4.0.0

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,41 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.0 (2020-07-09)
+------------------
+* Fix rclcpp::NodeOptions::operator= (`#1211 <https://github.com/ros2/rclcpp/issues/1211>`_)
+* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_)
+* Unit tests for node interfaces (`#1202 <https://github.com/ros2/rclcpp/issues/1202>`_)
+* Remove usage of domain id in node options (`#1205 <https://github.com/ros2/rclcpp/issues/1205>`_)
+* Remove deprecated set_on_parameters_set_callback function (`#1199 <https://github.com/ros2/rclcpp/issues/1199>`_)
+* Fix conversion of negative durations to messages (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_)
+* Fix implementation of NodeOptions::use_global_arguments() (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_)
+* Bump to QD to level 3 and fixed links (`#1158 <https://github.com/ros2/rclcpp/issues/1158>`_)
+* Fix pub/sub count API tests (`#1203 <https://github.com/ros2/rclcpp/issues/1203>`_)
+* Update tracetools' QL to 2 in rclcpp's QD (`#1187 <https://github.com/ros2/rclcpp/issues/1187>`_)
+* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_)
+* Throw exception if rcl_timer_init fails (`#1179 <https://github.com/ros2/rclcpp/issues/1179>`_)
+* Unit tests for some header-only functions/classes (`#1181 <https://github.com/ros2/rclcpp/issues/1181>`_)
+* Callback should be perfectly-forwarded (`#1183 <https://github.com/ros2/rclcpp/issues/1183>`_)
+* Add unit tests for logging functionality (`#1184 <https://github.com/ros2/rclcpp/issues/1184>`_)
+* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_)
+* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Claire Wang, Dirk Thomas, Ivan Santiago Paunovic, Johannes Meyer, Michel Hidalgo, Stephen Brawner, tomoya
+
+3.0.0 (2020-06-18)
+------------------
+* Check period duration in create_wall_timer (`#1178 <https://github.com/ros2/rclcpp/issues/1178>`_)
+* Fix get_node_time_source_interface() docstring (`#988 <https://github.com/ros2/rclcpp/issues/988>`_)
+* Add message lost subscription event (`#1164 <https://github.com/ros2/rclcpp/issues/1164>`_)
+* Add spin_all method to Executor (`#1156 <https://github.com/ros2/rclcpp/issues/1156>`_)
+* Reorganize test directory and split CMakeLists.txt (`#1173 <https://github.com/ros2/rclcpp/issues/1173>`_)
+* Check if context is valid when looping in spin_some (`#1167 <https://github.com/ros2/rclcpp/issues/1167>`_)
+* Add check for invalid topic statistics publish period (`#1151 <https://github.com/ros2/rclcpp/issues/1151>`_)
+* Fix spin_until_future_complete: check spinning value (`#1023 <https://github.com/ros2/rclcpp/issues/1023>`_)
+* Fix doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_)
+* Fix reference to rclcpp in its Quality declaration (`#1161 <https://github.com/ros2/rclcpp/issues/1161>`_)
+* Allow spin_until_future_complete to accept any future like object (`#1113 <https://github.com/ros2/rclcpp/issues/1113>`_)
+* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Devin Bonnie, Dirk Thomas, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Sarthak Mittal, brawner, tomoya
+
 2.0.0 (2020-06-01)
 ------------------
 * Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)

rclcpp/CMakeLists.txt

@@ -2,6 +2,8 @@ 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)
@@ -23,7 +25,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
+  # About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
+  # implicit sign conversions in rclcpp and gtest.cc, see https://ci.ros2.org/job/ci_osx/9265/.
+  # Hence disabling -Wsign-conversion for now until all those have eventually been fixed.
+  # (from https://github.com/ros2/rclcpp/pull/1188#issuecomment-650229140)
+  add_compile_options(-Wall -Wextra -Wconversion -Wno-sign-conversion -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 set(${PROJECT_NAME}_SRCS
@@ -166,6 +172,7 @@ target_include_directories(${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"
@@ -212,442 +219,10 @@ 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

@@ -1,8 +1,8 @@
 This document is a declaration of software quality for the `rclcpp` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
 
-# `rclcpp` Quality Declaration
+# rclcpp Quality Declaration
 
-The package `rclcpp` claims to be in the **Quality Level 4** category.
+The package `rclcpp` claims to be in the **Quality Level 3** category.
 
 Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories) of the ROS2 developer guide.
 
@@ -10,7 +10,7 @@ Below are the rationales, notes, and caveats for this claim, organized by each r
 
 ### Version Scheme [1.i]
 
-`rclcpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning)
+`rclcpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
 
 ### Version Stability [1.ii]
 
@@ -76,19 +76,19 @@ All pull requests must resolve related documentation changes before merging.
 
 ### Public API Documentation [3.ii]
 
-The API is publicly available in the [ROS 2 API documentation](http://docs.ros2.org/latest/api/rclcpp/).
+The API is publicly available in its [ROS 2 API documentation](http://docs.ros2.org/latest/api/rclcpp/).
 
 ### License [3.iii]
 
 The license for `rclcpp` is Apache 2.0, and a summary is in each source file, the type is declared in the [`package.xml`](./package.xml) manifest file, and a full copy of the license is in the [`LICENSE`](../LICENSE) file.
 
-There is an automated test which runs a linter that ensures each file has a license statement. [Here](http://build.ros2.org/view/Epr/job/Epr__rclcpp__ubuntu_bionic_amd64/lastBuild/testReport/rclcpp/) can be found a list with the latest results of the various linters being run on the package.
+There is an automated test which runs a linter that ensures each file has a license statement. [Here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastSuccessfulBuild/testReport/rclcpp/) can be found a list with the latest results of the various linters being run on the package.
 
 ### Copyright Statements [3.iv]
 
 The copyright holders each provide a statement of copyright in each source code file in `rclcpp`.
 
-There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [here](http://build.ros2.org/view/Epr/job/Epr__rclcpp__ubuntu_bionic_amd64/lastBuild/testReport/rclcpp/copyright/).
+There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastSuccessfulBuild/testReport/rclcpp/copyright/).
 
 ## Testing [4]
 
@@ -121,6 +121,8 @@ This includes:
 
 Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers.
 
+Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_coverage/lastSuccessfulBuild/cobertura/src_ros2_rclcpp_rclcpp_src_rclcpp/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://index.ros.org/doc/ros2/Contributing/ROS-2-On-boarding-Guide/#note-on-coverage-runs).
+
 ### Performance [4.iv]
 
 It is not yet defined if this package requires performance testing and how addresses this topic.
@@ -151,49 +153,49 @@ It also has several test dependencies, which do not affect the resulting quality
 
 The `libstatistics_collector` package provides lightweight aggregation utilities to collect statistics and measure message metrics.
 
-It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros-tooling/libstatistics_collector/tree/master/QUALITY_DECLARATION.md).
+It is **Quality Level 3**, see its [Quality Declaration document](https://github.com/ros-tooling/libstatistics_collector/tree/master/QUALITY_DECLARATION.md).
 
 #### `rcl`
 
 `rcl` a library to support implementation of language specific ROS 2 Client Libraries.
 
-It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl/blob/master/rcl/QUALITY_DECLARATION.md).
+It is **Quality Level 3**, see its [Quality Declaration document](https://github.com/ros2/rcl/blob/master/rcl/QUALITY_DECLARATION.md).
 
 #### `rcl_yaml_param_parser`
 
 The `rcl_yaml_param_parser` package provides an API that is used to parse YAML configuration files which may be used to configure ROS and specific nodes.
 
-It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/master/rcl_yaml_param_parser/QUALITY_DECLARATION.md).
+It is **Quality Level 3**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/master/rcl_yaml_param_parser/QUALITY_DECLARATION.md).
 
 #### `rcpputils`
 
 The `rcpputils` package provides an API which contains common utilities and data structures useful when programming in C++.
 
-It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcpputils/blob/master/QUALITY_DECLARATION.md).
+It is **Quality Level 2**, see its [Quality Declaration document](https://github.com/ros2/rcpputils/blob/master/QUALITY_DECLARATION.md).
 
 #### `rcutils`
 
 The `rcutils` package provides an API which contains common utilities and data structures useful when programming in C.
 
-It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md).
+It is **Quality Level 2**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md).
 
 #### `rmw`
 
 `rmw` is the ROS 2 middleware library.
 
-It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/master/rmw/QUALITY_DECLARATION.md).
+It is **Quality Level 2**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/master/rmw/QUALITY_DECLARATION.md).
 
 #### `statistics_msgs`
 
 The `statistics_msgs` package contains ROS 2 message definitions for reporting statistics for topics and system resources.
 
-It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/master/statistics_msgs/QUALITY_DECLARATION.md).
+It is **Quality Level 3**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/master/statistics_msgs/QUALITY_DECLARATION.md).
 
 #### `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).
+It is **Quality Level 2**, see its [Quality Declaration document](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/-/blob/master/tracetools/QUALITY_DECLARATION.md).
 
 ### Direct Runtime non-ROS Dependency [5.iii]
 

rclcpp/README.md

@@ -6,4 +6,4 @@ Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) fo
 
 ## Quality Declaration
 
-This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.
+This package claims to be in the **Quality Level 3** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.

rclcpp/include/rclcpp/client.hpp

@@ -361,7 +361,8 @@ public:
     SharedPromiseWithRequest promise = std::make_shared<PromiseWithRequest>();
     SharedFutureWithRequest future_with_request(promise->get_future());
 
-    auto wrapping_cb = [future_with_request, promise, request, &cb](SharedFuture future) {
+    auto wrapping_cb = [future_with_request, promise, request,
+        cb = std::forward<CallbackWithRequestType>(cb)](SharedFuture future) {
         auto response = future.get();
         promise->set_value(std::make_pair(request, response));
         cb(future_with_request);

rclcpp/include/rclcpp/clock.hpp

@@ -115,9 +115,9 @@ public:
    *
    * Function is only applicable if the clock_type is `RCL_ROS_TIME`
    *
-   * \param pre_callback. Must be non-throwing
-   * \param post_callback. Must be non-throwing.
-   * \param threshold. Callbacks will be triggered if the time jump is greater
+   * \param pre_callback Must be non-throwing
+   * \param post_callback Must be non-throwing.
+   * \param threshold Callbacks will be triggered if the time jump is greater
    * then the threshold.
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    * \throws std::bad_alloc if the allocation of the JumpHandler fails.

rclcpp/include/rclcpp/create_subscription.hpp

@@ -18,6 +18,7 @@
 #include <chrono>
 #include <functional>
 #include <memory>
+#include <stdexcept>
 #include <string>
 #include <utility>
 
@@ -28,6 +29,7 @@
 #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"
@@ -44,6 +46,23 @@ namespace rclcpp
  * The NodeT type only needs to have a method called get_node_topics_interface()
  * which returns a shared_ptr to a NodeTopicsInterface, or be a
  * NodeTopicsInterface pointer itself.
+ *
+ * \tparam MessageT
+ * \tparam CallbackT
+ * \tparam AllocatorT
+ * \tparam CallbackMessageT
+ * \tparam SubscriptionT
+ * \tparam MessageMemoryStrategyT
+ * \tparam NodeT
+ * \param node
+ * \param topic_name
+ * \param qos
+ * \param callback
+ * \param options
+ * \param msg_mem_strat
+ * \return the created subscription
+ * \throws std::invalid_argument if topic statistics is enabled and the publish period is
+ * less than or equal to zero.
  */
 template<
   typename MessageT,
@@ -81,6 +100,13 @@ create_subscription(
       options,
       *node_topics->get_node_base_interface()))
   {
+    if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
+      throw std::invalid_argument(
+              "topic_stats_options.publish_period must be greater than 0, specified value of " +
+              std::to_string(options.topic_stats_options.publish_period.count()) +
+              " ms");
+    }
+
     std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>> publisher =
       create_publisher<statistics_msgs::msg::MetricsMessage>(
       node,

rclcpp/include/rclcpp/create_timer.hpp

@@ -76,14 +76,14 @@ create_timer(
  * \tparam DurationRepT
  * \tparam DurationT
  * \tparam CallbackT
- * \param period period to exectute callback
+ * \param period period to execute callback. This duration must be 0 <= period < nanoseconds::max()
  * \param callback callback to execute via the timer period
  * \param group
  * \param node_base
  * \param node_timers
  * \return
  * \throws std::invalid argument if either node_base or node_timers
- * are null
+ * are null, or period is negative or too large
  */
 template<typename DurationRepT, typename DurationT, typename CallbackT>
 typename rclcpp::WallTimer<CallbackT>::SharedPtr
@@ -102,10 +102,38 @@ create_wall_timer(
     throw std::invalid_argument{"input node_timers cannot be null"};
   }
 
+  if (period < std::chrono::duration<DurationRepT, DurationT>::zero()) {
+    throw std::invalid_argument{"timer period cannot be negative"};
+  }
+
+  // Casting to a double representation might lose precision and allow the check below to succeed
+  // but the actual cast to nanoseconds fail. Using 1 DurationT worth of nanoseconds less than max.
+  constexpr auto maximum_safe_cast_ns =
+    std::chrono::nanoseconds::max() - std::chrono::duration<DurationRepT, DurationT>(1);
+
+  // If period is greater than nanoseconds::max(), the duration_cast to nanoseconds will overflow
+  // a signed integer, which is undefined behavior. Checking whether any std::chrono::duration is
+  // greater than nanoseconds::max() is a difficult general problem. This is a more conservative
+  // version of Howard Hinnant's (the <chrono> guy>) response here:
+  // https://stackoverflow.com/a/44637334/2089061
+  // However, this doesn't solve the issue for all possible duration types of period.
+  // Follow-up issue: https://github.com/ros2/rclcpp/issues/1177
+  constexpr auto ns_max_as_double =
+    std::chrono::duration_cast<std::chrono::duration<double, std::chrono::nanoseconds::period>>(
+    maximum_safe_cast_ns);
+  if (period > ns_max_as_double) {
+    throw std::invalid_argument{
+            "timer period must be less than std::chrono::nanoseconds::max()"};
+  }
+
+  const auto period_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(period);
+  if (period_ns < std::chrono::nanoseconds::zero()) {
+    throw std::runtime_error{
+            "Casting timer period to nanoseconds resulted in integer overflow."};
+  }
+
   auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
-    std::chrono::duration_cast<std::chrono::nanoseconds>(period),
-    std::move(callback),
-    node_base->get_context());
+    period_ns, std::move(callback), node_base->get_context());
   node_timers->add_timer(timer, group);
   return timer;
 }

rclcpp/include/rclcpp/duration.hpp

@@ -72,7 +72,7 @@ public:
   operator=(const Duration & rhs);
 
