scheduled timer mutex

Signed-off-by: Stephen Brawner <brawner@gmail.com>

rclcpp/CHANGELOG.rst

@@ -2,23 +2,6 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.0.2 (2020-07-07)
-------------------
-* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_) (`#1214 <https://github.com/ros2/rclcpp/issues/1214>`_)
-* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_) (`#1193 <https://github.com/ros2/rclcpp/issues/1193>`_)
-* Contributors: Dirk Thomas, tomoya
-
-2.0.1 (2020-06-23)
-------------------
-* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_) (`#1192 <https://github.com/ros2/rclcpp/issues/1192>`_)
-* Fix get_node_time_source_interface() docstring (`#988 <https://github.com/ros2/rclcpp/issues/988>`_) (`#1185 <https://github.com/ros2/rclcpp/issues/1185>`_)
-* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
-* Check if context is valid when looping in spin_some (`#1167 <https://github.com/ros2/rclcpp/issues/1167>`_)
-* Fix spin_until_future_complete: check spinning value (`#1023 <https://github.com/ros2/rclcpp/issues/1023>`_)
-  Make Executor::spin_once_impl private before backporting, to avoid API compatibility issues
-* Add check for invalid topic statistics publish period (`#1151 <https://github.com/ros2/rclcpp/issues/1151>`_) (`#1172 <https://github.com/ros2/rclcpp/issues/1172>`_)
-* Contributors: Alejandro Hernández Cordero, Devin Bonnie, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Stephen Brawner
-
 2.0.0 (2020-06-01)
 ------------------
 * Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)

rclcpp/CMakeLists.txt

@@ -2,8 +2,6 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rclcpp)
 
-find_package(Threads REQUIRED)
-
 find_package(ament_cmake_ros REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(libstatistics_collector REQUIRED)
@@ -168,7 +166,6 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
-target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
   "libstatistics_collector"
@@ -215,442 +212,10 @@ ament_export_dependencies(statistics_msgs)
 ament_export_dependencies(tracetools)
 
