+    incompatible_type_cb = [this](IncompatibleTypeInfo & info) {
+        this->default_incompatible_type_callback(info);
+      };
+  }
+  try {
+    if (incompatible_type_cb) {
+      this->add_event_handler(incompatible_type_cb, RCL_PUBLISHER_INCOMPATIBLE_TYPE);
+    }
+  } catch (UnsupportedEventTypeException & /*exc*/) {
+    RCLCPP_DEBUG(
+      rclcpp::get_logger("rclcpp"),
+      "Failed to add event handler for incompatible type; wrong callback type");
+  }
+  if (event_callbacks.matched_callback) {
+    this->add_event_handler(
+      event_callbacks.matched_callback,
+      RCL_PUBLISHER_MATCHED);
   }
 }
 
@@ -195,7 +222,7 @@ PublisherBase::get_publisher_handle() const
 }
 
 const
-std::unordered_map<rcl_publisher_event_type_t, std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
+std::unordered_map<rcl_publisher_event_type_t, std::shared_ptr<rclcpp::EventHandlerBase>> &
 PublisherBase::get_event_handlers() const
 {
   return event_handlers_;
@@ -311,6 +338,17 @@ PublisherBase::default_incompatible_qos_callback(
     policy_name.c_str());
 }
 
+void
+PublisherBase::default_incompatible_type_callback(
+  rclcpp::IncompatibleTypeInfo & event) const
+{
+  (void)event;
+
+  RCLCPP_WARN(
+    rclcpp::get_logger(rcl_node_get_logger_name(rcl_node_handle_.get())),
+    "Incompatible type on topic '%s', no messages will be sent to it.", get_topic_name());
+}
+
 std::vector<rclcpp::NetworkFlowEndpoint> PublisherBase::get_network_flow_endpoints() const
 {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();

rclcpp/src/rclcpp/subscription_base.cpp

@@ -22,16 +22,19 @@
 
 #include "rcpputils/scope_exit.hpp"
 
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/qos_event.hpp"
+#include "rclcpp/event_handler.hpp"
 
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
+#include "rosidl_dynamic_typesupport/types.h"
+
 using rclcpp::SubscriptionBase;
 
 SubscriptionBase::SubscriptionBase(
@@ -41,7 +44,7 @@ SubscriptionBase::SubscriptionBase(
   const rcl_subscription_options_t & subscription_options,
   const SubscriptionEventCallbacks & event_callbacks,
   bool use_default_callbacks,
-  bool is_serialized)
+  SubscriptionType subscription_type)
 : node_base_(node_base),
   node_handle_(node_base_->get_shared_rcl_node_handle()),
   node_logger_(rclcpp::get_node_logger(node_handle_.get())),
@@ -49,8 +52,16 @@ SubscriptionBase::SubscriptionBase(
   intra_process_subscription_id_(0),
   event_callbacks_(event_callbacks),
   type_support_(type_support_handle),
-  is_serialized_(is_serialized)
+  subscription_type_(subscription_type)
 {
+  if (!rmw_feature_supported(RMW_MIDDLEWARE_CAN_TAKE_DYNAMIC_MESSAGE) &&
+    subscription_type == rclcpp::SubscriptionType::DYNAMIC_MESSAGE_DIRECT)
+  {
+    throw std::runtime_error(
+            "Cannot set subscription to take dynamic message directly, feature not supported in rmw"
+    );
+  }
+
   auto custom_deletor = [node_handle = this->node_handle_](rcl_subscription_t * rcl_subs)
     {
       if (rcl_subscription_fini(rcl_subs, node_handle.get()) != RCL_RET_OK) {
@@ -114,32 +125,58 @@ SubscriptionBase::bind_event_callbacks(
       event_callbacks.deadline_callback,
       RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
   }
+
   if (event_callbacks.liveliness_callback) {
     this->add_event_handler(
       event_callbacks.liveliness_callback,
       RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
   }
+
+  QOSRequestedIncompatibleQoSCallbackType incompatible_qos_cb;
   if (event_callbacks.incompatible_qos_callback) {
-    this->add_event_handler(
-      event_callbacks.incompatible_qos_callback,
-      RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
+    incompatible_qos_cb = event_callbacks.incompatible_qos_callback;
   } else if (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
-    }
+    incompatible_qos_cb = [this](QOSRequestedIncompatibleQoSInfo & info) {
+        this->default_incompatible_qos_callback(info);
+      };
   }
+  // Register default callback when not specified
+  try {
+    if (incompatible_qos_cb) {
+      this->add_event_handler(incompatible_qos_cb, RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
+    }
+  } catch (const UnsupportedEventTypeException & /*exc*/) {
+    // pass
+  }
+
+  IncompatibleTypeCallbackType incompatible_type_cb;
+  if (event_callbacks.incompatible_type_callback) {
+    incompatible_type_cb = event_callbacks.incompatible_type_callback;
+  } else if (use_default_callbacks) {
+    // Register default callback when not specified
+    incompatible_type_cb = [this](IncompatibleTypeInfo & info) {
+        this->default_incompatible_type_callback(info);
+      };
+  }
+  try {
+    if (incompatible_type_cb) {
+      this->add_event_handler(incompatible_type_cb, RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE);
+    }
+  } catch (UnsupportedEventTypeException & /*exc*/) {
+    // pass
+  }
+
   if (event_callbacks.message_lost_callback) {
     this->add_event_handler(
       event_callbacks.message_lost_callback,
       RCL_SUBSCRIPTION_MESSAGE_LOST);
   }
+  if (event_callbacks.matched_callback) {
+    this->add_event_handler(
+      event_callbacks.matched_callback,
+      RCL_SUBSCRIPTION_MATCHED);
+  }
 }
 
 const char *
@@ -161,7 +198,7 @@ SubscriptionBase::get_subscription_handle() const
 }
 
 const
-std::unordered_map<rcl_subscription_event_type_t, std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
+std::unordered_map<rcl_subscription_event_type_t, std::shared_ptr<rclcpp::EventHandlerBase>> &
 SubscriptionBase::get_event_handlers() const
 {
   return event_handlers_;
@@ -229,10 +266,10 @@ SubscriptionBase::get_message_type_support_handle() const
   return type_support_;
 }
 