   Duration &
-  operator=(const builtin_interfaces::msg::Duration & Duration_msg);
+  operator=(const builtin_interfaces::msg::Duration & duration_msg);
 
   bool
   operator==(const rclcpp::Duration & rhs) const;

rclcpp/include/rclcpp/executor.hpp

@@ -37,6 +37,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
@@ -159,7 +160,7 @@ public:
   void
   spin_node_some(std::shared_ptr<rclcpp::Node> node);
 
-  /// Complete all available queued work without blocking.
+  /// Collect work once and execute all available work, optionally within a duration.
   /**
    * This function can be overridden. The default implementation is suitable for a
    * single-threaded model of execution.
@@ -174,6 +175,23 @@ public:
   virtual void
   spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
 
+  /// Collect and execute work repeatedly within a duration or until no more work is available.
+  /**
+   * This function can be overridden. The default implementation is suitable for a
+   * single-threaded model of execution.
+   * Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function
+   * to block (which may have unintended consequences).
+   * If the time that waitables take to be executed is longer than the period on which new waitables
+   * become ready, this method will execute work repeatedly until `max_duration` has elapsed.
+   *
+   * \param[in] max_duration The maximum amount of time to spend executing work. Must be positive.
+   * Note that spin_all() may take longer than this time as it only returns once max_duration has
+   * been exceeded.
+   */
+  RCLCPP_PUBLIC
+  virtual void
+  spin_all(std::chrono::nanoseconds max_duration);
+
   RCLCPP_PUBLIC
   virtual void
   spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
@@ -188,10 +206,10 @@ 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
@@ -212,9 +230,14 @@ public:
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
-    while (rclcpp::ok(this->context_)) {
+    if (spinning.exchange(true)) {
+      throw std::runtime_error("spin_until_future_complete() called while already spinning");
+    }
+    RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+    while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
-      spin_once(timeout_left);
+      spin_once_impl(timeout_left);
+
       // Check if the future is set, return SUCCESS if it is.
       status = future.wait_for(std::chrono::seconds(0));
       if (status == std::future_status::ready) {
@@ -264,6 +287,10 @@ protected:
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
     std::chrono::nanoseconds timeout);
 
+  RCLCPP_PUBLIC
+  void
+  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
+
   /// Find the next available executable and do the work associated with it.
   /**
    * \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
@@ -336,6 +363,10 @@ protected:
 
   RCLCPP_DISABLE_COPY(Executor)
 
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout);
+
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
   std::list<const rcl_guard_condition_t *> guard_conditions_;
 };

rclcpp/include/rclcpp/executors.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

@@ -49,6 +49,7 @@ public:
    * \param number_of_threads number of threads to have in the thread pool,
    *   the default 0 will use the number of cpu cores found instead
    * \param yield_before_execute if true std::this_thread::yield() is called
+   * \param timeout maximum time to wait
    */
   RCLCPP_PUBLIC
   MultiThreadedExecutor(

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

@@ -235,7 +235,7 @@ public:
   /// Create and return a Client.
   /**
    * \param[in] service_name The topic to service on.
-   * \param[in] rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
    * \param[in] group Callback group to call the service.
    * \return Shared pointer to the created client.
    */
@@ -250,7 +250,7 @@ public:
   /**
    * \param[in] service_name The topic to service on.
    * \param[in] callback User-defined callback function.
-   * \param[in] rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
    * \param[in] group Callback group to call the service.
    * \return Shared pointer to the created service.
    */
@@ -842,26 +842,6 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
 
-  /// Register a callback to be called anytime a parameter is about to be changed.
-  /**
-   * \deprecated Use add_on_set_parameters_callback instead.
-   * With this method, only one callback can be set at a time. The callback that was previously
-   * set by this method is returned or `nullptr` if no callback was previously set.
-   *
-   * The callbacks added with `add_on_set_parameters_callback` are stored in a different place.
-   * `remove_on_set_parameters_callback` can't be used with the callbacks registered with this
-   * method. For removing it, use `set_on_parameters_set_callback(nullptr)`.
-   *
-   * \param[in] callback The callback to be called when the value for a
-   *   parameter is about to be set.
-   * \return The previous callback that was registered, if there was one,
-   *   otherwise nullptr.
-   */
-  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
-  RCLCPP_PUBLIC
-  OnParametersSetCallbackType
-  set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
-
   /// Get the fully-qualified names of all available nodes.
   /**
    * The fully-qualified name includes the local namespace and name of the node.
@@ -891,7 +871,8 @@ public:
 
   /// Return the number of publishers that are advertised on a given topic.
   /**
-   * \param[in] topic_name the topic_name on which to count the publishers.
+   * \param[in] node_name the node_name on which to count the publishers.
+   * \param[in] namespace_ the namespace of the node associated with the name
    * \return number of publishers that are advertised on a given topic.
    * \throws std::runtime_error if publishers could not be counted
    */
@@ -1062,7 +1043,7 @@ public:
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
   get_node_parameters_interface();
 
-  /// Return the Node's internal NodeParametersInterface implementation.
+  /// Return the Node's internal NodeTimeSourceInterface implementation.
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
   get_node_time_source_interface();

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -167,11 +167,6 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
 
-  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
-  RCLCPP_PUBLIC
-  OnParametersSetCallbackType
-  set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
-
   RCLCPP_PUBLIC
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -191,17 +191,6 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) = 0;
 
-  /// Register a callback for when parameters are being set, return an existing one.
-  /**
-   * \deprecated Use add_on_set_parameters_callback instead.
-   * \sa rclcpp::Node::set_on_parameters_set_callback
-   */
-  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
-  RCLCPP_PUBLIC
-  virtual
-  OnParametersSetCallbackType
-  set_on_parameters_set_callback(OnParametersSetCallbackType callback) = 0;
-
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_options.hpp

@@ -327,11 +327,6 @@ public:
   NodeOptions &
   allocator(rcl_allocator_t allocator);
 
-protected:
-  /// Retrieve the ROS_DOMAIN_ID environment variable and populate options.
-  size_t
-  get_domain_id_from_env() const;
-
 private:
   // This is mutable to allow for a const accessor which lazily creates the node options instance.
   /// Underlying rcl_node_options structure.

rclcpp/include/rclcpp/parameter_client.hpp

@@ -48,13 +48,13 @@ public:
 
   /// Create an async parameters client.
   /**
-   * \param node_base_interface[in] The node base interface of the corresponding node.
-   * \param node_topics_interface[in] Node topic base interface.
-   * \param node_graph_interface[in] The node graph interface of the corresponding node.
-   * \param node_services_interface[in] Node service interface.
-   * \param remote_node_name[in] (optional) name of the remote node
-   * \param qos_profile[in] (optional) The rmw qos profile to use to subscribe
-   * \param group[in] (optional)  The async parameter client will be added to this callback group.
+   * \param[in] node_base_interface The node base interface of the corresponding node.
+   * \param[in] node_topics_interface Node topic base interface.
+   * \param[in] node_graph_interface The node graph interface of the corresponding node.
+   * \param[in] node_services_interface Node service interface.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(
@@ -68,10 +68,10 @@ public:
 
   /// Constructor
   /**
-   * \param node[in] The  async paramters client will be added to this node.
-   * \param remote_node_name[in] (optional) name of the remote node
-   * \param qos_profile[in] (optional) The rmw qos profile to use to subscribe
-   * \param group[in] (optional)  The async parameter client will be added to this callback group.
+   * \param[in] node The async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(
@@ -82,10 +82,10 @@ public:
 
   /// Constructor
   /**
-   * \param node[in] The  async paramters client will be added to this node.
-   * \param remote_node_name[in] (optional) name of the remote node
-   * \param qos_profile[in] (optional) The rmw qos profile to use to subscribe
-   * \param group[in] (optional)  The async parameter client will be added to this callback group.
+   * \param[in] node The  async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(

rclcpp/include/rclcpp/publisher.hpp

@@ -68,7 +68,7 @@ public:
    * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] topic Name of the topic to publish to.
    * \param[in] qos QoS profile for Subcription.
-   * \param[in] options options for the subscription.
+   * \param[in] options Options for the subscription.
    */
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,

rclcpp/include/rclcpp/qos_event.hpp

@@ -34,6 +34,7 @@ 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;
 
@@ -41,6 +42,7 @@ using QOSDeadlineRequestedCallbackType = std::function<void (QOSDeadlineRequeste
 using QOSDeadlineOfferedCallbackType = std::function<void (QOSDeadlineOfferedInfo &)>;
 using QOSLivelinessChangedCallbackType = std::function<void (QOSLivelinessChangedInfo &)>;
 using QOSLivelinessLostCallbackType = std::function<void (QOSLivelinessLostInfo &)>;
+using QOSMessageLostCallbackType = std::function<void (QOSMessageLostInfo &)>;
 using QOSOfferedIncompatibleQoSCallbackType = std::function<void (QOSOfferedIncompatibleQoSInfo &)>;
 using QOSRequestedIncompatibleQoSCallbackType =
   std::function<void (QOSRequestedIncompatibleQoSInfo &)>;
@@ -59,6 +61,7 @@ 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

rclcpp/include/rclcpp/serialization.hpp

@@ -60,7 +60,7 @@ public:
 
   /// Serialize a ROS2 message to a serialized stream
   /**
-   * \param[in] message The ROS2 message which is read and serialized by rmw.
+   * \param[in] ros_message The ROS2 message which is read and serialized by rmw.
    * \param[out] serialized_message The serialized message.
    */
   void serialize_message(
@@ -69,7 +69,7 @@ public:
   /// Deserialize a serialized stream to a ROS message
   /**
    * \param[in] serialized_message The serialized message to be converted to ROS2 by rmw.
-   * \param[out] message The deserialized ROS2 message.
+   * \param[out] ros_message The deserialized ROS2 message.
    */
   void deserialize_message(
     const SerializedMessage * serialized_message, void * ros_message) const;

rclcpp/include/rclcpp/service.hpp

@@ -237,7 +237,7 @@ public:
    * rclcpp::create_service().
    *
    * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
-   * \param[in] service_name Name of the topic to publish to.
+   * \param[in] service_handle service handle.
    * \param[in] any_callback User defined callback to call when a client request is received.
    */
   Service(
@@ -272,7 +272,7 @@ public:
    * rclcpp::create_service().
    *
    * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
-   * \param[in] service_name Name of the topic to publish to.
+   * \param[in] service_handle service handle.
    * \param[in] any_callback User defined callback to call when a client request is received.
    */
   Service(

rclcpp/include/rclcpp/subscription.hpp

@@ -92,7 +92,7 @@ public:
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] qos QoS profile for Subcription.
    * \param[in] callback User defined callback to call when a message is received.
-   * \param[in] options options for the subscription.
+   * \param[in] options Options for the subscription.
    * \param[in] message_memory_strategy The memory strategy to be used for managing message memory.
    * \param[in] subscription_topic_statistics Optional pointer to a topic statistics subcription.
    * \throws std::invalid_argument if the QoS is uncompatible with intra-process (if one
@@ -144,6 +144,11 @@ public:
         // pass
       }
     }
+    if (options.event_callbacks.message_lost_callback) {
+      this->add_event_handler(
+        options.event_callbacks.message_lost_callback,
+        RCL_SUBSCRIPTION_MESSAGE_LOST);
+    }
 
     // Setup intra process publishing if requested.
     if (rclcpp::detail::resolve_use_intra_process(options, *node_base)) {

rclcpp/include/rclcpp/subscription_base.hpp

@@ -66,7 +66,7 @@ public:
    * \param[in] node_base NodeBaseInterface pointer used in parts of the setup.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
-   * \param[in] subscription_options options for the subscription.
+   * \param[in] subscription_options Options for the subscription.
    * \param[in] is_serialized is true if the message will be delivered still serialized
    */
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -68,7 +68,7 @@ struct SubscriptionFactory
  * \param[in] callback The user-defined callback function to receive a message
  * \param[in] options Additional options for the creation of the Subscription.
  * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
- * \param[in] subscription_topic_Optinal stats callback for topic_statistics
+ * \param[in] subscription_topic_stats Optional stats callback for topic_statistics
  */
 template<
   typename MessageT,

rclcpp/include/rclcpp/subscription_options.hpp

@@ -66,7 +66,8 @@ struct SubscriptionOptionsBase
     // Topic to which topic statistics get published when enabled. Defaults to /statistics.
     std::string publish_topic = "/statistics";
 
-    // Topic statistics publication period in ms. Defaults to one minute.
+    // Topic statistics publication period in ms. Defaults to one second.
+    // Only values greater than zero are allowed.
     std::chrono::milliseconds publish_period{std::chrono::seconds(1)};
   };
 

rclcpp/include/rclcpp/time.hpp

@@ -51,7 +51,7 @@ public:
    * \param clock_type clock type
    */
   RCLCPP_PUBLIC
-  explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock = RCL_SYSTEM_TIME);
+  explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
 
   /// Copy constructor
   RCLCPP_PUBLIC
@@ -66,12 +66,11 @@ public:
   RCLCPP_PUBLIC
   Time(
     const builtin_interfaces::msg::Time & time_msg,
-    rcl_clock_type_t ros_time = RCL_ROS_TIME);
+    rcl_clock_type_t clock_type = RCL_ROS_TIME);
 
   /// Time constructor
   /**
    * \param time_point rcl_time_point_t structure to copy
-   * \param clock_type clock type
    */
   RCLCPP_PUBLIC
   explicit Time(const rcl_time_point_t & time_point);
@@ -91,6 +90,12 @@ public:
   Time &
   operator=(const Time & rhs);
 
+  /**
+   * Assign Time from a builtin_interfaces::msg::Time instance.
+   * The clock_type will be reset to RCL_ROS_TIME.
+   * Equivalent to *this = Time(time_msg, RCL_ROS_TIME).
+   * \throws std::runtime_error if seconds are negative
+   */
   RCLCPP_PUBLIC
   Time &
   operator=(const builtin_interfaces::msg::Time & time_msg);

rclcpp/include/rclcpp/timer.hpp

@@ -166,6 +166,7 @@ public:
    * \param[in] clock The clock providing the current time.
    * \param[in] period The interval at which the timer fires.
    * \param[in] callback User-specified callback function.
+   * \param[in] context custom context to be used.
    */
   explicit GenericTimer(
     Clock::SharedPtr clock, std::chrono::nanoseconds period, FunctorT && callback,

rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp

@@ -116,7 +116,7 @@ public:
 
   /// Set the timer used to publish statistics messages.
   /**
-   * \param measurement_timer the timer to fire the publisher, created by the node
+   * \param publisher_timer the timer to fire the publisher, created by the node
    */
   void set_publisher_timer(rclcpp::TimerBase::SharedPtr publisher_timer)
   {