 if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  find_package(rmw_implementation_cmake REQUIRED)
-  find_package(rosidl_default_generators REQUIRED)
-
-  find_package(test_msgs REQUIRED)
-
-  include(cmake/rclcpp_add_build_failure_test.cmake)
-
-  add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/test/resources")
-
-  rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
-    test/msg/Header.msg
-    test/msg/MessageWithHeader.msg
-    DEPENDENCIES builtin_interfaces
-    LIBRARY_NAME ${PROJECT_NAME}
-    SKIP_INSTALL
-  )
-
-  ament_add_gtest(test_client test/test_client.cpp)
-  if(TARGET test_client)
-    ament_target_dependencies(test_client
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_client ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_create_timer test/test_create_timer.cpp)
-  if(TARGET test_create_timer)
-    ament_target_dependencies(test_create_timer
-      "rcl_interfaces"
-      "rmw"
-      "rcl"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_create_timer ${PROJECT_NAME})
-    target_include_directories(test_create_timer PRIVATE test/)
-  endif()
-  ament_add_gtest(test_expand_topic_or_service_name test/test_expand_topic_or_service_name.cpp)
-  if(TARGET test_expand_topic_or_service_name)
-    ament_target_dependencies(test_expand_topic_or_service_name
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_function_traits test/test_function_traits.cpp)
-  if(TARGET test_function_traits)
-    target_include_directories(test_function_traits PUBLIC include)
-    ament_target_dependencies(test_function_traits
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-  endif()
-  ament_add_gmock(test_intra_process_manager test/test_intra_process_manager.cpp)
-  if(TARGET test_intra_process_manager)
-    ament_target_dependencies(test_intra_process_manager
-      "rcl"
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_ring_buffer_implementation test/test_ring_buffer_implementation.cpp)
-  if(TARGET test_ring_buffer_implementation)
-    ament_target_dependencies(test_ring_buffer_implementation
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_ring_buffer_implementation ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_intra_process_buffer test/test_intra_process_buffer.cpp)
-  if(TARGET test_intra_process_buffer)
-    ament_target_dependencies(test_intra_process_buffer
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_intra_process_buffer ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_loaned_message test/test_loaned_message.cpp)
-  ament_target_dependencies(test_loaned_message
-    "test_msgs"
-  )
-  target_link_libraries(test_loaned_message ${PROJECT_NAME})
-
-  ament_add_gtest(test_node test/test_node.cpp TIMEOUT 240)
-  if(TARGET test_node)
-    ament_target_dependencies(test_node
-      "rcl_interfaces"
-      "rcpputils"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-    target_link_libraries(test_node ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_node_interfaces__get_node_interfaces
-    test/node_interfaces/test_get_node_interfaces.cpp)
-  if(TARGET test_node_interfaces__get_node_interfaces)
-    target_link_libraries(test_node_interfaces__get_node_interfaces ${PROJECT_NAME})
-  endif()
-
-  # TODO(wjwwood): reenable these build failure tests when I can get Jenkins to ignore their output
-  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_rclcpp_node
-  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_rclcpp_node.cpp)
-  # target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
-  #   ${PROJECT_NAME})
-
-  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
-  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_rclcpp_node.cpp)
-  # target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
-  #   ${PROJECT_NAME})
-
-  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_wrapped_node
-  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_wrapped_node.cpp)
-  # target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
-  #   ${PROJECT_NAME})
-
-  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_wrapped_node
-  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_wrapped_node.cpp)
-  # target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
-  #   ${PROJECT_NAME})
-
-  ament_add_gtest(test_node_global_args test/test_node_global_args.cpp)
-  if(TARGET test_node_global_args)
-    ament_target_dependencies(test_node_global_args
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_node_global_args ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_node_options test/test_node_options.cpp)
-  if(TARGET test_node_options)
-    ament_target_dependencies(test_node_options "rcl")
-    target_link_libraries(test_node_options ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_parameter_client test/test_parameter_client.cpp)
-  if(TARGET test_parameter_client)
-    ament_target_dependencies(test_parameter_client
-      "rcl_interfaces"
-    )
-    target_link_libraries(test_parameter_client ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_parameter_events_filter test/test_parameter_events_filter.cpp)
-  if(TARGET test_parameter_events_filter)
-    ament_target_dependencies(test_parameter_events_filter
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_parameter_events_filter ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_parameter test/test_parameter.cpp)
-  if(TARGET test_parameter)
-    ament_target_dependencies(test_parameter
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_parameter ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_parameter_map test/test_parameter_map.cpp)
-  if(TARGET test_parameter_map)
-    target_link_libraries(test_parameter_map ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_publisher test/test_publisher.cpp)
-  if(TARGET test_publisher)
-    ament_target_dependencies(test_publisher
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-    target_link_libraries(test_publisher ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_publisher_subscription_count_api test/test_publisher_subscription_count_api.cpp)
-  if(TARGET test_publisher_subscription_count_api)
-    ament_target_dependencies(test_publisher_subscription_count_api
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-    target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_qos test/test_qos.cpp)
-  if(TARGET test_qos)
-    ament_target_dependencies(test_qos
-      "rmw"
-    )
-    target_link_libraries(test_qos
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_qos_event test/test_qos_event.cpp)
-  if(TARGET test_qos_event)
-    ament_target_dependencies(test_qos_event
-      "rmw"
-      "test_msgs"
-    )
-    target_link_libraries(test_qos_event
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_rate test/test_rate.cpp)
-  if(TARGET test_rate)
-    ament_target_dependencies(test_rate
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_rate
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_serialized_message_allocator test/test_serialized_message_allocator.cpp)
-  if(TARGET test_serialized_message_allocator)
-    ament_target_dependencies(test_serialized_message_allocator
-      test_msgs
-    )
-    target_link_libraries(test_serialized_message_allocator
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_serialized_message test/test_serialized_message.cpp)
-  if(TARGET test_serialized_message)
-    ament_target_dependencies(test_serialized_message
-      test_msgs
-    )
-    target_link_libraries(test_serialized_message
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_service test/test_service.cpp)
-  if(TARGET test_service)
-    ament_target_dependencies(test_service
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_service ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_subscription test/test_subscription.cpp)
-  if(TARGET test_subscription)
-    ament_target_dependencies(test_subscription
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-    target_link_libraries(test_subscription ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_subscription_publisher_count_api test/test_subscription_publisher_count_api.cpp)
-  if(TARGET test_subscription_publisher_count_api)
-    ament_target_dependencies(test_subscription_publisher_count_api
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-    target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_subscription_traits test/test_subscription_traits.cpp)
-  if(TARGET test_subscription_traits)
-    ament_target_dependencies(test_subscription_traits
-      "rcl"
-      "test_msgs"
-    )
-    target_link_libraries(test_subscription_traits ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_find_weak_nodes test/test_find_weak_nodes.cpp)
-  if(TARGET test_find_weak_nodes)
-    ament_target_dependencies(test_find_weak_nodes
-      "rcl"
-    )
-    target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
-  endif()
-
-  set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
-  if(WIN32)
-    set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
-  endif()
-
-  ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp)
-  ament_target_dependencies(test_externally_defined_services
-    "rcl"
-    "test_msgs"
-  )
-  target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
-
-  ament_add_gtest(test_duration test/test_duration.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_duration)
-    ament_target_dependencies(test_duration
-      "rcl")
-    target_link_libraries(test_duration ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_executor test/test_executor.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_executor)
-    ament_target_dependencies(test_executor
-      "rcl")
-    target_link_libraries(test_executor ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_logger test/test_logger.cpp)
-  target_link_libraries(test_logger ${PROJECT_NAME})
-
-  ament_add_gmock(test_logging test/test_logging.cpp)
-  target_link_libraries(test_logging ${PROJECT_NAME})
-
-  ament_add_gtest(test_time test/test_time.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_time)
-    ament_target_dependencies(test_time
-      "rcl")
-    target_link_libraries(test_time ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_timer test/test_timer.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_timer)
-    ament_target_dependencies(test_timer
-      "rcl")
-    target_link_libraries(test_timer ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_time_source test/test_time_source.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_time_source)
-    ament_target_dependencies(test_time_source
-      "rcl")
-    target_link_libraries(test_time_source ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_utilities test/test_utilities.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_utilities)
-    ament_target_dependencies(test_utilities
-      "rcl")
-    target_link_libraries(test_utilities ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_init test/test_init.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_init)
-    ament_target_dependencies(test_init
-      "rcl")
-    target_link_libraries(test_init ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_interface_traits test/test_interface_traits.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_interface_traits)
-    ament_target_dependencies(test_interface_traits
-      "rcl")
-    target_link_libraries(test_interface_traits ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_multi_threaded_executor test/executors/test_multi_threaded_executor.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_multi_threaded_executor)
-    ament_target_dependencies(test_multi_threaded_executor
-      "rcl")
-    target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_guard_condition test/test_guard_condition.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_guard_condition)
-    target_link_libraries(test_guard_condition ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_wait_set test/test_wait_set.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_wait_set)
-    ament_target_dependencies(test_wait_set "test_msgs")
-    target_link_libraries(test_wait_set ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_subscription_topic_statistics test/topic_statistics/test_subscription_topic_statistics.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}"
-  )
-  if(TARGET test_subscription_topic_statistics)
-    ament_target_dependencies(test_subscription_topic_statistics
-      "builtin_interfaces"
-      "libstatistics_collector"
-      "rcl_interfaces"
-      "rcutils"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "statistics_msgs"
-      "test_msgs")
-    rosidl_target_interfaces(test_subscription_topic_statistics ${PROJECT_NAME}_test_msgs "rosidl_typesupport_cpp")
-    target_link_libraries(test_subscription_topic_statistics ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_subscription_options test/test_subscription_options.cpp)
-  if(TARGET test_subscription_options)
-    ament_target_dependencies(test_subscription_options "rcl")
-    target_link_libraries(test_subscription_options ${PROJECT_NAME})
-  endif()
-
-  # Install test resources
-  install(
-    DIRECTORY test/resources
-    DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/test)
+  add_subdirectory(test)
 endif()
 
 ament_package()

rclcpp/QUALITY_DECLARATION.md

@@ -191,7 +191,7 @@ It is **Quality Level 4**, see its [Quality Declaration document](https://github
 
 #### `tracetools`
 
-The `tracetools` package provides utilities for instrumenting the code in `rcl` so that it may be traced for debugging and performance analysis.
+The `tracetools` package provides utilities for instrumenting the code in `rclcpp` so that it may be traced for debugging and performance analysis.
 