-bool
-SubscriptionBase::is_serialized() const
+rclcpp::SubscriptionType
+SubscriptionBase::get_subscription_type() const
 {
-  return is_serialized_;
+  return subscription_type_;
 }
 
 size_t
@@ -299,6 +336,17 @@ SubscriptionBase::default_incompatible_qos_callback(
     policy_name.c_str());
 }
 
+void
+SubscriptionBase::default_incompatible_type_callback(
+  rclcpp::IncompatibleTypeInfo & event) const
+{
+  (void)event;
+
+  RCLCPP_WARN(
+    rclcpp::get_logger(rcl_node_get_logger_name(node_handle_.get())),
+    "Incompatible type on topic '%s', no messages will be sent to it.", get_topic_name());
+}
+
 bool
 SubscriptionBase::matches_any_intra_process_publishers(const rmw_gid_t * sender_gid) const
 {
@@ -405,8 +453,7 @@ SubscriptionBase::set_content_filter(
   rcl_subscription_content_filter_options_t options =
     rcl_get_zero_initialized_subscription_content_filter_options();
 
-  std::vector<const char *> cstrings =
-    get_c_vector_string(expression_parameters);
+  std::vector<const char *> cstrings = get_c_vector_string(expression_parameters);
   rcl_ret_t ret = rcl_subscription_content_filter_options_init(
     subscription_handle_.get(),
     get_c_string(filter_expression),
@@ -478,3 +525,24 @@ SubscriptionBase::get_content_filter() const
 
   return ret_options;
 }
+
+
+// DYNAMIC TYPE ==================================================================================
+// TODO(methylDragon): Reorder later
+bool
+SubscriptionBase::take_dynamic_message(
+  rclcpp::dynamic_typesupport::DynamicMessage & message_out,
+  rclcpp::MessageInfo & message_info_out)
+{
+  rcl_ret_t ret = rcl_take_dynamic_message(
+    this->get_subscription_handle().get(),
+    &message_out.get_rosidl_dynamic_data(),
+    &message_info_out.get_rmw_message_info(),
+    nullptr);
+  if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
+    return false;
+  } else if (RCL_RET_OK != ret) {
+    rclcpp::exceptions::throw_from_rcl_error(ret);
+  }
+  return true;
+}

rclcpp/test/rclcpp/CMakeLists.txt

@@ -444,17 +444,23 @@ function(test_generic_pubsub_for_rmw_implementation)
   endif()
 endfunction()
 call_for_each_rmw_implementation(test_generic_pubsub_for_rmw_implementation)
-ament_add_gtest(test_qos_event test_qos_event.cpp)
-if(TARGET test_qos_event)
-  ament_target_dependencies(test_qos_event
-    "rmw"
-    "test_msgs"
+
+function(test_qos_event_for_rmw_implementation)
+  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
+  ament_add_gmock(test_qos_event${target_suffix} test_qos_event.cpp
+    ENV ${rmw_implementation_env_var}
   )
-  target_link_libraries(test_qos_event
-    ${PROJECT_NAME}
-    mimick
-  )
-endif()
+  if(TARGET test_qos_event${target_suffix})
+    target_link_libraries(test_qos_event${target_suffix} ${PROJECT_NAME} mimick)
+    ament_target_dependencies(test_qos_event${target_suffix}
+      "rmw"
+      "rosidl_typesupport_cpp"
+      "test_msgs"
+    )
+  endif()
+endfunction()
+call_for_each_rmw_implementation(test_qos_event_for_rmw_implementation)
+
 ament_add_gmock(test_qos_overriding_options test_qos_overriding_options.cpp)
 if(TARGET test_qos_overriding_options)
   target_link_libraries(test_qos_overriding_options

rclcpp/test/rclcpp/node_interfaces/test_node_topics.cpp

@@ -28,6 +28,11 @@
 #include "../../mocking_utils/patch.hpp"
 #include "../../utils/rclcpp_gtest_macros.hpp"
 
+using rclcpp::dynamic_typesupport::DynamicMessage;
+using rclcpp::dynamic_typesupport::DynamicMessageType;
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+
 namespace
 {
 
@@ -77,6 +82,18 @@ public:
     const std::shared_ptr<rclcpp::SerializedMessage> &, const rclcpp::MessageInfo &) override {}
   void return_message(std::shared_ptr<void> &) override {}
   void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> &) override {}
+
+  DynamicMessageType::SharedPtr get_shared_dynamic_message_type() override {return nullptr;}
+  DynamicMessage::SharedPtr get_shared_dynamic_message() override {return nullptr;}
+  DynamicSerializationSupport::SharedPtr get_shared_dynamic_serialization_support() override
+  {
+    return nullptr;
+  }
+  DynamicMessage::SharedPtr create_dynamic_message() override {return nullptr;}
+  void return_dynamic_message(DynamicMessage::SharedPtr &) override {}
+  void handle_dynamic_message(
+    const DynamicMessage::SharedPtr &,
+    const rclcpp::MessageInfo &) override {}
 };
 
 class TestNodeTopics : public ::testing::Test

rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp

@@ -63,6 +63,57 @@ public:
   }
 };
 