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -61,6 +61,8 @@ public:
    * \param[in] subscriptions Vector of subscriptions to be added.
    * \param[in] guard_conditions Vector of guard conditions to be added.
    * \param[in] timers Vector of timers to be added.
+   * \param[in] clients Vector of clients and their associated entity to be added.
+   * \param[in] services Vector of services and their associated entity to be added.
    * \param[in] waitables Vector of waitables and their associated entity to be added.
    * \param[in] context Custom context to be used, defaults to global default.
    * \throws std::invalid_argument If context is nullptr.

rclcpp/include/rclcpp/waitable.hpp

@@ -123,7 +123,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   bool
-  is_ready(rcl_wait_set_t *) = 0;
+  is_ready(rcl_wait_set_t * wait_set) = 0;
 
   /// Execute any entities of the Waitable that are ready.
   /**

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>2.0.0</version>
+  <version>4.0.0</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, "could not get current time stamp");
+      exceptions::throw_from_rcl_error(ret, "failed to initialize rcl clock");
     }
   }
 

rclcpp/src/rclcpp/duration.cpp

@@ -47,17 +47,14 @@ Duration::Duration(std::chrono::nanoseconds nanoseconds)
   rcl_duration_.nanoseconds = nanoseconds.count();
 }
 
-Duration::Duration(const Duration & rhs)
-{
-  rcl_duration_.nanoseconds = rhs.rcl_duration_.nanoseconds;
-}
+Duration::Duration(const Duration & rhs) = default;
 
 Duration::Duration(
   const builtin_interfaces::msg::Duration & duration_msg)
 {
   rcl_duration_.nanoseconds =
-    static_cast<rcl_duration_value_t>(RCL_S_TO_NS(duration_msg.sec));
-  rcl_duration_.nanoseconds += duration_msg.nanosec;
+    RCL_S_TO_NS(static_cast<rcl_duration_value_t>(duration_msg.sec));
+  rcl_duration_.nanoseconds += static_cast<rcl_duration_value_t>(duration_msg.nanosec);
 }
 
 Duration::Duration(const rcl_duration_t & duration)
@@ -69,24 +66,25 @@ Duration::Duration(const rcl_duration_t & duration)
 Duration::operator builtin_interfaces::msg::Duration() const
 {
   builtin_interfaces::msg::Duration msg_duration;
-  msg_duration.sec = static_cast<std::int32_t>(RCL_NS_TO_S(rcl_duration_.nanoseconds));
-  msg_duration.nanosec =
-    static_cast<std::uint32_t>(rcl_duration_.nanoseconds % (1000 * 1000 * 1000));
+  constexpr rcl_duration_value_t kDivisor = RCL_S_TO_NS(1);
+  const auto result = std::div(rcl_duration_.nanoseconds, kDivisor);
+  if (result.rem >= 0) {
+    msg_duration.sec = static_cast<std::int32_t>(result.quot);
+    msg_duration.nanosec = static_cast<std::uint32_t>(result.rem);
+  } else {
+    msg_duration.sec = static_cast<std::int32_t>(result.quot - 1);
+    msg_duration.nanosec = static_cast<std::uint32_t>(kDivisor + result.rem);
+  }
   return msg_duration;
 }
 
 Duration &
-Duration::operator=(const Duration & rhs)
-{
-  rcl_duration_.nanoseconds = rhs.rcl_duration_.nanoseconds;
-  return *this;
-}
+Duration::operator=(const Duration & rhs) = default;
 
 Duration &
 Duration::operator=(const builtin_interfaces::msg::Duration & duration_msg)
 {
-  rcl_duration_.nanoseconds = RCL_S_TO_NS(static_cast<int64_t>(duration_msg.sec));
-  rcl_duration_.nanoseconds += duration_msg.nanosec;
+  *this = Duration(duration_msg);
   return *this;
 }
 
@@ -230,6 +228,10 @@ Duration::seconds() const
 rmw_time_t
 Duration::to_rmw_time() const
 {
+  if (rcl_duration_.nanoseconds < 0) {
+    throw std::runtime_error("rmw_time_t cannot be negative");
+  }
+
   // reuse conversion logic from msg creation
   builtin_interfaces::msg::Duration msg = *this;
   rmw_time_t result;

rclcpp/src/rclcpp/executor.cpp

@@ -28,6 +28,8 @@
 
 #include "rcutils/logging_macros.h"
 
+using namespace std::chrono_literals;
+
 using rclcpp::exceptions::throw_from_rcl_error;
 using rclcpp::AnyExecutable;
 using rclcpp::Executor;
@@ -212,8 +214,21 @@ Executor::spin_node_some(std::shared_ptr<rclcpp::Node> node)
   this->spin_node_some(node->get_node_base_interface());
 }
 
+void Executor::spin_some(std::chrono::nanoseconds max_duration)
+{
+  return this->spin_some_impl(max_duration, false);
+}
+
+void Executor::spin_all(std::chrono::nanoseconds max_duration)
+{
+  if (max_duration <= 0ns) {
+    throw std::invalid_argument("max_duration must be positive");
+  }
+  return this->spin_some_impl(max_duration, true);
+}
+
 void
-Executor::spin_some(std::chrono::nanoseconds max_duration)
+Executor::spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive)
 {
   auto start = std::chrono::steady_clock::now();
   auto max_duration_not_elapsed = [max_duration, start]() {
@@ -232,18 +247,33 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
     throw std::runtime_error("spin_some() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  // non-blocking call to pre-load all available work
-  wait_for_work(std::chrono::milliseconds::zero());
-  while (spinning.load() && max_duration_not_elapsed()) {
+  bool work_available = false;
+  while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
+    if (!work_available) {
+      wait_for_work(std::chrono::milliseconds::zero());
+    }
     if (get_next_ready_executable(any_exec)) {
       execute_any_executable(any_exec);
+      work_available = true;
     } else {
-      break;
+      if (!work_available || !exhaustive) {
+        break;
+      }
+      work_available = false;
     }
   }
 }
 
+void
+Executor::spin_once_impl(std::chrono::nanoseconds timeout)
+{
+  AnyExecutable any_exec;
+  if (get_next_executable(any_exec, timeout)) {
+    execute_any_executable(any_exec);
+  }
+}
+
 void
 Executor::spin_once(std::chrono::nanoseconds timeout)
 {
@@ -251,10 +281,7 @@ Executor::spin_once(std::chrono::nanoseconds timeout)
     throw std::runtime_error("spin_once() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  AnyExecutable any_exec;
-  if (get_next_executable(any_exec, timeout)) {
-    execute_any_executable(any_exec);
-  }
+  spin_once_impl(timeout);
 }
 
 void

rclcpp/src/rclcpp/node.cpp

@@ -328,28 +328,6 @@ Node::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * co
   return node_parameters_->remove_on_set_parameters_callback(callback);
 }
 
-// suppress deprecated function warning
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-
-rclcpp::Node::OnParametersSetCallbackType
-Node::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
-{
-  return node_parameters_->set_on_parameters_set_callback(callback);
-}
-
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
 std::vector<std::string>
 Node::get_node_names() const
 {

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -159,7 +159,7 @@ __lockless_has_parameter(
 // see https://en.cppreference.com/w/cpp/types/numeric_limits/epsilon
 RCLCPP_LOCAL
 bool
-__are_doubles_equal(double x, double y, size_t ulp = 100)
+__are_doubles_equal(double x, double y, double ulp = 100.0)
 {
   return std::abs(x - y) <= std::numeric_limits<double>::epsilon() * std::abs(x + y) * ulp;
 }
@@ -874,18 +874,6 @@ NodeParameters::add_on_set_parameters_callback(OnParametersSetCallbackType callb
   return handle;
 }
 
-NodeParameters::OnParametersSetCallbackType
-NodeParameters::set_on_parameters_set_callback(OnParametersSetCallbackType callback)
-{
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-
-  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
-
-  auto existing_callback = on_parameters_set_callback_;
-  on_parameters_set_callback_ = callback;
-  return existing_callback;
-}
-
 const std::map<std::string, rclcpp::ParameterValue> &
 NodeParameters::get_parameter_overrides() const
 {

rclcpp/src/rclcpp/node_options.cpp

@@ -79,6 +79,7 @@ NodeOptions::operator=(const NodeOptions & other)
     this->allow_undeclared_parameters_ = other.allow_undeclared_parameters_;
     this->automatically_declare_parameters_from_overrides_ =
       other.automatically_declare_parameters_from_overrides_;
+    this->node_options_.reset();
   }
   return *this;
 }
@@ -92,7 +93,6 @@ NodeOptions::get_rcl_node_options() const
     *node_options_ = rcl_node_get_default_options();
     node_options_->allocator = this->allocator_;
     node_options_->use_global_arguments = this->use_global_arguments_;
-    node_options_->domain_id = this->get_domain_id_from_env();
     node_options_->enable_rosout = this->enable_rosout_;
 
     int c_argc = 0;
@@ -176,7 +176,7 @@ NodeOptions::parameter_overrides(const std::vector<rclcpp::Parameter> & paramete
 bool
 NodeOptions::use_global_arguments() const
 {
-  return this->node_options_->use_global_arguments;
+  return this->use_global_arguments_;
 }
 
 NodeOptions &
@@ -322,36 +322,4 @@ NodeOptions::allocator(rcl_allocator_t allocator)
   return *this;
 }
 
-// TODO(wjwwood): reuse rcutils_get_env() to avoid code duplication.
-//   See also: https://github.com/ros2/rcl/issues/119
-size_t
-NodeOptions::get_domain_id_from_env() const
-{
-  // Determine the domain id based on the options and the ROS_DOMAIN_ID env variable.
-  size_t domain_id = std::numeric_limits<size_t>::max();
-  char * ros_domain_id = nullptr;
-  const char * env_var = "ROS_DOMAIN_ID";
-#ifndef _WIN32
-  ros_domain_id = getenv(env_var);
-#else
-  size_t ros_domain_id_size;
-  _dupenv_s(&ros_domain_id, &ros_domain_id_size, env_var);
-#endif
-  if (ros_domain_id) {
-    uint32_t number = strtoul(ros_domain_id, NULL, 0);
-    if (number == (std::numeric_limits<uint32_t>::max)()) {
-#ifdef _WIN32
-      // free the ros_domain_id before throwing, if getenv was used on Windows
-      free(ros_domain_id);
-#endif
-      throw std::runtime_error("failed to interpret ROS_DOMAIN_ID as integral number");
-    }
-    domain_id = static_cast<size_t>(number);
-#ifdef _WIN32
-    free(ros_domain_id);
-#endif
-  }
-  return domain_id;
-}
-
 }  // namespace rclcpp

rclcpp/src/rclcpp/time.cpp

@@ -63,17 +63,13 @@ Time::Time(int64_t nanoseconds, rcl_clock_type_t clock_type)
   rcl_time_.nanoseconds = nanoseconds;
 }
 
-Time::Time(const Time & rhs)
-: rcl_time_(rhs.rcl_time_)
-{
-  rcl_time_.nanoseconds = rhs.rcl_time_.nanoseconds;
-}
+Time::Time(const Time & rhs) = default;
 
 Time::Time(
   const builtin_interfaces::msg::Time & time_msg,
-  rcl_clock_type_t ros_time)
+  rcl_clock_type_t clock_type)
+: rcl_time_(init_time_point(clock_type))
 {
-  rcl_time_ = init_time_point(ros_time);
   if (time_msg.sec < 0) {
     throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
   }
@@ -95,31 +91,25 @@ Time::~Time()
 Time::operator builtin_interfaces::msg::Time() const
 {
   builtin_interfaces::msg::Time msg_time;
-  msg_time.sec = static_cast<std::int32_t>(RCL_NS_TO_S(rcl_time_.nanoseconds));
-  msg_time.nanosec = static_cast<std::uint32_t>(rcl_time_.nanoseconds % (1000 * 1000 * 1000));
+  constexpr rcl_time_point_value_t kRemainder = RCL_S_TO_NS(1);
+  const auto result = std::div(rcl_time_.nanoseconds, kRemainder);
+  if (result.rem >= 0) {
+    msg_time.sec = static_cast<std::int32_t>(result.quot);
+    msg_time.nanosec = static_cast<std::uint32_t>(result.rem);
+  } else {
+    msg_time.sec = static_cast<std::int32_t>(result.quot - 1);
+    msg_time.nanosec = static_cast<std::uint32_t>(kRemainder + result.rem);
+  }
   return msg_time;
 }
 
 Time &
-Time::operator=(const Time & rhs)
-{
-  rcl_time_ = rhs.rcl_time_;
-  return *this;
-}
+Time::operator=(const Time & rhs) = default;
 
 Time &
 Time::operator=(const builtin_interfaces::msg::Time & time_msg)
 {
-  if (time_msg.sec < 0) {
-    throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
-  }
-
-
-  rcl_clock_type_t ros_time = RCL_ROS_TIME;
-  rcl_time_ = init_time_point(ros_time);  // TODO(tfoote) hard coded ROS here
-
-  rcl_time_.nanoseconds = RCL_S_TO_NS(static_cast<int64_t>(time_msg.sec));
-  rcl_time_.nanoseconds += time_msg.nanosec;
+  *this = Time(time_msg);
   return *this;
 }
 

rclcpp/src/rclcpp/timer.cpp

@@ -61,15 +61,11 @@ TimerBase::TimerBase(
   rcl_clock_t * clock_handle = clock_->get_clock_handle();
   {
     std::lock_guard<std::mutex> clock_guard(clock_->get_clock_mutex());
-    if (
-      rcl_timer_init(
-        timer_handle_.get(), clock_handle, rcl_context.get(), period.count(), nullptr,
-        rcl_get_default_allocator()) != RCL_RET_OK)
-    {
-      RCUTILS_LOG_ERROR_NAMED(
-        "rclcpp",
-        "Couldn't initialize rcl timer handle: %s\n", rcl_get_error_string().str);
-      rcl_reset_error();
+    rcl_ret_t ret = rcl_timer_init(
+      timer_handle_.get(), clock_handle, rcl_context.get(), period.count(), nullptr,
+      rcl_get_default_allocator());
+    if (ret != RCL_RET_OK) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't initialize rcl timer handle");
     }
   }
 }

rclcpp/test/CMakeLists.txt

@@ -0,0 +1,501 @@
+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_any_service_callback rclcpp/test_any_service_callback.cpp)
+if(TARGET test_any_service_callback)
+  ament_target_dependencies(test_any_service_callback
+    "test_msgs"
+  )
+  target_link_libraries(test_any_service_callback ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_any_subscription_callback rclcpp/test_any_subscription_callback.cpp)
+if(TARGET test_any_subscription_callback)
+  ament_target_dependencies(test_any_subscription_callback
+    "test_msgs"
+  )
+  target_link_libraries(test_any_subscription_callback ${PROJECT_NAME})
+endif()
+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_create_subscription rclcpp/test_create_subscription.cpp)
+if(TARGET test_create_subscription)
+  target_link_libraries(test_create_subscription ${PROJECT_NAME})
+  ament_target_dependencies(test_create_subscription
+    "test_msgs"
+  )
+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()
+ament_add_gtest(test_node_interfaces__node_base
+  rclcpp/node_interfaces/test_node_base.cpp)
+if(TARGET test_node_interfaces__node_base)
+  target_link_libraries(test_node_interfaces__node_base ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_clock
+  rclcpp/node_interfaces/test_node_clock.cpp)
+if(TARGET test_node_interfaces__node_clock)
+  target_link_libraries(test_node_interfaces__node_clock ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_graph
+  rclcpp/node_interfaces/test_node_graph.cpp)
+if(TARGET test_node_interfaces__node_graph)
+  ament_target_dependencies(
+    test_node_interfaces__node_graph
+    "test_msgs")
+  target_link_libraries(test_node_interfaces__node_graph ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_parameters
+  rclcpp/node_interfaces/test_node_parameters.cpp)
+if(TARGET test_node_interfaces__node_parameters)
+  target_link_libraries(test_node_interfaces__node_parameters ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_services
+  rclcpp/node_interfaces/test_node_services.cpp)
+if(TARGET test_node_interfaces__node_services)
+  target_link_libraries(test_node_interfaces__node_services ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_timers
+  rclcpp/node_interfaces/test_node_timers.cpp)
+if(TARGET test_node_interfaces__node_timers)
+  target_link_libraries(test_node_interfaces__node_timers ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_topics
+  rclcpp/node_interfaces/test_node_topics.cpp)
+if(TARGET test_node_interfaces__node_topics)
+  ament_target_dependencies(
+    test_node_interfaces__node_topics
+    "test_msgs")
+  target_link_libraries(test_node_interfaces__node_topics ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_waitables
+  rclcpp/node_interfaces/test_node_waitables.cpp)
+if(TARGET test_node_interfaces__node_waitables)
+  target_link_libraries(test_node_interfaces__node_waitables ${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 ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_wait_set rclcpp/test_wait_set.cpp
+  APPEND_LIBRARY_DIRS "${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/executors/test_multi_threaded_executor.cpp