 It is **Quality Level 4**, see its [Quality Declaration document](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/-/blob/master/tracetools/QUALITY_DECLARATION.md).
 

rclcpp/include/rclcpp/create_subscription.hpp

@@ -29,7 +29,6 @@
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 
-#include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_timer.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/subscription_factory.hpp"

rclcpp/include/rclcpp/executor.hpp

@@ -189,10 +189,10 @@ public:
    *   code.
    * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
    */
-  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+  template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   FutureReturnCode
   spin_until_future_complete(
-    const std::shared_future<ResponseT> & future,
+    const FutureT & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete
@@ -342,13 +342,12 @@ protected:
 
   RCLCPP_DISABLE_COPY(Executor)
 
-  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
-  std::list<const rcl_guard_condition_t *> guard_conditions_;
-
-private:
   RCLCPP_PUBLIC
   void
   spin_once_impl(std::chrono::nanoseconds timeout);
+
+  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
 };
 
 namespace executor

rclcpp/include/rclcpp/executors.hpp

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

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -82,6 +82,7 @@ private:
   RCLCPP_DISABLE_COPY(MultiThreadedExecutor)
 
   std::mutex wait_mutex_;
+  std::mutex scheduled_timers_mutex_;
   size_t number_of_threads_;
   bool yield_before_execute_;
   std::chrono::nanoseconds next_exec_timeout_;

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -143,10 +143,10 @@ public:
    *  exec.add_node(node);
    *  exec.spin_until_future_complete(future);
    */
-  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+  template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   rclcpp::FutureReturnCode
   spin_until_future_complete(
-    std::shared_future<ResponseT> & future,
+    FutureT & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     std::future_status status = future.wait_for(std::chrono::seconds(0));

rclcpp/include/rclcpp/node.hpp

@@ -1063,7 +1063,7 @@ public:
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
   get_node_parameters_interface();
 
-  /// Return the Node's internal NodeTimeSourceInterface implementation.
+  /// Return the Node's internal NodeParametersInterface implementation.
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
   get_node_time_source_interface();

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>2.0.2</version>
+  <version>2.0.0</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp/src/rclcpp/clock.cpp

@@ -32,7 +32,7 @@ public:
   {
     rcl_ret_t ret = rcl_clock_init(clock_type, &rcl_clock_, &allocator_);
     if (ret != RCL_RET_OK) {
-      exceptions::throw_from_rcl_error(ret, "failed to initialize rcl clock");
+      exceptions::throw_from_rcl_error(ret, "could not get current time stamp");
     }
   }
 

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -83,19 +83,22 @@ MultiThreadedExecutor::run(size_t)
       if (!get_next_executable(any_exec, next_exec_timeout_)) {
         continue;
       }
-      if (any_exec.timer) {
-        // Guard against multiple threads getting the same timer.
-        if (scheduled_timers_.count(any_exec.timer) != 0) {
-          // Make sure that any_exec's callback group is reset before
-          // the lock is released.
-          if (any_exec.callback_group) {
-            any_exec.callback_group->can_be_taken_from().store(true);
-          }
-          continue;
-        }
-        scheduled_timers_.insert(any_exec.timer);
-      }
     }
+
+    if (any_exec.timer) {
+      std::lock_guard<std::mutex> wait_lock(scheduled_timers_mutex_);
+      // Guard against multiple threads getting the same timer.
+      if (scheduled_timers_.count(any_exec.timer) != 0) {
+        // Make sure that any_exec's callback group is reset before
+        // the lock is released.
+        if (any_exec.callback_group) {
+          any_exec.callback_group->can_be_taken_from().store(true);
+        }
+        continue;
+      }
+      scheduled_timers_.insert(any_exec.timer);
+    }
+
     if (yield_before_execute_) {
       std::this_thread::yield();
     }
@@ -103,7 +106,7 @@ MultiThreadedExecutor::run(size_t)
     execute_any_executable(any_exec);
 
     if (any_exec.timer) {
-      std::lock_guard<std::mutex> wait_lock(wait_mutex_);
+      std::lock_guard<std::mutex> wait_lock(scheduled_timers_mutex_);
       auto it = scheduled_timers_.find(any_exec.timer);
       if (it != scheduled_timers_.end()) {
         scheduled_timers_.erase(it);