+static bool test_waitable_result2 = false;
+
+class TestWaitable2 : public rclcpp::Waitable
+{
+public:
+  explicit TestWaitable2(rcl_publisher_t * pub_ptr)
+  : pub_ptr_(pub_ptr),
+    pub_event_(rcl_get_zero_initialized_event())
+  {
+    EXPECT_EQ(
+      rcl_publisher_event_init(&pub_event_, pub_ptr_, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED),
+      RCL_RET_OK);
+  }
+
+  ~TestWaitable2()
+  {
+    EXPECT_EQ(rcl_event_fini(&pub_event_), RCL_RET_OK);
+  }
+
+  void add_to_wait_set(rcl_wait_set_t * wait_set) override
+  {
+    EXPECT_EQ(rcl_wait_set_add_event(wait_set, &pub_event_, &wait_set_event_index_), RCL_RET_OK);
+  }
+
+  bool is_ready(rcl_wait_set_t *) override
+  {
+    return test_waitable_result2;
+  }
+
+  std::shared_ptr<void>
+  take_data() override
+  {
+    return nullptr;
+  }
+
+  void execute(std::shared_ptr<void> & data) override
+  {
+    (void) data;
+  }
+
+  size_t get_number_of_ready_events() override
+  {
+    return 1;
+  }
+
+private:
+  rcl_publisher_t * pub_ptr_;
+  rcl_event_t pub_event_;
+  size_t wait_set_event_index_;
+};
+
 struct RclWaitSetSizes
 {
   size_t size_of_subscriptions = 0;
@@ -497,8 +548,8 @@ TEST_F(TestAllocatorMemoryStrategy, add_remove_waitables) {
 TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_subscription) {
   RclWaitSetSizes expected_sizes = {};
   expected_sizes.size_of_subscriptions = 1;
-  expected_sizes.size_of_events = 1;
-  expected_sizes.size_of_waitables = 1;
+  expected_sizes.size_of_events = 2;
+  expected_sizes.size_of_waitables = 2;
   auto node_with_subscription = create_node_with_subscription("subscription_node");
   EXPECT_TRUE(TestNumberOfEntitiesAfterCollection(node_with_subscription, expected_sizes));
 }
@@ -657,20 +708,129 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_timer) {
 }
 
 TEST_F(TestAllocatorMemoryStrategy, get_next_waitable) {
-  auto node1 = std::make_shared<rclcpp::Node>("waitable_node", "ns");
-  auto node2 = std::make_shared<rclcpp::Node>("waitable_node2", "ns");
-  rclcpp::Waitable::SharedPtr waitable1 = std::make_shared<TestWaitable>();
-  rclcpp::Waitable::SharedPtr waitable2 = std::make_shared<TestWaitable>();
-  node1->get_node_waitables_interface()->add_waitable(waitable1, nullptr);
-  node2->get_node_waitables_interface()->add_waitable(waitable2, nullptr);
-
   auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
       rclcpp::AnyExecutable result;
       allocator_memory_strategy()->get_next_waitable(result, weak_groups_to_nodes);
       return result;
     };
 