@@ -83,7 +83,7 @@ TEST_F(TestMultiThreadedExecutor, timer_over_take) {
 
       {
         std::lock_guard<std::mutex> lock(last_mutex);
-        double diff = std::abs((now - last).nanoseconds()) / 1.0e9;
+        double diff = static_cast<double>(std::abs((now - last).nanoseconds())) / 1.0e9;
         last = now;
 
         if (diff < PERIOD - TOLERANCE) {

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/node_interfaces/test_node_base.cpp

@@ -0,0 +1,60 @@
+// 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 <memory>
+#include <string>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_base.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestNodeBase : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeBase, construct_from_node)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_base =
+    dynamic_cast<rclcpp::node_interfaces::NodeBase *>(node->get_node_base_interface().get());
+  ASSERT_NE(nullptr, node_base);
+
+  EXPECT_STREQ("node", node_base->get_name());
+  EXPECT_STREQ("/ns", node_base->get_namespace());
+
+  EXPECT_STREQ("/ns/node", node_base->get_fully_qualified_name());
+  EXPECT_NE(nullptr, node_base->get_context());
+  EXPECT_NE(nullptr, node_base->get_rcl_node_handle());
+  EXPECT_NE(nullptr, node_base->get_shared_rcl_node_handle());
+
+  const auto * const_node_base = node_base;
+  EXPECT_NE(nullptr, const_node_base->get_rcl_node_handle());
+  EXPECT_NE(nullptr, const_node_base->get_shared_rcl_node_handle());
+}

rclcpp/test/rclcpp/node_interfaces/test_node_clock.cpp

@@ -0,0 +1,49 @@
+// 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 <memory>
+
+#include "rclcpp/node_interfaces/node_clock.hpp"
+#include "rclcpp/node.hpp"
+
+class TestNodeClock : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeClock, construct_from_node)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_clock =
+    dynamic_cast<rclcpp::node_interfaces::NodeClock *>(node->get_node_clock_interface().get());
+  ASSERT_NE(nullptr, node_clock);
+  EXPECT_NE(nullptr, node_clock->get_clock());
+
+  const auto * const_node_clock = node_clock;
+  EXPECT_NE(nullptr, const_node_clock->get_clock());
+}

rclcpp/test/rclcpp/node_interfaces/test_node_graph.cpp

@@ -0,0 +1,186 @@
+// 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 <memory>
+#include <utility>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_base.hpp"
+#include "rclcpp/node_interfaces/node_graph.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/msg/empty.hpp"
+
+class TestNodeGraph : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeGraph, construct_from_node)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  auto topic_names_and_types = node_graph->get_topic_names_and_types(false);
+  EXPECT_LT(0u, topic_names_and_types.size());
+
+  auto service_names_and_types = node_graph->get_service_names_and_types();
+  EXPECT_LT(0u, service_names_and_types.size());
+
+  auto names = node_graph->get_node_names();
+  EXPECT_EQ(1u, names.size());
+
+  auto names_and_namespaces = node_graph->get_node_names_and_namespaces();
+  EXPECT_EQ(1u, names_and_namespaces.size());
+
+  EXPECT_EQ(0u, node_graph->count_publishers("not_a_topic"));
+  EXPECT_EQ(0u, node_graph->count_subscribers("not_a_topic"));
+}
+
+TEST_F(TestNodeGraph, get_topic_names_and_types)
+{
+  auto node = std::make_shared<rclcpp::Node>("node2", "ns");
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+  auto topic_names_and_types = node_graph->get_topic_names_and_types();
+  EXPECT_LT(0u, topic_names_and_types.size());
+}
+
+TEST_F(TestNodeGraph, get_service_names_and_types)
+{
+  auto node = std::make_shared<rclcpp::Node>("node2", "ns");
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+  auto service_names_and_types = node_graph->get_service_names_and_types();
+  EXPECT_LT(0u, service_names_and_types.size());
+}
+
+TEST_F(TestNodeGraph, get_service_names_and_types_by_node)
+{
+  auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
+  auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node1->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  EXPECT_THROW(
+    node_graph->get_service_names_and_types_by_node("not_a_node", "not_absolute_namespace"),
+    std::runtime_error);
+  auto service_names_and_types1 = node_graph->get_service_names_and_types_by_node("node1", "/ns");
+  auto service_names_and_types2 = node_graph->get_service_names_and_types_by_node("node2", "/ns");
+  EXPECT_EQ(service_names_and_types1.size(), service_names_and_types2.size());
+}
+
+TEST_F(TestNodeGraph, get_node_names_and_namespaces)
+{
+  auto node = std::make_shared<rclcpp::Node>("node", "ns");
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  auto names_and_namespaces = node_graph->get_node_names_and_namespaces();
+  EXPECT_EQ(1u, names_and_namespaces.size());
+}
+
+TEST_F(TestNodeGraph, notify_shutdown)
+{
+  auto node = std::make_shared<rclcpp::Node>("node", "ns");
+  auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  EXPECT_NO_THROW(node_graph->notify_shutdown());
+}
+
+TEST_F(TestNodeGraph, wait_for_graph_change)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+  auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  EXPECT_NO_THROW(node_graph->notify_graph_change());
+  EXPECT_THROW(
+    node_graph->wait_for_graph_change(nullptr, std::chrono::milliseconds(1)),
+    rclcpp::exceptions::InvalidEventError);
+
+  auto event = std::make_shared<rclcpp::Event>();
+  EXPECT_THROW(
+    node_graph->wait_for_graph_change(event, std::chrono::milliseconds(0)),
+    rclcpp::exceptions::EventNotRegisteredError);
+}
+
+TEST_F(TestNodeGraph, get_info_by_topic)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+  const rclcpp::QoS publisher_qos(1);
+  auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", publisher_qos);
+  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+
+  const rclcpp::QoS subscriber_qos(10);
+  auto subscription =
+    node->create_subscription<test_msgs::msg::Empty>(
+    "topic", subscriber_qos, std::move(callback));
+
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  auto publishers = node_graph->get_publishers_info_by_topic("topic", false);
+  ASSERT_EQ(1u, publishers.size());
+
+  auto publisher_endpoint_info = publishers[0];
+  const auto const_publisher_endpoint_info = publisher_endpoint_info;
+  EXPECT_STREQ("node", publisher_endpoint_info.node_name().c_str());
+  EXPECT_STREQ("node", const_publisher_endpoint_info.node_name().c_str());
+  EXPECT_STREQ("/ns", publisher_endpoint_info.node_namespace().c_str());
+  EXPECT_STREQ("/ns", const_publisher_endpoint_info.node_namespace().c_str());
+  EXPECT_STREQ("test_msgs/msg/Empty", publisher_endpoint_info.topic_type().c_str());
+  EXPECT_STREQ("test_msgs/msg/Empty", const_publisher_endpoint_info.topic_type().c_str());
+  EXPECT_EQ(rclcpp::EndpointType::Publisher, publisher_endpoint_info.endpoint_type());
+  EXPECT_EQ(rclcpp::EndpointType::Publisher, const_publisher_endpoint_info.endpoint_type());
+
+  rclcpp::QoS actual_qos = publisher_endpoint_info.qos_profile();
+  EXPECT_EQ(0u, actual_qos.get_rmw_qos_profile().depth);
+
+  rclcpp::QoS const_actual_qos = const_publisher_endpoint_info.qos_profile();
+  EXPECT_EQ(0u, const_actual_qos.get_rmw_qos_profile().depth);
+
+  auto endpoint_gid = publisher_endpoint_info.endpoint_gid();
+  auto const_endpoint_gid = const_publisher_endpoint_info.endpoint_gid();
+  bool endpoint_gid_is_all_zeros = true;
+  for (size_t i = 0; i < RMW_GID_STORAGE_SIZE; ++i) {
+    endpoint_gid_is_all_zeros &= (endpoint_gid[i] == 0);
+    EXPECT_EQ(endpoint_gid[i], const_endpoint_gid[i]);
+  }
+  EXPECT_FALSE(endpoint_gid_is_all_zeros);
+}

rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp

@@ -0,0 +1,89 @@
+// 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.
+
+/**
+ * NodeParameters is a complicated interface with lots of code, but it is tested elsewhere
+ * very thoroughly. This currently just includes unittests for the currently uncovered
+ * functionality.
+ */
+
+#include <gtest/gtest.h>
+
+#include <algorithm>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_parameters.hpp"
+
+class TestNodeParameters : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeParameters, list_parameters)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_parameters =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters);
+
+  std::vector<std::string> prefixes;
+  const auto list_result = node_parameters->list_parameters(prefixes, 1u);
+
+  // Currently the only default parameter is 'use_sim_time', but that may change.
+  size_t number_of_parameters = list_result.names.size();
+  EXPECT_GE(1u, number_of_parameters);
+
+  const std::string parameter_name = "new_parameter";
+  const rclcpp::ParameterValue value(true);
+  const rcl_interfaces::msg::ParameterDescriptor descriptor;
+  const auto added_parameter_value =
+    node_parameters->declare_parameter(parameter_name, value, descriptor, false);
+  EXPECT_EQ(value.get<bool>(), added_parameter_value.get<bool>());
+
+  auto list_result2 = node_parameters->list_parameters(prefixes, 1u);
+  EXPECT_EQ(number_of_parameters + 1u, list_result2.names.size());
+
+  EXPECT_NE(
+    std::find(list_result2.names.begin(), list_result2.names.end(), parameter_name),
+    list_result2.names.end());
+}
+
+TEST_F(TestNodeParameters, parameter_overrides)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  auto * node_parameters =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters);
+
+  const auto & parameter_overrides = node_parameters->get_parameter_overrides();
+  EXPECT_EQ(0u, parameter_overrides.size());
+}

rclcpp/test/rclcpp/node_interfaces/test_node_services.cpp

@@ -0,0 +1,111 @@
+// 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 <memory>
+#include <string>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_services.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestService : public rclcpp::ServiceBase
+{
+public:
+  explicit TestService(rclcpp::Node * node)
+  : rclcpp::ServiceBase(node->get_node_base_interface()->get_shared_rcl_node_handle()) {}
+
+  std::shared_ptr<void> create_request() override {return nullptr;}
+  std::shared_ptr<rmw_request_id_t> create_request_header() override {return nullptr;}
+  void handle_request(std::shared_ptr<rmw_request_id_t>, std::shared_ptr<void>) override {}
+};
+
+class TestClient : public rclcpp::ClientBase
+{
+public:
+  explicit TestClient(rclcpp::Node * node)
+  : rclcpp::ClientBase(node->get_node_base_interface().get(), node->get_node_graph_interface()) {}
+
+  std::shared_ptr<void> create_response() override {return nullptr;}
+  std::shared_ptr<rmw_request_id_t> create_request_header() override {return nullptr;}
+  void handle_response(
+    std::shared_ptr<rmw_request_id_t>, std::shared_ptr<void>) override {}
+};
+
+class TestNodeService : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeService, add_service)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_services =
+    dynamic_cast<rclcpp::node_interfaces::NodeServices *>(
+    node->get_node_services_interface().get());
+  ASSERT_NE(nullptr, node_services);
+
+  auto service = std::make_shared<TestService>(node.get());
+  auto callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_NO_THROW(
+    node_services->add_service(service, callback_group));
+
+  // Check that adding a service from node to a callback group of different_node throws exception.
+  std::shared_ptr<rclcpp::Node> different_node = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group_in_different_node =
+    different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_THROW(
+    node_services->add_service(service, callback_group_in_different_node),
+    std::runtime_error);
+}
+
+TEST_F(TestNodeService, add_client)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_services =
+    dynamic_cast<rclcpp::node_interfaces::NodeServices *>(
+    node->get_node_services_interface().get());
+  ASSERT_NE(nullptr, node_services);
+
+  auto client = std::make_shared<TestClient>(node.get());
+  auto callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_NO_THROW(node_services->add_client(client, callback_group));
+
+  // Check that adding a client from node to a callback group of different_node throws exception.
+  std::shared_ptr<rclcpp::Node> different_node = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group_in_different_node =
+    different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_THROW(
+    node_services->add_client(client, callback_group_in_different_node),
+    std::runtime_error);
+}