rclcpp/test/CMakeLists.txt

@@ -0,0 +1,440 @@
+find_package(ament_cmake_gtest REQUIRED)
+
+find_package(rmw_implementation_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(test_msgs REQUIRED)
+
+include(cmake/rclcpp_add_build_failure_test.cmake)
+
+add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/resources")
+
+rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
+  msg/Header.msg
+  msg/MessageWithHeader.msg
+  DEPENDENCIES builtin_interfaces
+  LIBRARY_NAME ${PROJECT_NAME}
+  SKIP_INSTALL
+)
+
+ament_add_gtest(test_client rclcpp/test_client.cpp)
+if(TARGET test_client)
+  ament_target_dependencies(test_client
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_client ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_create_timer rclcpp/test_create_timer.cpp)
+if(TARGET test_create_timer)
+  ament_target_dependencies(test_create_timer
+    "rcl_interfaces"
+    "rmw"
+    "rcl"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_create_timer ${PROJECT_NAME})
+  target_include_directories(test_create_timer PRIVATE rclcpp/)
+endif()
+ament_add_gtest(test_expand_topic_or_service_name rclcpp/test_expand_topic_or_service_name.cpp)
+if(TARGET test_expand_topic_or_service_name)
+  ament_target_dependencies(test_expand_topic_or_service_name
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_function_traits rclcpp/test_function_traits.cpp)
+if(TARGET test_function_traits)
+  target_include_directories(test_function_traits PUBLIC ../include)
+  ament_target_dependencies(test_function_traits
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+endif()
+ament_add_gmock(test_intra_process_manager rclcpp/test_intra_process_manager.cpp)
+if(TARGET test_intra_process_manager)
+  ament_target_dependencies(test_intra_process_manager
+    "rcl"
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_ring_buffer_implementation rclcpp/test_ring_buffer_implementation.cpp)
+if(TARGET test_ring_buffer_implementation)
+  ament_target_dependencies(test_ring_buffer_implementation
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_ring_buffer_implementation ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_intra_process_buffer rclcpp/test_intra_process_buffer.cpp)
+if(TARGET test_intra_process_buffer)
+  ament_target_dependencies(test_intra_process_buffer
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_intra_process_buffer ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_loaned_message rclcpp/test_loaned_message.cpp)
+ament_target_dependencies(test_loaned_message
+  "test_msgs"
+)
+target_link_libraries(test_loaned_message ${PROJECT_NAME})
+
+ament_add_gtest(test_node rclcpp/test_node.cpp TIMEOUT 240)
+if(TARGET test_node)
+  ament_target_dependencies(test_node
+    "rcl_interfaces"
+    "rcpputils"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_node ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_node_interfaces__get_node_interfaces
+  rclcpp/node_interfaces/test_get_node_interfaces.cpp)
+if(TARGET test_node_interfaces__get_node_interfaces)
+  target_link_libraries(test_node_interfaces__get_node_interfaces ${PROJECT_NAME})
+endif()
+
+# TODO(wjwwood): reenable these build failure tests when I can get Jenkins to ignore their output
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_rclcpp_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+#   ${PROJECT_NAME})
+
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_rclcpp_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+#   ${PROJECT_NAME})
+
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_wrapped_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_wrapped_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+#   ${PROJECT_NAME})
+
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_wrapped_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_wrapped_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+#   ${PROJECT_NAME})
+
+ament_add_gtest(test_node_global_args rclcpp/test_node_global_args.cpp)
+if(TARGET test_node_global_args)
+  ament_target_dependencies(test_node_global_args
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_node_global_args ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_options rclcpp/test_node_options.cpp)
+if(TARGET test_node_options)
+  ament_target_dependencies(test_node_options "rcl")
+  target_link_libraries(test_node_options ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter_client rclcpp/test_parameter_client.cpp)
+if(TARGET test_parameter_client)
+  ament_target_dependencies(test_parameter_client
+    "rcl_interfaces"
+  )
+  target_link_libraries(test_parameter_client ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter_events_filter rclcpp/test_parameter_events_filter.cpp)
+if(TARGET test_parameter_events_filter)
+  ament_target_dependencies(test_parameter_events_filter
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_parameter_events_filter ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter rclcpp/test_parameter.cpp)
+if(TARGET test_parameter)
+  ament_target_dependencies(test_parameter
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_parameter ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter_map rclcpp/test_parameter_map.cpp)
+if(TARGET test_parameter_map)
+  target_link_libraries(test_parameter_map ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_publisher rclcpp/test_publisher.cpp)
+if(TARGET test_publisher)
+  ament_target_dependencies(test_publisher
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_publisher ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_publisher_subscription_count_api rclcpp/test_publisher_subscription_count_api.cpp)
+if(TARGET test_publisher_subscription_count_api)
+  ament_target_dependencies(test_publisher_subscription_count_api
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_qos rclcpp/test_qos.cpp)
+if(TARGET test_qos)
+  ament_target_dependencies(test_qos
+    "rmw"
+  )
+  target_link_libraries(test_qos
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_qos_event rclcpp/test_qos_event.cpp)
+if(TARGET test_qos_event)
+  ament_target_dependencies(test_qos_event
+    "rmw"
+    "test_msgs"
+  )
+  target_link_libraries(test_qos_event
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_rate rclcpp/test_rate.cpp)
+if(TARGET test_rate)
+  ament_target_dependencies(test_rate
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_rate
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_serialized_message_allocator rclcpp/test_serialized_message_allocator.cpp)
+if(TARGET test_serialized_message_allocator)
+  ament_target_dependencies(test_serialized_message_allocator
+    test_msgs
+  )
+  target_link_libraries(test_serialized_message_allocator
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_serialized_message rclcpp/test_serialized_message.cpp)
+if(TARGET test_serialized_message)
+  ament_target_dependencies(test_serialized_message
+    test_msgs
+  )
+  target_link_libraries(test_serialized_message
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_service rclcpp/test_service.cpp)
+if(TARGET test_service)
+  ament_target_dependencies(test_service
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_service ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_subscription rclcpp/test_subscription.cpp)
+if(TARGET test_subscription)
+  ament_target_dependencies(test_subscription
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_subscription ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_subscription_publisher_count_api rclcpp/test_subscription_publisher_count_api.cpp)
+if(TARGET test_subscription_publisher_count_api)
+  ament_target_dependencies(test_subscription_publisher_count_api
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_subscription_traits rclcpp/test_subscription_traits.cpp)
+if(TARGET test_subscription_traits)
+  ament_target_dependencies(test_subscription_traits
+    "rcl"
+    "test_msgs"
+  )
+  target_link_libraries(test_subscription_traits ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_find_weak_nodes rclcpp/test_find_weak_nodes.cpp)
+if(TARGET test_find_weak_nodes)
+  ament_target_dependencies(test_find_weak_nodes
+    "rcl"
+  )
+  target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
+endif()
+
+set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
+if(WIN32)
+  set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
+endif()
+
+ament_add_gtest(test_externally_defined_services rclcpp/test_externally_defined_services.cpp)
+ament_target_dependencies(test_externally_defined_services
+  "rcl"
+  "test_msgs"
+)
+target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
+
+ament_add_gtest(test_duration rclcpp/test_duration.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_duration)
+  ament_target_dependencies(test_duration
+    "rcl")
+  target_link_libraries(test_duration ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_executor rclcpp/test_executor.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_executor)
+  ament_target_dependencies(test_executor
+    "rcl")
+  target_link_libraries(test_executor ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_logger rclcpp/test_logger.cpp)
+target_link_libraries(test_logger ${PROJECT_NAME})
+
+ament_add_gmock(test_logging rclcpp/test_logging.cpp)
+target_link_libraries(test_logging ${PROJECT_NAME})
+
+ament_add_gtest(test_time rclcpp/test_time.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_time)
+  ament_target_dependencies(test_time
+    "rcl")
+  target_link_libraries(test_time ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_timer rclcpp/test_timer.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_timer)
+  ament_target_dependencies(test_timer
+    "rcl")
+  target_link_libraries(test_timer ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_time_source rclcpp/test_time_source.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_time_source)
+  ament_target_dependencies(test_time_source
+    "rcl")
+  target_link_libraries(test_time_source ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_utilities rclcpp/test_utilities.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_utilities)
+  ament_target_dependencies(test_utilities
+    "rcl")
+  target_link_libraries(test_utilities ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_init rclcpp/test_init.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_init)
+  ament_target_dependencies(test_init
+    "rcl")
+  target_link_libraries(test_init ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_interface_traits rclcpp/test_interface_traits.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_interface_traits)
+  ament_target_dependencies(test_interface_traits
+    "rcl")
+  target_link_libraries(test_interface_traits ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_multi_threaded_executor rclcpp/executors/test_multi_threaded_executor.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_multi_threaded_executor)
+  ament_target_dependencies(test_multi_threaded_executor
+    "rcl")
+  target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_guard_condition rclcpp/test_guard_condition.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_guard_condition)
+  target_link_libraries(test_guard_condition ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_timer_count rclcpp/test_timer_call_count.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_timer_count)
+  target_link_libraries(test_timer_count ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_wait_set rclcpp/test_wait_set.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_wait_set)
+  ament_target_dependencies(test_wait_set "test_msgs")
+  target_link_libraries(test_wait_set ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_subscription_topic_statistics rclcpp/topic_statistics/test_subscription_topic_statistics.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}"
+)
+if(TARGET test_subscription_topic_statistics)
+  ament_target_dependencies(test_subscription_topic_statistics
+    "builtin_interfaces"
+    "libstatistics_collector"
+    "rcl_interfaces"
+    "rcutils"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "statistics_msgs"
+    "test_msgs")
+  rosidl_target_interfaces(test_subscription_topic_statistics ${PROJECT_NAME}_test_msgs "rosidl_typesupport_cpp")
+  target_link_libraries(test_subscription_topic_statistics ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_subscription_options rclcpp/test_subscription_options.cpp)
+if(TARGET test_subscription_options)
+  ament_target_dependencies(test_subscription_options "rcl")
+  target_link_libraries(test_subscription_options ${PROJECT_NAME})
+endif()
+
+# Install test resources
+install(
+  DIRECTORY resources
+  DESTINATION ${CMAKE_CURRENT_BINARY_DIR})

rclcpp/test/rclcpp/node_interfaces/node_wrapper.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NODE_INTERFACES__NODE_WRAPPER_HPP_
-#define NODE_INTERFACES__NODE_WRAPPER_HPP_
+#ifndef RCLCPP__NODE_INTERFACES__NODE_WRAPPER_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_WRAPPER_HPP_
 