-  EXPECT_TRUE(TestGetNextEntity(node1, node2, get_next_entity));
+  {
+    auto node1 = std::make_shared<rclcpp::Node>(
+      "waitable_node", "ns",
+      rclcpp::NodeOptions()
+      .start_parameter_event_publisher(false)
+      .start_parameter_services(false));
+
+    rclcpp::PublisherOptions pub_options;
+    pub_options.use_default_callbacks = false;
+
+    auto pub1 = node1->create_publisher<test_msgs::msg::Empty>(
+      "test_topic_1", rclcpp::QoS(10), pub_options);
+
+    auto waitable1 =
+      std::make_shared<TestWaitable2>(pub1->get_publisher_handle().get());
+    node1->get_node_waitables_interface()->add_waitable(waitable1, nullptr);
+
+    auto basic_node = create_node_with_disabled_callback_groups("basic_node");
+    WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+    basic_node->for_each_callback_group(
+      [basic_node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
+        weak_groups_to_nodes.insert(
+          std::pair<rclcpp::CallbackGroup::WeakPtr,
+          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
+            group_ptr,
+            basic_node->get_node_base_interface()));
+      });
+    node1->for_each_callback_group(
+      [node1, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
+        weak_groups_to_nodes.insert(
+          std::pair<rclcpp::CallbackGroup::WeakPtr,
+          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
+            group_ptr,
+            node1->get_node_base_interface()));
+      });
+    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+
+    rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+    ASSERT_EQ(
+      rcl_wait_set_init(
+        &wait_set,
+        allocator_memory_strategy()->number_of_ready_subscriptions(),
+        allocator_memory_strategy()->number_of_guard_conditions(),
+        allocator_memory_strategy()->number_of_ready_timers(),
+        allocator_memory_strategy()->number_of_ready_clients(),
+        allocator_memory_strategy()->number_of_ready_services(),
+        allocator_memory_strategy()->number_of_ready_events(),
+        rclcpp::contexts::get_global_default_context()->get_rcl_context().get(),
+        allocator_memory_strategy()->get_allocator()),
+      RCL_RET_OK);
+
+    ASSERT_TRUE(allocator_memory_strategy()->add_handles_to_wait_set(&wait_set));
+
+    ASSERT_EQ(
+      rcl_wait(
+        &wait_set,
+        std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::milliseconds(100))
+        .count()),
+      RCL_RET_OK);
+    test_waitable_result2 = true;
+    allocator_memory_strategy()->remove_null_handles(&wait_set);
+
+    rclcpp::AnyExecutable result = get_next_entity(weak_groups_to_nodes);
+    EXPECT_EQ(result.node_base, node1->get_node_base_interface());
+    test_waitable_result2 = false;
+
+    EXPECT_EQ(rcl_wait_set_fini(&wait_set), RCL_RET_OK);
+  }
+
+  {
+    auto node2 = std::make_shared<rclcpp::Node>(
+      "waitable_node2", "ns",
+      rclcpp::NodeOptions()
+      .start_parameter_services(false)
+      .start_parameter_event_publisher(false));
+
+    rclcpp::PublisherOptions pub_options;
+    pub_options.use_default_callbacks = false;
+
+    auto pub2 = node2->create_publisher<test_msgs::msg::Empty>(
+      "test_topic_2", rclcpp::QoS(10), pub_options);
+
+    auto waitable2 =
+      std::make_shared<TestWaitable2>(pub2->get_publisher_handle().get());
+    node2->get_node_waitables_interface()->add_waitable(waitable2, nullptr);
+
+    auto basic_node2 = std::make_shared<rclcpp::Node>(
+      "basic_node2", "ns",
+      rclcpp::NodeOptions()
+      .start_parameter_services(false)
+      .start_parameter_event_publisher(false));
+    WeakCallbackGroupsToNodesMap weak_groups_to_uncollected_nodes;
+    basic_node2->for_each_callback_group(
+      [basic_node2, &weak_groups_to_uncollected_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
+        weak_groups_to_uncollected_nodes.insert(
+          std::pair<rclcpp::CallbackGroup::WeakPtr,
+          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
+            group_ptr,
+            basic_node2->get_node_base_interface()));
+      });
+    node2->for_each_callback_group(
+      [node2,
+      &weak_groups_to_uncollected_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
+        weak_groups_to_uncollected_nodes.insert(
+          std::pair<rclcpp::CallbackGroup::WeakPtr,
+          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
+            group_ptr,
+            node2->get_node_base_interface()));
+      });
+
+    rclcpp::AnyExecutable failed_result = get_next_entity(weak_groups_to_uncollected_nodes);
+    EXPECT_EQ(failed_result.node_base, nullptr);
+  }
 }
 
 TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_mutually_exclusive) {

rclcpp/test/rclcpp/test_function_traits.cpp

@@ -393,6 +393,7 @@ TEST(TestFunctionTraits, argument_types) {
 
   auto bind_one_bool = std::bind(
     &ObjectMember::callback_one_bool, &object_member, std::placeholders::_1);
+  (void)bind_one_bool;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -402,6 +403,7 @@ TEST(TestFunctionTraits, argument_types) {
 
   auto bind_one_bool_const = std::bind(
     &ObjectMember::callback_one_bool_const, &object_member, std::placeholders::_1);
+  (void)bind_one_bool_const;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -413,6 +415,7 @@ TEST(TestFunctionTraits, argument_types) {
   auto bind_two_bools = std::bind(
     &ObjectMember::callback_two_bools, &object_member, std::placeholders::_1,
     std::placeholders::_2);
+  (void)bind_two_bools;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -429,6 +432,7 @@ TEST(TestFunctionTraits, argument_types) {
   auto bind_one_bool_one_float = std::bind(
     &ObjectMember::callback_one_bool_one_float, &object_member, std::placeholders::_1,
     std::placeholders::_2);
+  (void)bind_one_bool_one_float;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -447,6 +451,7 @@ TEST(TestFunctionTraits, argument_types) {
     >::value, "Functor accepts a float as second argument");
 
   auto bind_one_int = std::bind(func_one_int, std::placeholders::_1);
+  (void)bind_one_int;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -455,6 +460,7 @@ TEST(TestFunctionTraits, argument_types) {
     >::value, "Functor accepts an int as first argument");
 
   auto bind_two_ints = std::bind(func_two_ints, std::placeholders::_1, std::placeholders::_2);
+  (void)bind_two_ints;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -470,6 +476,7 @@ TEST(TestFunctionTraits, argument_types) {
 
   auto bind_one_int_one_char = std::bind(
     func_one_int_one_char, std::placeholders::_1, std::placeholders::_2);
+  (void)bind_one_int_one_char;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -530,18 +537,21 @@ TEST(TestFunctionTraits, check_arguments) {
       (void)one;
       return 1;
     };
+  (void)lambda_one_int;  // to quiet clang
 
   auto lambda_two_ints = [](int one, int two) {
       (void)one;
       (void)two;
       return 2;
     };
+  (void)lambda_two_ints;  // to quiet clang
 
   auto lambda_one_int_one_char = [](int one, char two) {
       (void)one;
       (void)two;
       return 3;
     };
+  (void)lambda_one_int_one_char;  // to quiet clang
 
   static_assert(
     rclcpp::function_traits::check_arguments<decltype(lambda_one_int), int>::value,
@@ -572,6 +582,7 @@ TEST(TestFunctionTraits, check_arguments) {
 
   auto bind_one_bool = std::bind(
     &ObjectMember::callback_one_bool, &object_member, std::placeholders::_1);
+  (void)bind_one_bool;  // to quiet clang
 
   // Test std::bind functions
   static_assert(
@@ -580,6 +591,7 @@ TEST(TestFunctionTraits, check_arguments) {
 
   auto bind_one_bool_const = std::bind(
     &ObjectMember::callback_one_bool_const, &object_member, std::placeholders::_1);
+  (void)bind_one_bool_const;  // to quiet clang
 