rclcpp/test/rclcpp/node_interfaces/test_node_timers.cpp

@@ -0,0 +1,71 @@
+// 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 <memory>
+#include <string>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_timers.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestTimer : public rclcpp::TimerBase
+{
+public:
+  explicit TestTimer(rclcpp::Node * node)
+  : TimerBase(node->get_clock(), std::chrono::nanoseconds(1),
+      node->get_node_base_interface()->get_context()) {}
+
+  void execute_callback() override {}
+  bool is_steady() override {return false;}
+};
+
+class TestNodeTimers : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeTimers, add_timer)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto node_timers =
+    dynamic_cast<rclcpp::node_interfaces::NodeTimers *>(node->get_node_timers_interface().get());
+  ASSERT_NE(nullptr, node_timers);
+  auto timer = std::make_shared<TestTimer>(node.get());
+  auto callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_NO_THROW(node_timers->add_timer(timer, callback_group));
+
+  // Check that adding timer from node to callback group in different_node throws exception.
+  std::shared_ptr<rclcpp::Node> different_node = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group_in_different_node =
+    different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_THROW(
+    node_timers->add_timer(timer, callback_group_in_different_node),
+    std::runtime_error);
+}

rclcpp/test/rclcpp/node_interfaces/test_node_topics.cpp

@@ -0,0 +1,129 @@
+// 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 <memory>
+#include <string>
+#include <type_traits>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_topics.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/msg/empty.hpp"
+
+namespace
+{
+
+const rosidl_message_type_support_t EmptyTypeSupport()
+{
+  return *rosidl_typesupport_cpp::get_message_type_support_handle<test_msgs::msg::Empty>();
+}
+
+const rcl_publisher_options_t PublisherOptions()
+{
+  return rclcpp::PublisherOptionsWithAllocator<std::allocator<void>>().template
+         to_rcl_publisher_options<test_msgs::msg::Empty>(rclcpp::QoS(10));
+}
+
+const rcl_subscription_options_t SubscriptionOptions()
+{
+  return rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>>().template
+         to_rcl_subscription_options<test_msgs::msg::Empty>(rclcpp::QoS(10));
+}
+
+}  // namespace
+
+class TestPublisher : public rclcpp::PublisherBase
+{
+public:
+  explicit TestPublisher(rclcpp::Node * node)
+  : rclcpp::PublisherBase(
+      node->get_node_base_interface().get(), "topic", EmptyTypeSupport(), PublisherOptions()) {}
+};
+
+class TestSubscription : public rclcpp::SubscriptionBase
+{
+public:
+  explicit TestSubscription(rclcpp::Node * node)
+  : rclcpp::SubscriptionBase(
+      node->get_node_base_interface().get(), EmptyTypeSupport(), "topic", SubscriptionOptions()) {}
+  std::shared_ptr<void> create_message() override {return nullptr;}
+
+  std::shared_ptr<rclcpp::SerializedMessage>
+  create_serialized_message() override {return nullptr;}
+
+  void handle_message(std::shared_ptr<void> &, const rclcpp::MessageInfo &) override {}
+  void handle_loaned_message(void *, const rclcpp::MessageInfo &) override {}
+  void return_message(std::shared_ptr<void> &) override {}
+  void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> &) override {}
+};
+
+class TestNodeTopics : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeTopics, add_publisher)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_topics =
+    dynamic_cast<rclcpp::node_interfaces::NodeTopics *>(node->get_node_topics_interface().get());
+  ASSERT_NE(nullptr, node_topics);
+  auto publisher = std::make_shared<TestPublisher>(node.get());
+  auto callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_NO_THROW(node_topics->add_publisher(publisher, callback_group));
+
+  // Check that adding publisher from node to a callback group in different_node throws exception.
+  std::shared_ptr<rclcpp::Node> different_node = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group_in_different_node =
+    different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_THROW(
+    node_topics->add_publisher(publisher, callback_group_in_different_node),
+    std::runtime_error);
+}
+
+TEST_F(TestNodeTopics, add_subscription)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+  auto * node_topics =
+    dynamic_cast<rclcpp::node_interfaces::NodeTopics *>(node->get_node_topics_interface().get());
+  ASSERT_NE(nullptr, node_topics);
+  auto subscription = std::make_shared<TestSubscription>(node.get());
+  auto callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_NO_THROW(node_topics->add_subscription(subscription, callback_group));
+
+  // Check that adding subscription from node to callback group in different_node throws exception.
+  std::shared_ptr<rclcpp::Node> different_node = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group_in_different_node =
+    different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_THROW(
+    node_topics->add_subscription(subscription, callback_group_in_different_node),
+    std::runtime_error);
+}

rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp

@@ -0,0 +1,68 @@
+// 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 <memory>
+#include <string>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_waitables.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestWaitable : public rclcpp::Waitable
+{
+public:
+  bool add_to_wait_set(rcl_wait_set_t *) override {return false;}
+  bool is_ready(rcl_wait_set_t *) override {return false;}
+  void execute() override {}
+};
+
+class TestNodeWaitables : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeWaitables, add_remove_waitable)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  auto * node_waitables =
+    dynamic_cast<rclcpp::node_interfaces::NodeWaitables *>(
+    node->get_node_waitables_interface().get());
+  ASSERT_NE(nullptr, node_waitables);
+
+  std::shared_ptr<rclcpp::Node> node2 = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group1 = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  auto callback_group2 = node2->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  auto waitable = std::make_shared<TestWaitable>();
+  EXPECT_NO_THROW(
+    node_waitables->add_waitable(waitable, callback_group1));
+  EXPECT_THROW(
+    node_waitables->add_waitable(waitable, callback_group2),
+    std::runtime_error);
+  EXPECT_NO_THROW(node_waitables->remove_waitable(waitable, callback_group1));
+  EXPECT_NO_THROW(node_waitables->remove_waitable(waitable, callback_group2));
+}

rclcpp/test/rclcpp/test_any_service_callback.cpp

@@ -0,0 +1,78 @@
+// 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.
+
+// This file includes basic API tests for the AnyServiceCallback class.
+// It is also tested in test_externally_defined_services.cpp
+
+#include <gtest/gtest.h>
+
+#include <functional>
+#include <memory>
+#include <utility>
+
+#include "rclcpp/any_service_callback.hpp"
+#include "test_msgs/srv/empty.hpp"
+#include "test_msgs/srv/empty.h"
+
+class TestAnyServiceCallback : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    request_header_ = std::make_shared<rmw_request_id_t>();
+    request_ = std::make_shared<test_msgs::srv::Empty::Request>();
+    response_ = std::make_shared<test_msgs::srv::Empty::Response>();
+  }
+
+protected:
+  rclcpp::AnyServiceCallback<test_msgs::srv::Empty> any_service_callback_;
+  std::shared_ptr<rmw_request_id_t> request_header_;
+  std::shared_ptr<test_msgs::srv::Empty::Request> request_;
+  std::shared_ptr<test_msgs::srv::Empty::Response> response_;
+};
+
+TEST_F(TestAnyServiceCallback, no_set_and_dispatch_throw) {
+  EXPECT_THROW(
+    any_service_callback_.dispatch(request_header_, request_, response_),
+    std::runtime_error);
+}
+
+TEST_F(TestAnyServiceCallback, set_and_dispatch_no_header) {
+  int callback_calls = 0;
+  auto callback = [&callback_calls](const std::shared_ptr<test_msgs::srv::Empty::Request>,
+      std::shared_ptr<test_msgs::srv::Empty::Response>) {
+      callback_calls++;
+    };
+
+  any_service_callback_.set(callback);
+  EXPECT_NO_THROW(
+    any_service_callback_.dispatch(request_header_, request_, response_));
+  EXPECT_EQ(callback_calls, 1);
+}
+
+
+TEST_F(TestAnyServiceCallback, set_and_dispatch_header) {
+  int callback_with_header_calls = 0;
+  auto callback_with_header =
+    [&callback_with_header_calls](const std::shared_ptr<rmw_request_id_t>,
+      const std::shared_ptr<test_msgs::srv::Empty::Request>,
+      std::shared_ptr<test_msgs::srv::Empty::Response>) {
+      callback_with_header_calls++;
+    };
+
+  any_service_callback_.set(callback_with_header);
+  EXPECT_NO_THROW(
+    any_service_callback_.dispatch(request_header_, request_, response_));
+  EXPECT_EQ(callback_with_header_calls, 1);
+}

rclcpp/test/rclcpp/test_any_subscription_callback.cpp

@@ -0,0 +1,205 @@
+// 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 <functional>
+#include <memory>
+#include <utility>
+
+#include "rclcpp/any_subscription_callback.hpp"
+#include "test_msgs/msg/empty.hpp"
+#include "test_msgs/msg/empty.h"
+
+class TestAnySubscriptionCallback : public ::testing::Test
+{
+public:
+  TestAnySubscriptionCallback()
+  : any_subscription_callback_(allocator_) {}
+  void SetUp()
+  {
+    msg_shared_ptr_ = std::make_shared<test_msgs::msg::Empty>();
+    msg_const_shared_ptr_ = std::make_shared<const test_msgs::msg::Empty>();
+    msg_unique_ptr_ = std::make_unique<test_msgs::msg::Empty>();
+  }
+
+protected:
+  std::shared_ptr<std::allocator<void>> allocator_;
+  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty, std::allocator<void>>
+  any_subscription_callback_;
+
+  std::shared_ptr<test_msgs::msg::Empty> msg_shared_ptr_;
+  std::shared_ptr<const test_msgs::msg::Empty> msg_const_shared_ptr_;
+  std::unique_ptr<test_msgs::msg::Empty> msg_unique_ptr_;
+  rclcpp::MessageInfo message_info_;
+};
+
+TEST_F(TestAnySubscriptionCallback, construct_destruct) {
+}
+
+TEST_F(TestAnySubscriptionCallback, unset_dispatch_throw) {
+  EXPECT_THROW(
+    any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_),
+    std::runtime_error);
+  EXPECT_THROW(
+    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
+    std::runtime_error);
+  EXPECT_THROW(
+    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_),
+    std::runtime_error);
+}
+
+TEST_F(TestAnySubscriptionCallback, set_dispatch_shared_ptr) {
+  int callback_count = 0;
+  auto shared_ptr_callback = [&callback_count](
+    const std::shared_ptr<test_msgs::msg::Empty>) {
+      callback_count++;
+    };
+
+  any_subscription_callback_.set(shared_ptr_callback);
+  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
+  EXPECT_EQ(callback_count, 1);
+
+  // Can't convert ConstSharedPtr to SharedPtr
+  EXPECT_THROW(
+    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
+    std::runtime_error);
+  EXPECT_EQ(callback_count, 1);
+
+  // Promotes Unique into SharedPtr
+  EXPECT_NO_THROW(
+    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
+  EXPECT_EQ(callback_count, 2);
+}
+
+TEST_F(TestAnySubscriptionCallback, set_dispatch_shared_ptr_w_info) {
+  int callback_count = 0;
+  auto shared_ptr_w_info_callback = [&callback_count](
+    const std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {
+      callback_count++;
+    };
+
+  any_subscription_callback_.set(shared_ptr_w_info_callback);
+
+  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
+  EXPECT_EQ(callback_count, 1);
+
+  // Can't convert ConstSharedPtr to SharedPtr
+  EXPECT_THROW(
+    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
+    std::runtime_error);
+  EXPECT_EQ(callback_count, 1);
+
+  // Promotes Unique into SharedPtr
+  EXPECT_NO_THROW(
+    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
+  EXPECT_EQ(callback_count, 2);
+}
+
+TEST_F(TestAnySubscriptionCallback, set_dispatch_const_shared_ptr) {
+  int callback_count = 0;
+  auto const_shared_ptr_callback = [&callback_count](
+    std::shared_ptr<const test_msgs::msg::Empty>) {
+      callback_count++;
+    };
+
+  any_subscription_callback_.set(const_shared_ptr_callback);
+
+  // Ok to promote shared_ptr to ConstSharedPtr
+  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
+  EXPECT_EQ(callback_count, 1);
+
+  EXPECT_NO_THROW(
+    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_));
+  EXPECT_EQ(callback_count, 2);
+
+  // Not allowed to convert unique_ptr to const shared_ptr
+  EXPECT_THROW(
+    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_),
+    std::runtime_error);
+  EXPECT_EQ(callback_count, 2);
+}
+
+TEST_F(TestAnySubscriptionCallback, set_dispatch_const_shared_ptr_w_info) {
+  int callback_count = 0;
+  auto const_shared_ptr_callback = [&callback_count](
+    std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {
+      callback_count++;
+    };
+
+  any_subscription_callback_.set(
+    std::move(const_shared_ptr_callback));
+
+  // Ok to promote shared_ptr to ConstSharedPtr
+  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
+  EXPECT_EQ(callback_count, 1);
+
+  EXPECT_NO_THROW(
+    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_));
+  EXPECT_EQ(callback_count, 2);
+
+  // Not allowed to convert unique_ptr to const shared_ptr
+  EXPECT_THROW(
+    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_),
+    std::runtime_error);
+  EXPECT_EQ(callback_count, 2);
+}
+
+TEST_F(TestAnySubscriptionCallback, set_dispatch_unique_ptr) {
+  int callback_count = 0;
+  auto unique_ptr_callback = [&callback_count](
+    std::unique_ptr<test_msgs::msg::Empty>) {
+      callback_count++;
+    };
+
+  any_subscription_callback_.set(unique_ptr_callback);
+
+  // Message is copied into unique_ptr
+  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
+  EXPECT_EQ(callback_count, 1);
+
+  EXPECT_THROW(
+    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
+    std::runtime_error);
+  EXPECT_EQ(callback_count, 1);
+
+  // Unique_ptr is_moved
+  EXPECT_NO_THROW(
+    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
+  EXPECT_EQ(callback_count, 2);
+}
+
+TEST_F(TestAnySubscriptionCallback, set_dispatch_unique_ptr_w_info) {
+  int callback_count = 0;
+  auto unique_ptr_callback = [&callback_count](
+    std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {
+      callback_count++;
+    };
+
+  any_subscription_callback_.set(unique_ptr_callback);
+
+  // Message is copied into unique_ptr
+  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
+  EXPECT_EQ(callback_count, 1);
+
+  EXPECT_THROW(
+    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
+    std::runtime_error);
+  EXPECT_EQ(callback_count, 1);
+
+  // Unique_ptr is_moved
+  EXPECT_NO_THROW(
+    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
+  EXPECT_EQ(callback_count, 2);
+}

rclcpp/test/rclcpp/test_create_subscription.cpp

@@ -0,0 +1,67 @@
+// 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 <memory>
+
+#include "rclcpp/create_subscription.hpp"
+#include "rclcpp/node.hpp"
+#include "test_msgs/msg/empty.hpp"
+#include "test_msgs/msg/empty.h"
+
+using namespace std::chrono_literals;
+
+class TestCreateSubscription : public ::testing::Test
+{
+public:
+  void SetUp() override
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown() override
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestCreateSubscription, create) {
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+  const rclcpp::QoS qos(10);
+  auto options = rclcpp::SubscriptionOptions();
+  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto subscription =
+    rclcpp::create_subscription<test_msgs::msg::Empty>(node, "topic_name", qos, callback, options);
+
+  ASSERT_NE(nullptr, subscription);
+  EXPECT_STREQ("/ns/topic_name", subscription->get_topic_name());
+}
+
+TEST_F(TestCreateSubscription, create_with_statistics) {
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+  const rclcpp::QoS qos(10);
+  auto options = rclcpp::SubscriptionOptions();
+  options.topic_stats_options.state = rclcpp::TopicStatisticsState::Enable;
+  options.topic_stats_options.publish_topic = "topic_statistics";
+  options.topic_stats_options.publish_period = 5min;
+
+  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto subscription =
+    rclcpp::create_subscription<test_msgs::msg::Empty>(node, "topic_name", qos, callback, options);
+
+  ASSERT_NE(nullptr, subscription);
+  EXPECT_STREQ("/ns/topic_name", subscription->get_topic_name());
+}