 #include <memory>
 #include <string>
@@ -61,4 +61,4 @@ private:
   rclcpp::Node::SharedPtr node;
 };
 
-#endif  // NODE_INTERFACES__NODE_WRAPPER_HPP_
+#endif  // RCLCPP__NODE_INTERFACES__NODE_WRAPPER_HPP_

rclcpp/test/rclcpp/test_executor.cpp

@@ -67,3 +67,51 @@ TEST_F(TestExecutors, addTemporaryNode) {
   executor.add_node(std::make_shared<rclcpp::Node>("temporary_node"));
   EXPECT_NO_THROW(executor.spin_some());
 }
+
+// Make sure that the spin_until_future_complete works correctly with std::future
+TEST_F(TestExecutors, testSpinUntilFutureComplete) {
+  rclcpp::executors::SingleThreadedExecutor executor;
+  std::future<void> future;
+  rclcpp::FutureReturnCode ret;
+
+  // test success
+  future = std::async(
+    []() {
+      return;
+    });
+  ret = executor.spin_until_future_complete(future, 1s);
+  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+
+  // test timeout
+  future = std::async(
+    []() {
+      std::this_thread::sleep_for(1s);
+      return;
+    });
+  ret = executor.spin_until_future_complete(future, 100ms);
+  EXPECT_EQ(rclcpp::FutureReturnCode::TIMEOUT, ret);
+}
+
+// Make sure that the spin_until_future_complete works correctly with std::shared_future
+TEST_F(TestExecutors, testSpinUntilFutureCompleteSharedFuture) {
+  rclcpp::executors::SingleThreadedExecutor executor;
+  std::future<void> future;
+  rclcpp::FutureReturnCode ret;
+
+  // test success
+  future = std::async(
+    []() {
+      return;
+    });
+  ret = executor.spin_until_future_complete(future.share(), 1s);
+  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+
+  // test timeout
+  future = std::async(
+    []() {
+      std::this_thread::sleep_for(1s);
+      return;
+    });
+  ret = executor.spin_until_future_complete(future.share(), 100ms);
+  EXPECT_EQ(rclcpp::FutureReturnCode::TIMEOUT, ret);
+}

rclcpp/test/rclcpp/test_timer_call_count.cpp

@@ -0,0 +1,119 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <string>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/executor.hpp"
+
+using namespace std::chrono_literals;
+
+class TestTimerCount: public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+};
+
+constexpr int EXECUTION_COUNT = 5;
+constexpr double TIME_ELAPSED = 12.0;
+/*
+   Test timer wait mutex with multithreaded executor.
+   After 5 call
+ */
+
+TEST_F(TestTimerCount, timer_call_count_multi_threaded) {
+
+  rclcpp::executors::MultiThreadedExecutor executor;
+
+  std::shared_ptr<rclcpp::Node> node =
+    std::make_shared<rclcpp::Node>("timer_call_count_multi_threaded");
+
+  auto cbg = node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
+
+  rclcpp::Clock system_clock(RCL_STEADY_TIME);
+  std::mutex last_mutex;
+  rclcpp::Time initial = system_clock.now();
+
+  std::atomic_int timer_count {0};
+
+  auto timer_callback = [&timer_count, &executor, &system_clock, &last_mutex, &initial]() {
+      rclcpp::Time now = system_clock.now();
+      timer_count++;
+
+      {
+        std::lock_guard<std::mutex> lock(last_mutex);
+        double diff = std::abs((now - initial).nanoseconds()) / 1.0e9;
+
+        if (diff > TIME_ELAPSED) {
+          executor.cancel();
+          ASSERT_GT(timer_count, EXECUTION_COUNT);
+        }
+      }
+    };
+
+  auto timer_ = node->create_wall_timer(
+      2s, timer_callback, cbg);
+
+  executor.add_node(node);
+  executor.spin();
+}
+
+/*
+   Test timer wait mutex with singlethreaded executor
+ */
+TEST_F(TestTimerCount, timer_call_count_single_threaded) {
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+
+  std::shared_ptr<rclcpp::Node> node =
+    std::make_shared<rclcpp::Node>("timer_call_count_single_threaded");
+
+  rclcpp::Clock system_clock(RCL_STEADY_TIME);
+  std::mutex last_mutex;
+  rclcpp::Time initial = system_clock.now();
+
+  std::atomic_int timer_count {0};
+
+  auto timer_callback = [&timer_count, &executor, &system_clock, &last_mutex, &initial]() {
+      rclcpp::Time now = system_clock.now();
+      timer_count++;
+
+      {
+        std::lock_guard<std::mutex> lock(last_mutex);
+        double diff = std::abs((now - initial).nanoseconds()) / 1.0e9;
+
+        if (diff > TIME_ELAPSED) {
+          executor.cancel();
+          ASSERT_GT(timer_count, EXECUTION_COUNT);
+        }
+      }
+    };
+
+  auto timer_ = node->create_wall_timer(
+      2s, timer_callback);
+
+  executor.add_node(node);
+  executor.spin();
+}

rclcpp/test/rclcpp/topic_statistics/test_topic_stats_utils.hpp

@@ -22,8 +22,8 @@
 
 #include "statistics_msgs/msg/metrics_message.hpp"
 
-#ifndef TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_
-#define TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_
+#ifndef RCLCPP__TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_
+#define RCLCPP__TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_
 
 namespace rclcpp
 {
@@ -149,4 +149,4 @@ private:
 }  // namespace topic_statistics
 }  // namespace rclcpp
 