   // Test std::bind functions
   static_assert(
@@ -745,6 +757,7 @@ TEST_F(TestMember, bind_member_functor) {
   auto bind_member_functor = std::bind(
     &TestMember::MemberFunctor, this, std::placeholders::_1,
     std::placeholders::_2, std::placeholders::_3);
+  (void)bind_member_functor;  // to quiet clang
 
   static_assert(
     rclcpp::function_traits::check_arguments<decltype(bind_member_functor), int, float,

rclcpp/test/rclcpp/test_generic_pubsub.cpp

@@ -89,9 +89,9 @@ public:
     T2 message;
     write_message(data, message);
 
-    rclcpp::Serialization<T2> ser;
+    rclcpp::Serialization<T2> serialization_support;
     SerializedMessage result;
-    ser.serialize_message(&message, &result);
+    serialization_support.serialize_message(&message, &result);
     return result;
   }
 

rclcpp/test/rclcpp/test_loaned_message.cpp

@@ -186,7 +186,6 @@ TEST_F(TestLoanedMessage, move_loaned_message) {
   auto loaned_msg_moved_to = LoanedMessageT(std::move(loaned_msg_to_move));
 
   ASSERT_TRUE(loaned_msg_moved_to.is_valid());
-  ASSERT_FALSE(loaned_msg_to_move.is_valid());
 
   loaned_msg_moved_to.get().float32_value = 42.0f;
   ASSERT_EQ(42.0f, loaned_msg_moved_to.get().float32_value);

rclcpp/test/rclcpp/test_logger.cpp

@@ -160,6 +160,50 @@ TEST(TestLogger, set_level) {
   EXPECT_EQ(RCUTILS_RET_OK, rcutils_logging_shutdown());
 }
 
+TEST(TestLogger, get_effective_level) {
+  ASSERT_EQ(RCUTILS_RET_OK, rcutils_logging_initialize());
+
+  rclcpp::Logger logger = rclcpp::get_logger("test_logger");
+  rclcpp::Logger child_logger = rclcpp::get_logger("test_logger.child");
+
+  // set child logger level unset to test effective level
+  child_logger.set_level(rclcpp::Logger::Level::Unset);
+
+  // default
+  EXPECT_EQ(rclcpp::Logger::Level::Info, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Info, child_logger.get_effective_level());
+
+  // unset
+  logger.set_level(rclcpp::Logger::Level::Unset);
+  EXPECT_EQ(rclcpp::Logger::Level::Info, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Info, child_logger.get_effective_level());
+
+  // debug
+  logger.set_level(rclcpp::Logger::Level::Debug);
+  EXPECT_EQ(rclcpp::Logger::Level::Debug, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Debug, child_logger.get_effective_level());
+
+  // info
+  logger.set_level(rclcpp::Logger::Level::Info);
+  EXPECT_EQ(rclcpp::Logger::Level::Info, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Info, child_logger.get_effective_level());
+
+  // warn
+  logger.set_level(rclcpp::Logger::Level::Warn);
+  EXPECT_EQ(rclcpp::Logger::Level::Warn, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Warn, child_logger.get_effective_level());
+
+  // error
+  logger.set_level(rclcpp::Logger::Level::Error);
+  EXPECT_EQ(rclcpp::Logger::Level::Error, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Error, child_logger.get_effective_level());
+
+  // fatal
+  logger.set_level(rclcpp::Logger::Level::Fatal);
+  EXPECT_EQ(rclcpp::Logger::Level::Fatal, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Fatal, child_logger.get_effective_level());
+}
+
 TEST(TestLogger, get_logging_directory) {
   ASSERT_EQ(true, rcutils_set_env("HOME", "/fake_home_dir"));
   ASSERT_EQ(true, rcutils_set_env("USERPROFILE", nullptr));

rclcpp/test/rclcpp/test_qos_event.cpp

@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <atomic>
 #include <chrono>
 #include <functional>
 #include <future>
@@ -232,7 +233,7 @@ TEST_F(TestQosEvent, construct_destruct_rcl_error) {
     auto throwing_statement = [callback, rcl_handle, event_type]() {
         // reset() is not needed for the exception, but it handles unused return value warning
         std::make_shared<
-          rclcpp::QOSEventHandler<decltype(callback), std::shared_ptr<rcl_publisher_t>>>(
+          rclcpp::EventHandler<decltype(callback), std::shared_ptr<rcl_publisher_t>>>(
           callback, rcl_publisher_event_init, rcl_handle, event_type).reset();
       };
     // This is done through a lambda because the compiler is having trouble parsing the templated
@@ -248,7 +249,7 @@ TEST_F(TestQosEvent, construct_destruct_rcl_error) {
     auto throwing_statement = [callback, rcl_handle, event_type]() {
         // reset() is needed for this exception
         std::make_shared<
-          rclcpp::QOSEventHandler<decltype(callback), std::shared_ptr<rcl_publisher_t>>>(
+          rclcpp::EventHandler<decltype(callback), std::shared_ptr<rcl_publisher_t>>>(
           callback, rcl_publisher_event_init, rcl_handle, event_type).reset();
       };
 
@@ -267,7 +268,7 @@ TEST_F(TestQosEvent, execute) {
   auto callback = [&handler_callback_executed](int) {handler_callback_executed = true;};
   rcl_publisher_event_type_t event_type = RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
 