rclcpp/test/rclcpp/test_create_timer.cpp

@@ -0,0 +1,118 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <atomic>
+#include <chrono>
+#include <memory>
+
+#include "node_interfaces/node_wrapper.hpp"
+#include "rclcpp/create_timer.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+
+using namespace std::chrono_literals;
+
+TEST(TestCreateTimer, timer_executes)
+{
+  rclcpp::init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>("test_create_timer_node");
+
+  std::atomic<bool> got_callback{false};
+
+  rclcpp::TimerBase::SharedPtr timer;
+  timer = rclcpp::create_timer(
+    node,
+    node->get_clock(),
+    rclcpp::Duration(0ms),
+    [&got_callback, &timer]() {
+      got_callback = true;
+      timer->cancel();
+    });
+
+  rclcpp::spin_some(node);
+
+  ASSERT_TRUE(got_callback);
+  rclcpp::shutdown();
+}
+
+TEST(TestCreateTimer, call_with_node_wrapper_compiles)
+{
+  rclcpp::init(0, nullptr);
+  NodeWrapper node("test_create_timer_call_with_node_wrapper_compiles");
+
+  rclcpp::TimerBase::SharedPtr timer;
+  timer = rclcpp::create_timer(
+    node,
+    node.get_node_clock_interface()->get_clock(),
+    rclcpp::Duration(0ms),
+    []() {});
+  rclcpp::shutdown();
+}
+
+TEST(TestCreateTimer, call_wall_timer_with_bad_arguments)
+{
+  rclcpp::init(0, nullptr);
+  NodeWrapper node("test_create_wall_timers_with_bad_arguments");
+  auto callback = []() {};
+  rclcpp::CallbackGroup::SharedPtr group = nullptr;
+  auto node_interface =
+    rclcpp::node_interfaces::get_node_base_interface(node).get();
+  auto timers_interface =
+    rclcpp::node_interfaces::get_node_timers_interface(node).get();
+
+  // Negative period
+  EXPECT_THROW(
+    rclcpp::create_wall_timer(-1ms, callback, group, node_interface, timers_interface),
+    std::invalid_argument);
+
+  // Very negative period
+  constexpr auto nanoseconds_min = std::chrono::nanoseconds::min();
+  EXPECT_THROW(
+    rclcpp::create_wall_timer(
+      nanoseconds_min, callback, group, node_interface, timers_interface),
+    std::invalid_argument);
+
+  // Period must be less than nanoseconds::max()
+  constexpr auto nanoseconds_max = std::chrono::nanoseconds::min();
+  EXPECT_THROW(
+    rclcpp::create_wall_timer(
+      nanoseconds_max, callback, group, node_interface, timers_interface),
+    std::invalid_argument);
+
+  EXPECT_NO_THROW(
+    rclcpp::create_wall_timer(
+      nanoseconds_max - 1us, callback, group, node_interface, timers_interface));
+
+  EXPECT_NO_THROW(
+    rclcpp::create_wall_timer(0ms, callback, group, node_interface, timers_interface));
+
+  // Period must be less than nanoseconds::max()
+  constexpr auto hours_max = std::chrono::hours::max();
+  EXPECT_THROW(
+    rclcpp::create_wall_timer(hours_max, callback, group, node_interface, timers_interface),
+    std::invalid_argument);
+
+  // node_interface is null
+  EXPECT_THROW(
+    rclcpp::create_wall_timer(1ms, callback, group, nullptr, timers_interface),
+    std::invalid_argument);
+
+  // timers_interface is null
+  EXPECT_THROW(
+    rclcpp::create_wall_timer(1ms, callback, group, node_interface, nullptr),
+    std::invalid_argument);
+  rclcpp::shutdown();
+}

rclcpp/test/rclcpp/test_duration.cpp

@@ -32,11 +32,7 @@ class TestDuration : public ::testing::Test
 {
 };
 
-// TEST(TestDuration, conversions) {
-// TODO(tfoote) Implement conversion methods
-// }
-
-TEST(TestDuration, operators) {
+TEST_F(TestDuration, operators) {
   rclcpp::Duration old(1, 0);
   rclcpp::Duration young(2, 0);
 
@@ -67,7 +63,7 @@ TEST(TestDuration, operators) {
   EXPECT_TRUE(time == assignment_op_duration);
 }
 
-TEST(TestDuration, chrono_overloads) {
+TEST_F(TestDuration, chrono_overloads) {
   int64_t ns = 123456789l;
   auto chrono_ns = std::chrono::nanoseconds(ns);
   auto d1 = rclcpp::Duration(ns);
@@ -86,7 +82,7 @@ TEST(TestDuration, chrono_overloads) {
   EXPECT_EQ(chrono_float_seconds, d5.to_chrono<decltype(chrono_float_seconds)>());
 }
 
-TEST(TestDuration, overflows) {
+TEST_F(TestDuration, overflows) {
   rclcpp::Duration max(std::numeric_limits<rcl_duration_value_t>::max());
   rclcpp::Duration min(std::numeric_limits<rcl_duration_value_t>::min());
 
@@ -107,7 +103,7 @@ TEST(TestDuration, overflows) {
   EXPECT_THROW(base_d_neg * 4, std::underflow_error);
 }
 
-TEST(TestDuration, negative_duration) {
+TEST_F(TestDuration, negative_duration) {
   rclcpp::Duration assignable_duration = rclcpp::Duration(0) - rclcpp::Duration(5, 0);
 
   {
@@ -130,7 +126,7 @@ TEST(TestDuration, negative_duration) {
   }
 }
 
-TEST(TestDuration, maximum_duration) {
+TEST_F(TestDuration, maximum_duration) {
   rclcpp::Duration max_duration = rclcpp::Duration::max();
   rclcpp::Duration max(std::numeric_limits<int32_t>::max(), 999999999);
 
@@ -138,18 +134,105 @@ TEST(TestDuration, maximum_duration) {
 }
 
 static const int64_t HALF_SEC_IN_NS = 500 * 1000 * 1000;
+static const int64_t ONE_SEC_IN_NS = 1000 * 1000 * 1000;
 static const int64_t ONE_AND_HALF_SEC_IN_NS = 3 * HALF_SEC_IN_NS;
 
-TEST(TestDuration, from_seconds) {
+TEST_F(TestDuration, from_seconds) {
   EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration::from_seconds(0.0));
   EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration::from_seconds(0));
   EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(1.5));
   EXPECT_EQ(rclcpp::Duration(-ONE_AND_HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(-1.5));
 }
 
-TEST(TestDuration, std_chrono_constructors) {
+TEST_F(TestDuration, std_chrono_constructors) {
   EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration(0.0s));
   EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration(0s));
   EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration(1.5s));
   EXPECT_EQ(rclcpp::Duration(-1, 0), rclcpp::Duration(-1s));
 }
+
+TEST_F(TestDuration, conversions) {
+  {
+    const rclcpp::Duration duration(HALF_SEC_IN_NS);
+    const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, 0);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), HALF_SEC_IN_NS);
+
+    const auto rmw_time = duration.to_rmw_time();
+    EXPECT_EQ(rmw_time.sec, 0u);
+    EXPECT_EQ(rmw_time.nsec, static_cast<uint64_t>(HALF_SEC_IN_NS));
+
+    const auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), HALF_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Duration duration(ONE_SEC_IN_NS);
+    const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, 1);
+    EXPECT_EQ(duration_msg.nanosec, 0u);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), ONE_SEC_IN_NS);
+
+    const auto rmw_time = duration.to_rmw_time();
+    EXPECT_EQ(rmw_time.sec, 1u);
+    EXPECT_EQ(rmw_time.nsec, 0u);
+
+    const auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), ONE_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Duration duration(ONE_AND_HALF_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, 1);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), ONE_AND_HALF_SEC_IN_NS);
+
+    auto rmw_time = duration.to_rmw_time();
+    EXPECT_EQ(rmw_time.sec, 1u);
+    EXPECT_EQ(rmw_time.nsec, static_cast<uint64_t>(HALF_SEC_IN_NS));
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), ONE_AND_HALF_SEC_IN_NS);
+  }
+
+  {
+    rclcpp::Duration duration(-HALF_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, -1);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -HALF_SEC_IN_NS);
+
+    EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), -HALF_SEC_IN_NS);
+  }
+
+  {
+    rclcpp::Duration duration(-ONE_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, -1);
+    EXPECT_EQ(duration_msg.nanosec, 0u);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -ONE_SEC_IN_NS);
+
+    EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), -ONE_SEC_IN_NS);
+  }
+
+  {
+    rclcpp::Duration duration(-ONE_AND_HALF_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, -2);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -ONE_AND_HALF_SEC_IN_NS);
+
+    EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), -ONE_AND_HALF_SEC_IN_NS);
+  }
+}

rclcpp/test/rclcpp/test_executor.cpp

@@ -0,0 +1,199 @@
+// Copyright 2017 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 <algorithm>
+#include <chrono>
+#include <limits>
+#include <memory>
+#include <string>
+
+#include "rcl/error_handling.h"
+#include "rcl/time.h"
+#include "rclcpp/clock.hpp"
+#include "rclcpp/duration.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+using namespace std::chrono_literals;
+
+class TestExecutors : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void SetUp()
+  {
+    node = std::make_shared<rclcpp::Node>("my_node");
+  }
+
+  void TearDown()
+  {
+    node.reset();
+  }
+
+  rclcpp::Node::SharedPtr node;
+};
+
+// Make sure that executors detach from nodes when destructing
+TEST_F(TestExecutors, detachOnDestruction) {
+  {
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(node);
+  }
+  {
+    rclcpp::executors::SingleThreadedExecutor executor;
+    EXPECT_NO_THROW(executor.add_node(node));
+  }
+}
+
+// Make sure that the executor can automatically remove expired nodes correctly
+TEST_F(TestExecutors, addTemporaryNode) {
+  rclcpp::executors::SingleThreadedExecutor executor;
+  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);
+}
+
+class TestWaitable : public rclcpp::Waitable
+{
+public:
+  TestWaitable()
+  {
+    rcl_guard_condition_options_t guard_condition_options =
+      rcl_guard_condition_get_default_options();
+
+    gc_ = rcl_get_zero_initialized_guard_condition();
+    rcl_ret_t ret = rcl_guard_condition_init(
+      &gc_,
+      rclcpp::contexts::get_global_default_context()->get_rcl_context().get(),
+      guard_condition_options);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret);
+    }
+  }
+
+  bool
+  add_to_wait_set(rcl_wait_set_t * wait_set) override
+  {
+    rcl_ret_t ret = rcl_wait_set_add_guard_condition(wait_set, &gc_, NULL);
+    if (RCL_RET_OK != ret) {
+      return false;
+    }
+    ret = rcl_trigger_guard_condition(&gc_);
+    return RCL_RET_OK == ret;
+  }
+
+  bool
+  is_ready(rcl_wait_set_t * wait_set) override
+  {
+    (void)wait_set;
+    return true;
+  }
+
+  void
+  execute() override
+  {
+    count_++;
+    std::this_thread::sleep_for(100ms);
+  }
+
+  size_t
+  get_number_of_ready_guard_conditions() override {return 1;}
+
+  size_t
+  get_count()
+  {
+    return count_;
+  }
+
+private:
+  size_t count_ = 0;
+  rcl_guard_condition_t gc_;
+};
+
+TEST_F(TestExecutors, testSpinAllvsSpinSome) {
+  {
+    rclcpp::executors::SingleThreadedExecutor executor;
+    auto waitable_interfaces = node->get_node_waitables_interface();
+    auto my_waitable = std::make_shared<TestWaitable>();
+    waitable_interfaces->add_waitable(my_waitable, nullptr);
+    executor.add_node(node);
+    executor.spin_all(1s);
+    executor.remove_node(node);
+    EXPECT_GT(my_waitable->get_count(), 1u);
+    waitable_interfaces->remove_waitable(my_waitable, nullptr);
+  }
+  {
+    rclcpp::executors::SingleThreadedExecutor executor;
+    auto waitable_interfaces = node->get_node_waitables_interface();
+    auto my_waitable = std::make_shared<TestWaitable>();
+    waitable_interfaces->add_waitable(my_waitable, nullptr);
+    executor.add_node(node);
+    executor.spin_some(1s);
+    executor.remove_node(node);
+    EXPECT_EQ(my_waitable->get_count(), 1u);
+    waitable_interfaces->remove_waitable(my_waitable, nullptr);
+  }
+}

rclcpp/test/rclcpp/test_logger.cpp

@@ -14,10 +14,12 @@
 
 #include <gtest/gtest.h>
 
+#include <memory>
 #include <string>
 
 #include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
 
 TEST(TestLogger, factory_functions) {
   rclcpp::Logger logger = rclcpp::get_logger("test_logger");
@@ -33,3 +35,15 @@ TEST(TestLogger, hierarchy) {
   rclcpp::Logger subsublogger = sublogger.get_child("grandchild");
   EXPECT_STREQ("test_logger.child.grandchild", subsublogger.get_name());
 }
+
+TEST(TestLogger, get_node_logger) {
+  rclcpp::init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+  auto node_base = rclcpp::node_interfaces::get_node_base_interface(node);
+  auto logger = rclcpp::get_node_logger(node_base->get_rcl_node_handle());
+  EXPECT_STREQ(logger.get_name(), "ns.my_node");
+
+  logger = rclcpp::get_node_logger(nullptr);
+  EXPECT_STREQ(logger.get_name(), "rclcpp");
+  rclcpp::shutdown();
+}

rclcpp/test/rclcpp/test_node.cpp

@@ -2329,206 +2329,6 @@ TEST_F(TestNode, get_parameter_types_undeclared_parameters_allowed) {
   }
 }
 