-#endif  // TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_
+#endif  // RCLCPP__TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_

rclcpp_action/CHANGELOG.rst

@@ -3,14 +3,6 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-2.0.2 (2020-07-07)
-------------------
-
-2.0.1 (2020-06-23)
-------------------
-* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
-* Contributors: Alejandro Hernández Cordero
-
 2.0.0 (2020-06-01)
 ------------------
 * Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)

rclcpp_action/include/rclcpp_action/create_client.hpp

@@ -59,20 +59,19 @@ create_client(
         return;
       }
       auto shared_node = weak_node.lock();
-      if (!shared_node) {
-        return;
-      }
-      // API expects a shared pointer, give it one with a deleter that does nothing.
-      std::shared_ptr<Client<ActionT>> fake_shared_ptr(ptr, [](Client<ActionT> *) {});
+      if (shared_node) {
+        // API expects a shared pointer, give it one with a deleter that does nothing.
+        std::shared_ptr<Client<ActionT>> fake_shared_ptr(ptr, [](Client<ActionT> *) {});
 
-      if (group_is_null) {
-        // Was added to default group
-        shared_node->remove_waitable(fake_shared_ptr, nullptr);
-      } else {
-        // Was added to a specfic group
-        auto shared_group = weak_group.lock();
-        if (shared_group) {
-          shared_node->remove_waitable(fake_shared_ptr, shared_group);
+        if (group_is_null) {
+          // Was added to default group
+          shared_node->remove_waitable(fake_shared_ptr, nullptr);
+        } else {
+          // Was added to a specific group
+          auto shared_group = weak_group.lock();
+          if (shared_group) {
+            shared_node->remove_waitable(fake_shared_ptr, shared_group);
+          }
         }
       }
       delete ptr;

rclcpp_action/include/rclcpp_action/create_server.hpp

@@ -78,20 +78,19 @@ create_server(
         return;
       }
       auto shared_node = weak_node.lock();
-      if (!shared_node) {
-        return;
-      }
-      // API expects a shared pointer, give it one with a deleter that does nothing.
-      std::shared_ptr<Server<ActionT>> fake_shared_ptr(ptr, [](Server<ActionT> *) {});
+      if (shared_node) {
+        // API expects a shared pointer, give it one with a deleter that does nothing.
+        std::shared_ptr<Server<ActionT>> fake_shared_ptr(ptr, [](Server<ActionT> *) {});
 
-      if (group_is_null) {
-        // Was added to default group
-        shared_node->remove_waitable(fake_shared_ptr, nullptr);
-      } else {
-        // Was added to a specfic group
-        auto shared_group = weak_group.lock();
-        if (shared_group) {
-          shared_node->remove_waitable(fake_shared_ptr, shared_group);
+        if (group_is_null) {
+          // Was added to default group
+          shared_node->remove_waitable(fake_shared_ptr, nullptr);
+        } else {
+          // Was added to a specific group
+          auto shared_group = weak_group.lock();
+          if (shared_group) {
+            shared_node->remove_waitable(fake_shared_ptr, shared_group);
+          }
         }
       }
       delete ptr;

rclcpp_action/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_action</name>
-  <version>2.0.2</version>
+  <version>2.0.0</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp_action/test/test_client.cpp

@@ -32,6 +32,7 @@
 
 #include <test_msgs/action/fibonacci.hpp>
 
+#include <future>
 #include <map>
 #include <memory>
 #include <string>
@@ -73,7 +74,7 @@ protected:
     rclcpp::init(0, nullptr);
   }
 
-  void SetUp()
+  void SetUpServer()
   {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
@@ -211,7 +212,10 @@ protected:
     ASSERT_TRUE(status_publisher != nullptr);
     allocator.deallocate(status_topic_name, allocator.state);
     server_executor.add_node(server_node);
+  }
 
+  void SetUp() override
+  {
     client_node = std::make_shared<rclcpp::Node>(client_node_name, namespace_name);
     client_executor.add_node(client_node);
 
@@ -219,7 +223,12 @@ protected:
     ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(clock.get_clock_handle(), RCL_S_TO_NS(1)));
   }
 
-  void TearDown()
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+  void TearDownServer()
   {
     status_publisher.reset();
     feedback_publisher.reset();
@@ -227,6 +236,10 @@ protected:
     result_service.reset();
     goal_service.reset();
     server_node.reset();
+  }
+
+  void TearDown() override
+  {
     client_node.reset();
   }
 
@@ -265,11 +278,37 @@ protected:
   typename rclcpp::Publisher<ActionStatusMessage>::SharedPtr status_publisher;
 };
 
+class TestClientAgainstServer : public TestClient
+{
+protected:
+  void SetUp() override
+  {
+    SetUpServer();
+    TestClient::SetUp();
+  }
+
+  void TearDown() override
+  {
+    TestClient::TearDown();
+    TearDownServer();
+  }
+};
+
+
 TEST_F(TestClient, construction_and_destruction)
 {
   ASSERT_NO_THROW(rclcpp_action::create_client<ActionType>(client_node, action_name).reset());
 }
 
+TEST_F(TestClient, construction_and_destruction_after_node)
+{
+  ASSERT_NO_THROW(
+  {
+    auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+    client_node.reset();
+  });
+}
+
 TEST_F(TestClient, construction_and_destruction_callback_group)
 {
   auto group = client_node->create_callback_group(
@@ -285,7 +324,24 @@ TEST_F(TestClient, construction_and_destruction_callback_group)
     ).reset());
 }
 
-TEST_F(TestClient, async_send_goal_no_callbacks)
+TEST_F(TestClient, wait_for_action_server)
+{
+  auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  EXPECT_FALSE(action_client->wait_for_action_server(0ms));
+  EXPECT_FALSE(action_client->wait_for_action_server(100ms));
+  auto future = std::async(
+    std::launch::async, [&action_client]() {
+      return action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT);
+    });
+  SetUpServer();
+  EXPECT_TRUE(future.get());
+  TearDownServer();
+
+  client_node.reset();  // Drop node before action client
+  EXPECT_THROW(action_client->wait_for_action_server(0ms), rclcpp::exceptions::InvalidNodeError);
+}
+
+TEST_F(TestClientAgainstServer, async_send_goal_no_callbacks)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
@@ -306,7 +362,24 @@ TEST_F(TestClient, async_send_goal_no_callbacks)
   EXPECT_FALSE(goal_handle->is_result_aware());
 }
 