-  rclcpp::QOSEventHandler<decltype(callback), decltype(rcl_handle)> handler(
+  rclcpp::EventHandler<decltype(callback), decltype(rcl_handle)> handler(
     callback, rcl_publisher_event_init, rcl_handle, event_type);
 
   std::shared_ptr<void> data = handler.take_data();
@@ -292,7 +293,7 @@ TEST_F(TestQosEvent, add_to_wait_set) {
   auto callback = [](int) {};
 
   rcl_publisher_event_type_t event_type = RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
-  rclcpp::QOSEventHandler<decltype(callback), decltype(rcl_handle)> handler(
+  rclcpp::EventHandler<decltype(callback), decltype(rcl_handle)> handler(
     callback, rcl_publisher_event_init, rcl_handle, event_type);
 
   EXPECT_EQ(1u, handler.get_number_of_ready_events());
@@ -313,6 +314,11 @@ TEST_F(TestQosEvent, add_to_wait_set) {
 
 TEST_F(TestQosEvent, test_on_new_event_callback)
 {
+  // rmw_connextdds doesn't support rmw_event_set_callback() interface
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto offered_deadline = rclcpp::Duration(std::chrono::milliseconds(1));
   auto requested_deadline = rclcpp::Duration(std::chrono::milliseconds(2));
 
@@ -354,6 +360,11 @@ TEST_F(TestQosEvent, test_on_new_event_callback)
 
 TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
 {
+  // rmw_connextdds doesn't support rmw_event_set_callback() interface
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto pub = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
   auto sub = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
   auto dummy_cb = [](size_t count_events) {(void)count_events;};
@@ -376,6 +387,12 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
   EXPECT_NO_THROW(
     pub->clear_on_new_qos_event_callback(RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS));
 
+  EXPECT_NO_THROW(
+    pub->set_on_new_qos_event_callback(dummy_cb, RCL_PUBLISHER_MATCHED));
+
+  EXPECT_NO_THROW(
+    pub->clear_on_new_qos_event_callback(RCL_PUBLISHER_MATCHED));
+
   EXPECT_NO_THROW(
     sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED));
 
@@ -394,6 +411,12 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
   EXPECT_NO_THROW(
     sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS));
 
+  EXPECT_NO_THROW(
+    sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_MATCHED));
+
+  EXPECT_NO_THROW(
+    sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_MATCHED));
+
   std::function<void(size_t)> invalid_cb;
 
   rclcpp::SubscriptionOptions sub_options;
@@ -413,3 +436,170 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
     pub->set_on_new_qos_event_callback(invalid_cb, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED),
     std::invalid_argument);
 }
+
+TEST_F(TestQosEvent, test_pub_matched_event_by_set_event_callback)
+{
+  // rmw_connextdds doesn't support rmw_event_set_callback() interface
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
+  std::atomic_size_t matched_count = 0;
+
+  rclcpp::PublisherOptions pub_options;
+  pub_options.event_callbacks.matched_callback = [](auto) {};
+  auto pub = node->create_publisher<test_msgs::msg::Empty>(
+    topic_name, 10, pub_options);
+
+  auto matched_event_callback = [&matched_count](size_t count) {
+      matched_count += count;
+    };
+
+  pub->set_on_new_qos_event_callback(matched_event_callback, RCL_PUBLISHER_MATCHED);
+
+  rclcpp::executors::SingleThreadedExecutor ex;
+  ex.add_node(node->get_node_base_interface());
+
+  const auto timeout = std::chrono::milliseconds(200);
+
+  {
+    auto sub1 = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
+    ex.spin_some(timeout);
+    EXPECT_EQ(matched_count, static_cast<size_t>(1));
+
+    {
+      auto sub2 = node->create_subscription<test_msgs::msg::Empty>(
+        topic_name, 10, message_callback);
+      ex.spin_some(timeout);
+      EXPECT_EQ(matched_count, static_cast<size_t>(2));
+    }
+    ex.spin_some(timeout);
+    EXPECT_EQ(matched_count, static_cast<size_t>(3));
+  }
+
+  ex.spin_some(timeout);
+  EXPECT_EQ(matched_count, static_cast<size_t>(4));
+}
+
+TEST_F(TestQosEvent, test_sub_matched_event_by_set_event_callback)
+{
+  // rmw_connextdds doesn't support rmw_event_set_callback() interface
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
+  std::atomic_size_t matched_count = 0;
+
+  rclcpp::SubscriptionOptions sub_options;
+  sub_options.event_callbacks.matched_callback = [](auto) {};
+  auto sub = node->create_subscription<test_msgs::msg::Empty>(
+    topic_name, 10, message_callback, sub_options);
+
+  auto matched_event_callback = [&matched_count](size_t count) {
+      matched_count += count;
+    };
+
+  sub->set_on_new_qos_event_callback(matched_event_callback, RCL_SUBSCRIPTION_MATCHED);
+
+  rclcpp::executors::SingleThreadedExecutor ex;
+  ex.add_node(node->get_node_base_interface());
+
+  const auto timeout = std::chrono::milliseconds(200);
+
+  {
+    auto pub1 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
+
+    ex.spin_some(timeout);
+    EXPECT_EQ(matched_count, static_cast<size_t>(1));
+
+    {
+      auto pub2 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
+      ex.spin_some(timeout);
+      EXPECT_EQ(matched_count, static_cast<size_t>(2));
+    }
+
+    ex.spin_some(timeout);
+    EXPECT_EQ(matched_count, static_cast<size_t>(3));
+  }
+
+  ex.spin_some(timeout);
+  EXPECT_EQ(matched_count, static_cast<size_t>(4));
+}
+
+TEST_F(TestQosEvent, test_pub_matched_event_by_option_event_callback)
+{
+  rmw_matched_status_t matched_expected_result;
+
+  rclcpp::PublisherOptions pub_options;
+  pub_options.event_callbacks.matched_callback =
+    [&matched_expected_result](rmw_matched_status_t & s) {
+      EXPECT_EQ(s.total_count, matched_expected_result.total_count);
+      EXPECT_EQ(s.total_count_change, matched_expected_result.total_count_change);
+      EXPECT_EQ(s.current_count, matched_expected_result.current_count);
+      EXPECT_EQ(s.current_count_change, matched_expected_result.current_count_change);
+    };
+
+  auto pub = node->create_publisher<test_msgs::msg::Empty>(
+    topic_name, 10, pub_options);
+
+  rclcpp::executors::SingleThreadedExecutor ex;
+  ex.add_node(node->get_node_base_interface());
+
+  // Create a connected subscription
+  matched_expected_result.total_count = 1;
+  matched_expected_result.total_count_change = 1;
+  matched_expected_result.current_count = 1;
+  matched_expected_result.current_count_change = 1;
+
+  const auto timeout = std::chrono::milliseconds(200);
+
+  {
+    auto sub = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
+    ex.spin_some(timeout);
+
+    // destroy a connected subscription
+    matched_expected_result.total_count = 1;
+    matched_expected_result.total_count_change = 0;
+    matched_expected_result.current_count = 0;
+    matched_expected_result.current_count_change = -1;
+  }
+  ex.spin_some(timeout);
+}
+
+TEST_F(TestQosEvent, test_sub_matched_event_by_option_event_callback)
+{
+  rmw_matched_status_t matched_expected_result;
+
+  rclcpp::SubscriptionOptions sub_options;
+  sub_options.event_callbacks.matched_callback =
+    [&matched_expected_result](rmw_matched_status_t & s) {
+      EXPECT_EQ(s.total_count, matched_expected_result.total_count);
+      EXPECT_EQ(s.total_count_change, matched_expected_result.total_count_change);
+      EXPECT_EQ(s.current_count, matched_expected_result.current_count);
+      EXPECT_EQ(s.current_count_change, matched_expected_result.current_count_change);
+    };
+  auto sub = node->create_subscription<test_msgs::msg::Empty>(
+    topic_name, 10, message_callback, sub_options);
+
+  rclcpp::executors::SingleThreadedExecutor ex;
+  ex.add_node(node->get_node_base_interface());
+
+  // Create a connected publisher
+  matched_expected_result.total_count = 1;
+  matched_expected_result.total_count_change = 1;
+  matched_expected_result.current_count = 1;
+  matched_expected_result.current_count_change = 1;
+
+  const auto timeout = std::chrono::milliseconds(200);
+  {
+    auto pub1 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
+    ex.spin_some(timeout);
+
+    // destroy a connected publisher
+    matched_expected_result.total_count = 1;
+    matched_expected_result.total_count_change = 0;
+    matched_expected_result.current_count = 0;
+    matched_expected_result.current_count_change = -1;
+  }
+  ex.spin_some(timeout);
+}