-// suppress deprecated function test warnings
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-
-// test that it is possible to call get_parameter within the set_callback
-TEST_F(TestNode, set_on_parameters_set_callback_get_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_get_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  double floatout;
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node, &floatout](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      rclcpp::Parameter floatparam = node->get_parameter("floatparam");
-      if (floatparam.get_value<double>() != 5.4) {
-        result.successful = false;
-      }
-      floatout = floatparam.get_value<double>();
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  ASSERT_NO_THROW(node->set_parameter({"intparam", 40}));
-  ASSERT_EQ(floatout, 5.4);
-}
-
-// test that calling set_parameter inside of a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_set_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_set_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      // This should throw an exception
-      node->set_parameter({"floatparam", 5.6});
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// test that calling declare_parameter inside of a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_declare_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_declare_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      // This should throw an exception
-      node->declare_parameter("floatparam2", 5.6);
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// test that calling undeclare_parameter inside a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_undeclare_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_undeclare_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      // This should throw an exception
-      node->undeclare_parameter("floatparam");
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// test that calling set_on_parameters_set_callback from a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_set_on_parameters_set_callback) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_set_callback_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      auto bad_parameters =
-        [](const std::vector<rclcpp::Parameter> & parameters) {
-          (void)parameters;
-          rcl_interfaces::msg::SetParametersResult result;
-          return result;
-        };
-
-      // This should throw an exception
-      node->set_on_parameters_set_callback(bad_parameters);
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
 void expect_qos_profile_eq(
   const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2, bool is_publisher)
 {

rclcpp/test/rclcpp/test_node_options.cpp

@@ -105,6 +105,38 @@ TEST(TestNodeOptions, bad_ros_args) {
     rclcpp::exceptions::UnknownROSArgsError);
 }
 
+TEST(TestNodeOptions, use_global_arguments) {
+  {
+    auto options = rclcpp::NodeOptions();
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions().use_global_arguments(false);
+    EXPECT_FALSE(options.use_global_arguments());
+    EXPECT_FALSE(options.get_rcl_node_options()->use_global_arguments);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions().use_global_arguments(true);
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions();
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+    options.use_global_arguments(false);
+    EXPECT_FALSE(options.use_global_arguments());
+    EXPECT_FALSE(options.get_rcl_node_options()->use_global_arguments);
+    options.use_global_arguments(true);
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+  }
+}
+
 TEST(TestNodeOptions, enable_rosout) {
   {
     auto options = rclcpp::NodeOptions();
@@ -136,3 +168,33 @@ TEST(TestNodeOptions, enable_rosout) {
     EXPECT_TRUE(options.get_rcl_node_options()->enable_rosout);
   }
 }
+
+TEST(TestNodeOptions, copy) {
+  std::vector<std::string> expected_args{"--unknown-flag", "arg"};
+  auto options = rclcpp::NodeOptions().arguments(expected_args).use_global_arguments(false);
+  const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
+
+  {
+    rclcpp::NodeOptions copied_options = options;
+    EXPECT_FALSE(copied_options.use_global_arguments());
+    EXPECT_EQ(expected_args, copied_options.arguments());
+    const rcl_node_options_t * copied_rcl_options = copied_options.get_rcl_node_options();
+    EXPECT_EQ(copied_rcl_options->use_global_arguments, rcl_options->use_global_arguments);
+    EXPECT_EQ(
+      rcl_arguments_get_count_unparsed(&copied_rcl_options->arguments),
+      rcl_arguments_get_count_unparsed(&rcl_options->arguments));
+  }
+
+  {
+    auto other_options = rclcpp::NodeOptions().use_global_arguments(true);
+    (void)other_options.get_rcl_node_options();  // force C structure initialization
+    other_options = options;
+    EXPECT_FALSE(other_options.use_global_arguments());
+    EXPECT_EQ(expected_args, other_options.arguments());
+    const rcl_node_options_t * other_rcl_options = other_options.get_rcl_node_options();
+    EXPECT_EQ(other_rcl_options->use_global_arguments, rcl_options->use_global_arguments);
+    EXPECT_EQ(
+      rcl_arguments_get_count_unparsed(&other_rcl_options->arguments),
+      rcl_arguments_get_count_unparsed(&rcl_options->arguments));
+  }
+}

rclcpp/test/rclcpp/test_parameter.cpp

@@ -32,7 +32,7 @@ protected:
   }
 };
 
-TEST(TestParameter, not_set_variant) {
+TEST_F(TestParameter, not_set_variant) {
   // Direct instantiation
   rclcpp::Parameter not_set_variant;
   EXPECT_EQ(rclcpp::PARAMETER_NOT_SET, not_set_variant.get_type());
@@ -58,7 +58,7 @@ TEST(TestParameter, not_set_variant) {
     rclcpp::Parameter::from_parameter_msg(not_set_param).get_type());
 }
 
-TEST(TestParameter, bool_variant) {
+TEST_F(TestParameter, bool_variant) {
   // Direct instantiation
   rclcpp::Parameter bool_variant_true("bool_param", true);
   EXPECT_EQ("bool_param", bool_variant_true.get_name());
@@ -116,7 +116,7 @@ TEST(TestParameter, bool_variant) {
     bool_variant_false.get_value_message().type);
 }
 
-TEST(TestParameter, integer_variant) {
+TEST_F(TestParameter, integer_variant) {
   const int TEST_VALUE {42};
 
   // Direct instantiation
@@ -164,7 +164,7 @@ TEST(TestParameter, integer_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, long_integer_variant) {
+TEST_F(TestParameter, long_integer_variant) {
   const int64_t TEST_VALUE {std::numeric_limits<int64_t>::max()};
 
   // Direct instantiation
@@ -212,7 +212,7 @@ TEST(TestParameter, long_integer_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, float_variant) {
+TEST_F(TestParameter, float_variant) {
   const float TEST_VALUE {42.0f};
 
   // Direct instantiation
@@ -260,7 +260,7 @@ TEST(TestParameter, float_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, double_variant) {
+TEST_F(TestParameter, double_variant) {
   const double TEST_VALUE {-42.1};
 
   // Direct instantiation
@@ -308,7 +308,7 @@ TEST(TestParameter, double_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, string_variant) {
+TEST_F(TestParameter, string_variant) {
   const std::string TEST_VALUE {"ROS2"};
 
   // Direct instantiation
@@ -354,7 +354,7 @@ TEST(TestParameter, string_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, byte_array_variant) {
+TEST_F(TestParameter, byte_array_variant) {
   const std::vector<uint8_t> TEST_VALUE {0x52, 0x4f, 0x53, 0x32};
 
   // Direct instantiation
@@ -402,7 +402,7 @@ TEST(TestParameter, byte_array_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, bool_array_variant) {
+TEST_F(TestParameter, bool_array_variant) {
   const std::vector<bool> TEST_VALUE {false, true, true, false, false, true};
 
   // Direct instantiation
@@ -450,7 +450,7 @@ TEST(TestParameter, bool_array_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, integer_array_variant) {
+TEST_F(TestParameter, integer_array_variant) {
   const std::vector<int> TEST_VALUE
   {42, -99, std::numeric_limits<int>::max(), std::numeric_limits<int>::lowest(), 0};
 
@@ -529,7 +529,7 @@ TEST(TestParameter, integer_array_variant) {
     rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);
 }
 
-TEST(TestParameter, long_integer_array_variant) {
+TEST_F(TestParameter, long_integer_array_variant) {
   const std::vector<int64_t> TEST_VALUE
   {42, -99, std::numeric_limits<int64_t>::max(), std::numeric_limits<int64_t>::lowest(), 0};
 
@@ -583,7 +583,7 @@ TEST(TestParameter, long_integer_array_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, float_array_variant) {
+TEST_F(TestParameter, float_array_variant) {
   const std::vector<float> TEST_VALUE
   {42.1f, -99.1f, std::numeric_limits<float>::max(), std::numeric_limits<float>::lowest(), 0.1f};
 
@@ -662,7 +662,7 @@ TEST(TestParameter, float_array_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, double_array_variant) {
+TEST_F(TestParameter, double_array_variant) {
   const std::vector<double> TEST_VALUE
   {42.1, -99.1, std::numeric_limits<double>::max(), std::numeric_limits<double>::lowest(), 0.1};
 
@@ -716,7 +716,7 @@ TEST(TestParameter, double_array_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, string_array_variant) {
+TEST_F(TestParameter, string_array_variant) {
   const std::vector<std::string> TEST_VALUE {"R", "O", "S2"};
 
   // Direct instantiation

rclcpp/test/rclcpp/test_publisher_subscription_count_api.cpp

@@ -0,0 +1,249 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <iostream>
+#include <memory>
+#include <string>
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "test_msgs/msg/empty.hpp"
+
+namespace
+{
+
+
+template<typename ... Ts>
+class NodeCreationPolicy
+{
+public:
+  rclcpp::NodeOptions & node_options()
+  {
+    return options_;
+  }
+
+private:
+  rclcpp::NodeOptions options_;
+};
+
+template<typename T, typename ... Ts>
+class NodeCreationPolicy<T, Ts...>
+{
+public:
+  NodeCreationPolicy()
+  {
+    gather<T, Ts...>(options_);
+  }
+
+  rclcpp::NodeOptions & node_options()
+  {
+    return options_;
+  }
+
+private:
+  template<typename U>
+  static rclcpp::NodeOptions &
+  gather(rclcpp::NodeOptions & options)
+  {
+    return U::gather(options);
+  }
+
+  template<typename U, typename V, typename ... Ws>
+  static rclcpp::NodeOptions &
+  gather(rclcpp::NodeOptions & options)
+  {
+    return gather<V, Ws...>(U::gather(options));
+  }
+
+  rclcpp::NodeOptions options_;
+};
+
+template<bool value>
+struct ShouldUseIntraprocess
+{
+  static rclcpp::NodeOptions & gather(rclcpp::NodeOptions & options)
+  {
+    return options.use_intra_process_comms(value);
+  }
+};
+
+using UseIntraprocess = ShouldUseIntraprocess<true>;
+using DoNotUseIntraprocess = ShouldUseIntraprocess<false>;
+
+struct UseCustomContext
+{
+  static rclcpp::NodeOptions & gather(rclcpp::NodeOptions & options)
+  {
+    auto context = rclcpp::Context::make_shared();
+    context->init(0, nullptr);
+    return options.context(context);
+  }
+};
+
+struct PrintTestDescription
+{
+  template<typename T>
+  static std::string GetName(int i)
+  {
+    static_cast<void>(i);
+    return T::description;
+  }
+};
+
+}  // namespace
+
+
+template<typename TestDescription>
+class TestPublisherSubscriptionCount : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+protected:
+  static void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
+  {
+    (void)msg;
+  }
+
+  std::chrono::milliseconds offset{2000};
+};
+
+/* Testing publisher subscription count api and internal process subscription count.
+ * Two subscriptions in the same topic, both using intraprocess comm.
+ */
+struct TwoSubscriptionsIntraprocessComm
+{
+  static constexpr const char * description =
+    "two_subscriptions_intraprocess_comm";
+  using FirstNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
+  using SecondNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
+
+  static constexpr bool first_node_talks_intraprocess{true};
+  static constexpr bool both_nodes_talk_intraprocess{true};
+};
+
+/* Testing publisher subscription count api and internal process subscription count.
+ * Two subscriptions, one using intra-process comm and the other not using it.
+ */
+struct TwoSubscriptionsOneIntraprocessOneNot
+{
+  static constexpr const char * description =
+    "two_subscriptions_one_intraprocess_one_not";
+  using FirstNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
+  using SecondNodeCreationPolicy = NodeCreationPolicy<>;
+
+  static constexpr bool first_node_talks_intraprocess{true};
+  static constexpr bool both_nodes_talk_intraprocess{false};
+};
+
+/* Testing publisher subscription count api and internal process subscription count.
+ * Two contexts, both using intra-process.
+ */
+struct TwoSubscriptionsInTwoContextsWithIntraprocessComm
+{
+  static constexpr const char * description =
+    "two_subscriptions_in_two_contexts_with_intraprocess_comm";
+  using FirstNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
+  using SecondNodeCreationPolicy = NodeCreationPolicy<UseCustomContext, UseIntraprocess>;
+
+  static constexpr bool first_node_talks_intraprocess{true};
+  static constexpr bool both_nodes_talk_intraprocess{false};
+};
+
+/* Testing publisher subscription count api and internal process subscription count.
+ * Two contexts, both of them not using intra-process comm.
+ */
+struct TwoSubscriptionsInTwoContextsWithoutIntraprocessComm
+{
+  static constexpr const char * description =
+    "two_subscriptions_in_two_contexts_without_intraprocess_comm";
+  using FirstNodeCreationPolicy = NodeCreationPolicy<>;
+  using SecondNodeCreationPolicy = NodeCreationPolicy<UseCustomContext>;
+
+  static constexpr bool first_node_talks_intraprocess{false};
+  static constexpr bool both_nodes_talk_intraprocess{false};
+};
+
+using AllTestDescriptions = ::testing::Types<
+  TwoSubscriptionsIntraprocessComm,
+  TwoSubscriptionsOneIntraprocessOneNot,
+  TwoSubscriptionsInTwoContextsWithIntraprocessComm,
+  TwoSubscriptionsInTwoContextsWithoutIntraprocessComm
+>;
+TYPED_TEST_CASE(TestPublisherSubscriptionCount, AllTestDescriptions, PrintTestDescription);
+
+
+using test_msgs::msg::Empty;
+
+TYPED_TEST(TestPublisherSubscriptionCount, increasing_and_decreasing_counts)
+{
+  using TestDescription = TypeParam;
+  typename TestDescription::FirstNodeCreationPolicy my_node_creation_policy;
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>(
+    "my_node",
+    "/ns",
+    my_node_creation_policy.node_options());
+  auto publisher = node->create_publisher<Empty>("/topic", 10);
+
+  EXPECT_EQ(publisher->get_subscription_count(), 0u);
+  EXPECT_EQ(publisher->get_intra_process_subscription_count(), 0u);
+  {
+    auto sub = node->create_subscription<Empty>(
+      "/topic", 10, &TestPublisherSubscriptionCount<TestDescription>::OnMessage);
+    rclcpp::sleep_for(this->offset);
+    EXPECT_EQ(publisher->get_subscription_count(), 1u);
+    EXPECT_EQ(
+      publisher->get_intra_process_subscription_count(),
+      (TestDescription::first_node_talks_intraprocess ? 1u : 0u));
+    {
+      typename TestDescription::SecondNodeCreationPolicy another_node_creation_policy;
+      rclcpp::Node::SharedPtr another_node = std::make_shared<rclcpp::Node>(
+        "another_node",
+        "/ns",
+        another_node_creation_policy.node_options());
+      auto another_sub = another_node->create_subscription<Empty>(
+        "/topic", 10, &TestPublisherSubscriptionCount<TestDescription>::OnMessage);
+
+      rclcpp::sleep_for(this->offset);
+      EXPECT_EQ(publisher->get_subscription_count(), 2u);
+      EXPECT_EQ(
+        publisher->get_intra_process_subscription_count(),
+        (TestDescription::first_node_talks_intraprocess ? 1u : 0u) +
+        (TestDescription::both_nodes_talk_intraprocess ? 1u : 0u));
+    }
+    rclcpp::sleep_for(this->offset);
+    EXPECT_EQ(publisher->get_subscription_count(), 1u);
+    EXPECT_EQ(
+      publisher->get_intra_process_subscription_count(),
+      (TestDescription::first_node_talks_intraprocess ? 1u : 0u));
+  }
+  /**
+    * Counts should be zero here, as all are subscriptions are out of scope.
+    * Subscriptions count checking is always preceeded with an sleep, as random failures had been
+    * detected without it. */
+  rclcpp::sleep_for(this->offset);
+  EXPECT_EQ(publisher->get_subscription_count(), 0u);
+  EXPECT_EQ(publisher->get_intra_process_subscription_count(), 0u);
+}