-TEST_F(TestClient, async_send_goal_no_callbacks_wait_for_result)
+TEST_F(TestClientAgainstServer, bad_goal_handles)
+{
+  auto action_client0 = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  ASSERT_TRUE(action_client0->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
+
+  ActionGoal goal;
+  goal.order = 0;
+  auto future_goal_handle = action_client0->async_send_goal(goal);
+  dual_spin_until_future_complete(future_goal_handle);
+  auto goal_handle = future_goal_handle.get();
+
+  auto action_client1 = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  using rclcpp_action::exceptions::UnknownGoalHandleError;
+  EXPECT_THROW(action_client1->async_get_result(goal_handle), UnknownGoalHandleError);
+  EXPECT_THROW(action_client1->async_cancel_goal(goal_handle), UnknownGoalHandleError);
+}
+
+TEST_F(TestClientAgainstServer, async_send_goal_no_callbacks_wait_for_result)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
@@ -329,13 +402,33 @@ TEST_F(TestClient, async_send_goal_no_callbacks_wait_for_result)
   EXPECT_EQ(5, wrapped_result.result->sequence[5]);
 }
 
-TEST_F(TestClient, async_send_goal_with_goal_response_callback_wait_for_result)
+TEST_F(TestClientAgainstServer, async_send_goal_no_callbacks_then_invalidate)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
 
   ActionGoal goal;
-  goal.order = 4;
+  goal.order = 5;
+  auto future_goal_handle = action_client->async_send_goal(goal);
+  dual_spin_until_future_complete(future_goal_handle);
+  auto goal_handle = future_goal_handle.get();
+  ASSERT_NE(nullptr, goal_handle);
+  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  auto future_result = action_client->async_get_result(goal_handle);
+  EXPECT_TRUE(goal_handle->is_result_aware());
+
+  action_client.reset();  // Ensure goal handle is invalidated once client goes out of scope
+
+  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_UNKNOWN, goal_handle->get_status());
+  using rclcpp_action::exceptions::UnawareGoalHandleError;
+  EXPECT_THROW(future_result.get(), UnawareGoalHandleError);
+}
+
+TEST_F(TestClientAgainstServer, async_send_goal_with_goal_response_callback_wait_for_result)
+{
+  auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
+
   bool goal_response_received = false;
   auto send_goal_ops = rclcpp_action::Client<ActionType>::SendGoalOptions();
   send_goal_ops.goal_response_callback =
@@ -347,23 +440,37 @@ TEST_F(TestClient, async_send_goal_with_goal_response_callback_wait_for_result)
         goal_response_received = true;
       }
     };
-  auto future_goal_handle = action_client->async_send_goal(goal, send_goal_ops);
-  dual_spin_until_future_complete(future_goal_handle);
-  auto goal_handle = future_goal_handle.get();
-  EXPECT_TRUE(goal_response_received);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
-  EXPECT_FALSE(goal_handle->is_feedback_aware());
-  EXPECT_FALSE(goal_handle->is_result_aware());
-  auto future_result = action_client->async_get_result(goal_handle);
-  EXPECT_TRUE(goal_handle->is_result_aware());
-  dual_spin_until_future_complete(future_result);
-  auto wrapped_result = future_result.get();
 
-  ASSERT_EQ(5u, wrapped_result.result->sequence.size());
-  EXPECT_EQ(3, wrapped_result.result->sequence.back());
+  {
+    ActionGoal bad_goal;
+    bad_goal.order = -1;
+    auto future_goal_handle = action_client->async_send_goal(bad_goal, send_goal_ops);
+    dual_spin_until_future_complete(future_goal_handle);
+    auto goal_handle = future_goal_handle.get();
+    EXPECT_FALSE(goal_response_received);
+    EXPECT_EQ(nullptr, goal_handle);
+  }
+
+  {
+    ActionGoal goal;
+    goal.order = 4;
+    auto future_goal_handle = action_client->async_send_goal(goal, send_goal_ops);
+    dual_spin_until_future_complete(future_goal_handle);
+    auto goal_handle = future_goal_handle.get();
+    EXPECT_TRUE(goal_response_received);
+    EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+    EXPECT_FALSE(goal_handle->is_feedback_aware());
+    EXPECT_FALSE(goal_handle->is_result_aware());
+    auto future_result = action_client->async_get_result(goal_handle);
+    EXPECT_TRUE(goal_handle->is_result_aware());
+    dual_spin_until_future_complete(future_result);
+    auto wrapped_result = future_result.get();
+    ASSERT_EQ(5u, wrapped_result.result->sequence.size());
+    EXPECT_EQ(3, wrapped_result.result->sequence.back());
+  }
 }
 
-TEST_F(TestClient, async_send_goal_with_feedback_callback_wait_for_result)
+TEST_F(TestClientAgainstServer, async_send_goal_with_feedback_callback_wait_for_result)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
@@ -397,7 +504,7 @@ TEST_F(TestClient, async_send_goal_with_feedback_callback_wait_for_result)
   EXPECT_EQ(5, feedback_count);
 }
 
-TEST_F(TestClient, async_send_goal_with_result_callback_wait_for_result)
+TEST_F(TestClientAgainstServer, async_send_goal_with_result_callback_wait_for_result)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
@@ -432,7 +539,7 @@ TEST_F(TestClient, async_send_goal_with_result_callback_wait_for_result)
   EXPECT_EQ(3, wrapped_result.result->sequence.back());
 }
 
-TEST_F(TestClient, async_get_result_with_callback)
+TEST_F(TestClientAgainstServer, async_get_result_with_callback)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
@@ -467,7 +574,7 @@ TEST_F(TestClient, async_get_result_with_callback)
   EXPECT_EQ(3, wrapped_result.result->sequence.back());
 }
 
-TEST_F(TestClient, async_cancel_one_goal)
+TEST_F(TestClientAgainstServer, async_cancel_one_goal)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
@@ -485,7 +592,7 @@ TEST_F(TestClient, async_cancel_one_goal)
   EXPECT_EQ(ActionCancelGoalResponse::ERROR_NONE, cancel_response->return_code);
 }
 
-TEST_F(TestClient, async_cancel_one_goal_with_callback)
+TEST_F(TestClientAgainstServer, async_cancel_one_goal_with_callback)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
@@ -519,7 +626,7 @@ TEST_F(TestClient, async_cancel_one_goal_with_callback)
   EXPECT_TRUE(cancel_response_received);
 }
 
-TEST_F(TestClient, async_cancel_all_goals)
+TEST_F(TestClientAgainstServer, async_cancel_all_goals)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
@@ -555,7 +662,7 @@ TEST_F(TestClient, async_cancel_all_goals)
   EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle1->get_status());
 }
 
-TEST_F(TestClient, async_cancel_all_goals_with_callback)
+TEST_F(TestClientAgainstServer, async_cancel_all_goals_with_callback)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
@@ -605,7 +712,7 @@ TEST_F(TestClient, async_cancel_all_goals_with_callback)
   EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle1->get_status());
 }
 