rclcpp/test/rclcpp/test_serialized_message.cpp

@@ -67,8 +67,6 @@ TEST(TestSerializedMessage, various_constructors) {
   rclcpp::SerializedMessage yet_another_serialized_message(std::move(other_serialized_message));
   auto & yet_another_rcl_handle = yet_another_serialized_message.get_rcl_serialized_message();
   EXPECT_TRUE(nullptr == other_rcl_handle.buffer);
-  EXPECT_EQ(0u, other_serialized_message.capacity());
-  EXPECT_EQ(0u, other_serialized_message.size());
   EXPECT_TRUE(nullptr != yet_another_rcl_handle.buffer);
   EXPECT_EQ(content_size, yet_another_serialized_message.size());
   EXPECT_EQ(content_size, yet_another_serialized_message.capacity());

rclcpp_action/CMakeLists.txt

@@ -9,9 +9,10 @@ find_package(rcl_action REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(

rclcpp_action/include/rclcpp_action/types.hpp

@@ -34,7 +34,7 @@ using GoalUUID = std::array<uint8_t, UUID_SIZE>;
 using GoalStatus = action_msgs::msg::GoalStatus;
 using GoalInfo = action_msgs::msg::GoalInfo;
 
-/// Convert a goal id to a human readable string.
+/// Convert a goal id to a human readable RFC-4122 compliant string.
 RCLCPP_ACTION_PUBLIC
 std::string
 to_string(const GoalUUID & goal_id);

rclcpp_action/src/client.cpp

@@ -318,14 +318,19 @@ ClientBase::handle_result_response(
   const rmw_request_id_t & response_header,
   std::shared_ptr<void> response)
 {
-  std::lock_guard<std::mutex> guard(pimpl_->result_requests_mutex);
-  const int64_t & sequence_number = response_header.sequence_number;
-  if (pimpl_->pending_result_responses.count(sequence_number) == 0) {
-    RCLCPP_ERROR(pimpl_->logger, "unknown result response, ignoring...");
-    return;
+  std::map<int64_t, ResponseCallback>::node_type pending_result_response;
+  {
+    std::lock_guard<std::mutex> guard(pimpl_->result_requests_mutex);
+    const int64_t & sequence_number = response_header.sequence_number;
+    if (pimpl_->pending_result_responses.count(sequence_number) == 0) {
+      RCLCPP_ERROR(pimpl_->logger, "unknown result response, ignoring...");
+      return;
+    }
+    pending_result_response =
+      pimpl_->pending_result_responses.extract(sequence_number);
   }
-  pimpl_->pending_result_responses[sequence_number](response);
-  pimpl_->pending_result_responses.erase(sequence_number);
+  auto & response_callback = pending_result_response.mapped();
+  response_callback(response);
 }
 
 void

rclcpp_action/src/types.cpp

@@ -15,25 +15,33 @@
 #include "rclcpp_action/types.hpp"
 