rclcpp/test/rclcpp/test_subscription_publisher_count_api.cpp

@@ -0,0 +1,166 @@
+// Copyright 2019-2020 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 <iostream>
+#include <string>
+#include <memory>
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "test_msgs/msg/empty.hpp"
+
+namespace
+{
+
+template<typename ... Ts>
+class NodeCreationPolicy
+{
+public:
+  rclcpp::NodeOptions & node_options()
+  {
+    return options_;
+  }
+
+private:
+  rclcpp::NodeOptions options_;
+};
+
+template<typename T, typename ... Ts>
+class NodeCreationPolicy<T, Ts...>
+{
+public:
+  NodeCreationPolicy()
+  {
+    gather<T, Ts...>(options_);
+  }
+
+  rclcpp::NodeOptions & node_options()
+  {
+    return options_;
+  }
+
+private:
+  template<typename U>
+  static rclcpp::NodeOptions &
+  gather(rclcpp::NodeOptions & options)
+  {
+    return U::gather(options);
+  }
+
+  template<typename U, typename V, typename ... Ws>
+  static rclcpp::NodeOptions &
+  gather(rclcpp::NodeOptions & options)
+  {
+    return gather<V, Ws...>(U::gather(options));
+  }
+
+  rclcpp::NodeOptions options_;
+};
+
+struct UseCustomContext
+{
+  static rclcpp::NodeOptions & gather(rclcpp::NodeOptions & options)
+  {
+    auto context = rclcpp::Context::make_shared();
+    context->init(0, nullptr);
+    return options.context(context);
+  }
+};
+
+struct PrintTestDescription
+{
+  template<typename T>
+  static std::string GetName(int i)
+  {
+    static_cast<void>(i);
+    return T::description;
+  }
+};
+
+}  // namespace
+
+
+template<typename TestDescription>
+class TestSubscriptionPublisherCount : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+protected:
+  static void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
+  {
+    (void)msg;
+  }
+
+  std::chrono::milliseconds offset{2000};
+};
+
+struct OneContextPerTest
+{
+  static constexpr const char * description = "one_context_test";
+  using NodeCreationPolicy = ::NodeCreationPolicy<>;
+};
+
+struct TwoContextsPerTest
+{
+  static constexpr const char * description = "two_contexts_test";
+  using NodeCreationPolicy = ::NodeCreationPolicy<UseCustomContext>;
+};
+
+using AllTestDescriptions = ::testing::Types<OneContextPerTest, TwoContextsPerTest>;
+TYPED_TEST_CASE(TestSubscriptionPublisherCount, AllTestDescriptions, PrintTestDescription);
+
+
+using test_msgs::msg::Empty;
+
+TYPED_TEST(TestSubscriptionPublisherCount, increasing_and_decreasing_counts)
+{
+  using TestDescription = TypeParam;
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+  auto subscription = node->create_subscription<Empty>(
+    "/topic", 10, &TestSubscriptionPublisherCount<TestDescription>::OnMessage);
+
+  EXPECT_EQ(subscription->get_publisher_count(), 0u);
+  {
+    auto pub = node->create_publisher<Empty>("/topic", 10);
+    rclcpp::sleep_for(this->offset);
+    EXPECT_EQ(subscription->get_publisher_count(), 1u);
+    {
+      typename TestDescription::NodeCreationPolicy node_creation_policy;
+      rclcpp::Node::SharedPtr another_node = std::make_shared<rclcpp::Node>(
+        "another_node",
+        "/ns",
+        node_creation_policy.node_options());
+      auto another_pub =
+        another_node->create_publisher<Empty>("/topic", 10);
+
+      rclcpp::sleep_for(this->offset);
+      EXPECT_EQ(subscription->get_publisher_count(), 2u);
+    }
+    rclcpp::sleep_for(this->offset);
+    EXPECT_EQ(subscription->get_publisher_count(), 1u);
+  }
+  rclcpp::sleep_for(this->offset);
+  EXPECT_EQ(subscription->get_publisher_count(), 0u);
+}

rclcpp/test/rclcpp/test_time.cpp

@@ -45,7 +45,7 @@ protected:
   }
 };
 
-TEST(TestTime, clock_type_access) {
+TEST_F(TestTime, clock_type_access) {
   rclcpp::Clock ros_clock(RCL_ROS_TIME);
   EXPECT_EQ(RCL_ROS_TIME, ros_clock.get_clock_type());
 
@@ -57,7 +57,7 @@ TEST(TestTime, clock_type_access) {
 }
 
 // Check that the clock may go out of the scope before the jump callback without leading in UB.
-TEST(TestTime, clock_jump_callback_destruction_order) {
+TEST_F(TestTime, clock_jump_callback_destruction_order) {
   rclcpp::JumpHandler::SharedPtr handler;
   {
     rclcpp::Clock ros_clock(RCL_ROS_TIME);
@@ -68,7 +68,7 @@ TEST(TestTime, clock_jump_callback_destruction_order) {
   }
 }
 
-TEST(TestTime, time_sources) {
+TEST_F(TestTime, time_sources) {
   using builtin_interfaces::msg::Time;
   rclcpp::Clock ros_clock(RCL_ROS_TIME);
   Time ros_now = ros_clock.now();
@@ -86,44 +86,124 @@ TEST(TestTime, time_sources) {
   EXPECT_NE(0u, steady_now.nanosec);
 }
 
-TEST(TestTime, conversions) {
+static const int64_t HALF_SEC_IN_NS = 500 * 1000 * 1000;
+static const int64_t ONE_SEC_IN_NS = 1000 * 1000 * 1000;
+static const int64_t ONE_AND_HALF_SEC_IN_NS = 3 * HALF_SEC_IN_NS;
+
+TEST_F(TestTime, conversions) {
   rclcpp::Clock system_clock(RCL_SYSTEM_TIME);
 
-  rclcpp::Time now = system_clock.now();
-  builtin_interfaces::msg::Time now_msg = now;
-
-  rclcpp::Time now_again = now_msg;
-  EXPECT_EQ(now.nanoseconds(), now_again.nanoseconds());
-
-  builtin_interfaces::msg::Time msg;
-  msg.sec = 12345;
-  msg.nanosec = 67890;
-
-  rclcpp::Time time = msg;
-  EXPECT_EQ(
-    RCL_S_TO_NS(static_cast<int64_t>(msg.sec)) + static_cast<int64_t>(msg.nanosec),
-    time.nanoseconds());
-  EXPECT_EQ(static_cast<int64_t>(msg.sec), RCL_NS_TO_S(time.nanoseconds()));
-
-  builtin_interfaces::msg::Time negative_time_msg;
-  negative_time_msg.sec = -1;
-  negative_time_msg.nanosec = 1;
-
-  EXPECT_ANY_THROW(
   {
-    rclcpp::Time negative_time = negative_time_msg;
-  });
+    rclcpp::Time now = system_clock.now();
+    builtin_interfaces::msg::Time now_msg = now;
 
-  EXPECT_ANY_THROW(rclcpp::Time(-1, 1));
+    rclcpp::Time now_again = now_msg;
+    EXPECT_EQ(now.nanoseconds(), now_again.nanoseconds());
+  }
 
-  EXPECT_ANY_THROW(
   {
-    rclcpp::Time assignment(1, 2);
-    assignment = negative_time_msg;
-  });
+    rclcpp::Time positive_time = rclcpp::Time(12345, 67890u);
+
+    builtin_interfaces::msg::Time msg = positive_time;
+    EXPECT_EQ(msg.sec, 12345);
+    EXPECT_EQ(msg.nanosec, 67890u);
+
+    rclcpp::Time time = msg;
+    EXPECT_EQ(time.nanoseconds(), positive_time.nanoseconds());
+    EXPECT_EQ(
+      RCL_S_TO_NS(static_cast<int64_t>(msg.sec)) + static_cast<int64_t>(msg.nanosec),
+      time.nanoseconds());
+    EXPECT_EQ(static_cast<int64_t>(msg.sec), RCL_NS_TO_S(time.nanoseconds()));
+  }
+
+  // throw on construction/assignment of negative times
+  {
+    builtin_interfaces::msg::Time negative_time_msg;
+    negative_time_msg.sec = -1;
+    negative_time_msg.nanosec = 1;
+
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time = negative_time_msg;
+    });
+
+    EXPECT_ANY_THROW(rclcpp::Time(-1, 1));
+
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time assignment(1, 2);
+      assignment = negative_time_msg;
+    });
+  }
+
+  {
+    const rclcpp::Time time(HALF_SEC_IN_NS);
+    const auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, 0);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), HALF_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Time time(ONE_SEC_IN_NS);
+    const auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, 1);
+    EXPECT_EQ(time_msg.nanosec, 0u);
+    EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), ONE_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Time time(ONE_AND_HALF_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, 1);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), ONE_AND_HALF_SEC_IN_NS);
+  }
+
+  {
+    // Can rclcpp::Time be negative or not? The following constructor works:
+    rclcpp::Time time(-HALF_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, -1);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+
+    // The opposite conversion throws...
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time(time_msg);
+    });
+  }
+
+  {
+    // Can rclcpp::Time be negative or not? The following constructor works:
+    rclcpp::Time time(-ONE_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, -1);
+    EXPECT_EQ(time_msg.nanosec, 0u);
+
+    // The opposite conversion throws...
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time(time_msg);
+    });
+  }
+
+  {
+    // Can rclcpp::Time be negative or not? The following constructor works:
+    rclcpp::Time time(-ONE_AND_HALF_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, -2);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+
+    // The opposite conversion throws...
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time(time_msg);
+    });
+  }
 }
 
-TEST(TestTime, operators) {
+TEST_F(TestTime, operators) {
   rclcpp::Time old(1, 0);
   rclcpp::Time young(2, 0);
 
@@ -178,7 +258,7 @@ TEST(TestTime, operators) {
   }
 }
 
-TEST(TestTime, overflow_detectors) {
+TEST_F(TestTime, overflow_detectors) {
   /////////////////////////////////////////////////////////////////////////////
   // Test logical_eq call first:
   EXPECT_TRUE(logical_eq(false, false));
@@ -198,8 +278,8 @@ TEST(TestTime, overflow_detectors) {
   // 256 * 256 = 64K total loops, should be pretty fast on everything
   for (big_type_t y = min_val; y <= max_val; ++y) {
     for (big_type_t x = min_val; x <= max_val; ++x) {
-      const big_type_t sum = x + y;
-      const big_type_t diff = x - y;
+      const big_type_t sum = static_cast<big_type_t>(x + y);
+      const big_type_t diff = static_cast<big_type_t>(x - y);
 
       const bool add_will_overflow =
         rclcpp::add_will_overflow(test_type_t(x), test_type_t(y));
@@ -235,7 +315,7 @@ TEST(TestTime, overflow_detectors) {
   EXPECT_TRUE(rclcpp::sub_will_underflow<int64_t>(INT64_MIN, 1));
 }
 
-TEST(TestTime, overflows) {
+TEST_F(TestTime, overflows) {
   rclcpp::Time max_time(std::numeric_limits<rcl_time_point_value_t>::max());
   rclcpp::Time min_time(std::numeric_limits<rcl_time_point_value_t>::min());
   rclcpp::Duration one(1);
@@ -267,7 +347,7 @@ TEST(TestTime, overflows) {
   EXPECT_NO_THROW(one_time - two_time);
 }
 
-TEST(TestTime, seconds) {
+TEST_F(TestTime, seconds) {
   EXPECT_DOUBLE_EQ(0.0, rclcpp::Time(0, 0).seconds());
   EXPECT_DOUBLE_EQ(4.5, rclcpp::Time(4, 500000000).seconds());
   EXPECT_DOUBLE_EQ(2.5, rclcpp::Time(0, 2500000000).seconds());

rclcpp/test/rclcpp/test_timer.cpp

@@ -18,6 +18,7 @@
 #include <chrono>
 #include <exception>
 #include <memory>
+#include <utility>
 
 #include "rcl/timer.h"
 
@@ -151,3 +152,42 @@ TEST_F(TestTimer, test_run_cancel_timer)
   EXPECT_TRUE(has_timer_run.load());
   EXPECT_TRUE(timer->is_canceled());
 }
+
+TEST_F(TestTimer, test_bad_arguments) {
+  auto node_base = rclcpp::node_interfaces::get_node_base_interface(test_node);
+  auto context = node_base->get_context();
+
+  auto steady_clock = std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME);
+
+  // Negative period
+  EXPECT_THROW(
+    rclcpp::GenericTimer<void (*)()>(steady_clock, -1ms, []() {}, context),
+    rclcpp::exceptions::RCLInvalidArgument);
+
+  // Very negative period
+  constexpr auto nanoseconds_min = std::chrono::nanoseconds::min();
+  EXPECT_THROW(
+    rclcpp::GenericTimer<void (*)()>(
+      steady_clock, nanoseconds_min, []() {}, context),
+    rclcpp::exceptions::RCLInvalidArgument);
+
+  // nanoseconds max, should be ok
+  constexpr auto nanoseconds_max = std::chrono::nanoseconds::max();
+  EXPECT_NO_THROW(
+    rclcpp::GenericTimer<void (*)()>(
+      steady_clock, nanoseconds_max, []() {}, context));
+
+  // 0 duration period, should be ok
+  EXPECT_NO_THROW(
+    rclcpp::GenericTimer<void (*)()>(steady_clock, 0ms, []() {}, context));
+
+  // context is null, which resorts to default
+  EXPECT_NO_THROW(
+    rclcpp::GenericTimer<void (*)()>(steady_clock, 1ms, []() {}, nullptr));
+
+  // Clock is unitialized
+  auto unitialized_clock = std::make_shared<rclcpp::Clock>(RCL_CLOCK_UNINITIALIZED);
+  EXPECT_THROW(
+    rclcpp::GenericTimer<void (*)()>(unitialized_clock, 1us, []() {}, context),
+    rclcpp::exceptions::RCLError);
+}