-TEST_F(TestClient, async_cancel_some_goals)
+TEST_F(TestClientAgainstServer, async_cancel_some_goals)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
@@ -636,7 +743,7 @@ TEST_F(TestClient, async_cancel_some_goals)
   EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
 }
 
-TEST_F(TestClient, async_cancel_some_goals_with_callback)
+TEST_F(TestClientAgainstServer, async_cancel_some_goals_with_callback)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
   ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));

rclcpp_action/test/test_server.cpp

@@ -82,17 +82,42 @@ TEST_F(TestServer, construction_and_destruction)
 {
   auto node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");
 
-  using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
-  auto as = rclcpp_action::create_server<Fibonacci>(
-    node, "fibonacci",
-    [](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
-      return rclcpp_action::GoalResponse::REJECT;
-    },
-    [](std::shared_ptr<GoalHandle>) {
-      return rclcpp_action::CancelResponse::REJECT;
-    },
-    [](std::shared_ptr<GoalHandle>) {});
-  (void)as;
+  ASSERT_NO_THROW(
+  {
+    using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
+    auto as = rclcpp_action::create_server<Fibonacci>(
+      node, "fibonacci",
+      [](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
+        return rclcpp_action::GoalResponse::REJECT;
+      },
+      [](std::shared_ptr<GoalHandle>) {
+        return rclcpp_action::CancelResponse::REJECT;
+      },
+      [](std::shared_ptr<GoalHandle>) {});
+    (void)as;
+  });
+}
+
+TEST_F(TestServer, construction_and_destruction_after_node)
+{
+  auto node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");
+
+  ASSERT_NO_THROW(
+  {
+    using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
+    auto as = rclcpp_action::create_server<Fibonacci>(
+      node, "fibonacci",
+      [](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
+        return rclcpp_action::GoalResponse::REJECT;
+      },
+      [](std::shared_ptr<GoalHandle>) {
+        return rclcpp_action::CancelResponse::REJECT;
+      },
+      [](std::shared_ptr<GoalHandle>) {});
+    (void)as;
+
+    node.reset();
+  });
 }
 
 TEST_F(TestServer, construction_and_destruction_callback_group)
@@ -733,6 +758,84 @@ TEST_F(TestServer, get_result)
 
   using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
 
+  auto handle_cancel = [](std::shared_ptr<GoalHandle>)
+    {
+      return rclcpp_action::CancelResponse::REJECT;
+    };
+
+  std::shared_ptr<GoalHandle> received_handle;
+  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
+    {
+      received_handle = handle;
+    };
+
+  const std::chrono::milliseconds result_timeout{50};
+
+  rcl_action_server_options_t options = rcl_action_server_get_default_options();
+  options.result_timeout.nanoseconds = RCL_MS_TO_NS(result_timeout.count());
+  auto as = rclcpp_action::create_server<Fibonacci>(
+    node, "fibonacci",
+    handle_goal,
+    handle_cancel,
+    handle_accepted,
+    options);
+  (void)as;
+
+  send_goal_request(node, uuid);
+
+  // Send result request
+  auto result_client = node->create_client<Fibonacci::Impl::GetResultService>(
+    "fibonacci/_action/get_result");
+  if (!result_client->wait_for_service(std::chrono::seconds(20))) {
+    throw std::runtime_error("get result service didn't become available");
+  }
+  auto request = std::make_shared<Fibonacci::Impl::GetResultService::Request>();
+  request->goal_id.uuid = uuid;
+  auto future = result_client->async_send_request(request);
+
+  // Send a result
+  auto result = std::make_shared<Fibonacci::Result>();
+  result->sequence = {5, 8, 13, 21};
+  received_handle->succeed(result);
+
+  // Wait for the result request to be received
+  ASSERT_EQ(
+    rclcpp::FutureReturnCode::SUCCESS,
+    rclcpp::spin_until_future_complete(node, future));
+
+  auto response = future.get();
+  EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, response->status);
+  EXPECT_EQ(result->sequence, response->result.sequence);
+
+  // Wait for goal expiration
+  rclcpp::sleep_for(2 * result_timeout);
+
+  // Allow for expiration to take place
+  rclcpp::spin_some(node);
+
+  // Send and wait for another result request
+  future = result_client->async_send_request(request);
+  ASSERT_EQ(
+    rclcpp::FutureReturnCode::SUCCESS,
+    rclcpp::spin_until_future_complete(node, future));
+
+  response = future.get();
+  EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_UNKNOWN, response->status);
+}
+
+TEST_F(TestServer, get_result_deferred)
+{
+  auto node = std::make_shared<rclcpp::Node>("get_result", "/rclcpp_action/get_result");
+  const GoalUUID uuid{{1, 2, 3, 4, 5, 6, 7, 80, 90, 10, 11, 12, 13, 14, 15, 160}};
+
+  auto handle_goal = [](
+    const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>)
+    {
+      return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+    };
+
+  using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
+
   auto handle_cancel = [](std::shared_ptr<GoalHandle>)
     {
       return rclcpp_action::CancelResponse::REJECT;
@@ -763,6 +866,10 @@ TEST_F(TestServer, get_result)
   request->goal_id.uuid = uuid;
   auto future = result_client->async_send_request(request);
 
+  // Process request first
+  rclcpp::sleep_for(std::chrono::milliseconds(10));  // Give a chance for the request to be served
+  rclcpp::spin_some(node);
+
   // Send a result
   auto result = std::make_shared<Fibonacci::Result>();
   result->sequence = {5, 8, 13, 21};

rclcpp_components/CHANGELOG.rst

@@ -2,16 +2,10 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.0.2 (2020-07-07)
-------------------
-
-2.0.1 (2020-06-23)
-------------------
-
 2.0.0 (2020-06-01)
 ------------------
-* Added missing virtual destructors (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)
-* Add Security Vulnerability Policy pointing to REP-2006 (`#1130 <https://github.com/ros2/rclcpp/issues/1130>`_)
+* Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)
+* Add Security Vulnerability Policy pointing to REP-2006. (`#1130 <https://github.com/ros2/rclcpp/issues/1130>`_)
 * Contributors: Chris Lalancette, Ivan Santiago Paunovic
 
 1.1.0 (2020-05-26)

rclcpp_components/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_components</name>
-  <version>2.0.2</version>
+  <version>2.0.0</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,14 +3,6 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-2.0.2 (2020-07-07)
-------------------
-
-2.0.1 (2020-06-23)
-------------------
-* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
-* Contributors: Alejandro Hernández Cordero
-
 2.0.0 (2020-06-01)
 ------------------
 * Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)

rclcpp_lifecycle/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_lifecycle</name>
-  <version>2.0.2</version>
+  <version>2.0.0</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>