 #include <string>
-#include <sstream>
 
 namespace rclcpp_action
 {
 std::string
 to_string(const GoalUUID & goal_id)
 {
-  std::stringstream stream;
-  stream << std::hex;
-  for (const auto & element : goal_id) {
-    stream << static_cast<int>(element);
+  constexpr char HEX[] = "0123456789abcdef";
+  std::string result;
+  result.resize(36);
+  size_t i = 0;
+  for (uint8_t byte : goal_id) {
+    result[i++] = HEX[byte >> 4];
+    result[i++] = HEX[byte & 0x0f];
+    // A RFC-4122 compliant UUID looks like:
+    // 00000000-0000-0000-0000-000000000000
+    // That means that there is a '-' at offset 8, 13, 18, and 23
+    if (i == 8 || i == 13 || i == 18 || i == 23) {
+      result[i++] = '-';
+    }
   }
-  return stream.str();
+  return result;
 }
 
 void
 convert(const GoalUUID & goal_id, rcl_action_goal_info_t * info)
 {
-  for (size_t i = 0; i < 16; ++i) {
+  for (size_t i = 0; i < UUID_SIZE; ++i) {
     info->goal_id.uuid[i] = goal_id[i];
   }
 }
@@ -41,7 +49,7 @@ convert(const GoalUUID & goal_id, rcl_action_goal_info_t * info)
 void
 convert(const rcl_action_goal_info_t & info, GoalUUID * goal_id)
 {
-  for (size_t i = 0; i < 16; ++i) {
+  for (size_t i = 0; i < UUID_SIZE; ++i) {
     (*goal_id)[i] = info.goal_id.uuid[i];
   }
 }

rclcpp_action/test/test_types.cpp

@@ -22,17 +22,17 @@ TEST(TestActionTypes, goal_uuid_to_string) {
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
     goal_id[i] = i;
   }
-  EXPECT_STREQ("0123456789abcdef", rclcpp_action::to_string(goal_id).c_str());
+  EXPECT_STREQ("00010203-0405-0607-0809-0a0b0c0d0e0f", rclcpp_action::to_string(goal_id).c_str());
 
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
     goal_id[i] = static_cast<uint8_t>(16u + i);
   }
-  EXPECT_STREQ("101112131415161718191a1b1c1d1e1f", rclcpp_action::to_string(goal_id).c_str());
+  EXPECT_STREQ("10111213-1415-1617-1819-1a1b1c1d1e1f", rclcpp_action::to_string(goal_id).c_str());
 
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
     goal_id[i] = static_cast<uint8_t>(std::numeric_limits<uint8_t>::max() - i);
   }
-  EXPECT_STREQ("fffefdfcfbfaf9f8f7f6f5f4f3f2f1f0", rclcpp_action::to_string(goal_id).c_str());
+  EXPECT_STREQ("fffefdfc-fbfa-f9f8-f7f6-f5f4f3f2f1f0", rclcpp_action::to_string(goal_id).c_str());
 }
 
 TEST(TestActionTypes, goal_uuid_to_rcl_action_goal_info) {
@@ -54,7 +54,7 @@ TEST(TestActionTypes, rcl_action_goal_info_to_goal_uuid) {
   }
 
   rclcpp_action::GoalUUID goal_id;
-  rclcpp_action::convert(goal_id, &goal_info);
+  rclcpp_action::convert(goal_info, &goal_id);
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
     EXPECT_EQ(goal_info.goal_id.uuid[i], goal_id[i]);
   }

rclcpp_components/CMakeLists.txt

@@ -2,9 +2,10 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rclcpp_components)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(

rclcpp_lifecycle/CMakeLists.txt

@@ -2,9 +2,10 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rclcpp_lifecycle)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -172,6 +172,15 @@ public:
   const char *
   get_namespace() const;
 
+  /// Get the fully-qualified name of the node.
+  /**
+   * The fully-qualified name includes the local namespace and name of the node.
+   * \return fully-qualified name of the node.
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  const char *
+  get_fully_qualified_name() const;
+
   /// Get the logger of the node.
   /**
    * \return The logger of the node.

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -165,6 +165,12 @@ LifecycleNode::get_namespace() const
   return node_base_->get_namespace();
 }
 
+const char *
+LifecycleNode::get_fully_qualified_name() const
+{
+  return node_base_->get_fully_qualified_name();
+}
+
 rclcpp::Logger
 LifecycleNode::get_logger() const
 {

rclcpp_lifecycle/test/test_lifecycle_node.cpp

@@ -229,6 +229,7 @@ TEST_F(TestDefaultStateMachine, empty_initializer) {
   auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
   EXPECT_STREQ("testnode", test_node->get_name());
   EXPECT_STREQ("/", test_node->get_namespace());
+  EXPECT_STREQ("/testnode", test_node->get_fully_qualified_name());
   EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
 }
 

rclcpp_lifecycle/test/test_lifecycle_publisher.cpp

@@ -133,6 +133,7 @@ TEST_P(TestLifecyclePublisher, publish_managed_by_node) {
     rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE), ret);
   ASSERT_EQ(success, ret);
   ret = reset_key;
+  (void)ret;  // Just to make clang happy
   EXPECT_FALSE(node_->publisher()->is_activated());
   {
     auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();