21.0.8

Signed-off-by: Yadunund <yadunund@gmail.com>

rclcpp/CHANGELOG.rst

@@ -2,66 +2,56 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-22.2.0 (2023-09-07)
+21.0.8 (2024-11-08)
 -------------------
-* Topic correct typeadapter deduction (`#2294 <https://github.com/ros2/rclcpp/issues/2294>`_)
-* Fix C++20 allocator construct deprecation (`#2292 <https://github.com/ros2/rclcpp/issues/2292>`_)
-* Make Rate to select the clock to work with (`#2123 <https://github.com/ros2/rclcpp/issues/2123>`_)
-* Correct the position of a comment. (`#2290 <https://github.com/ros2/rclcpp/issues/2290>`_)
-* Remove unnecessary lambda captures in the tests. (`#2289 <https://github.com/ros2/rclcpp/issues/2289>`_)
-* Add rcl_logging_interface as an explicit dependency. (`#2284 <https://github.com/ros2/rclcpp/issues/2284>`_)
-* Revamp list_parameters to be more efficient and easier to read. (`#2282 <https://github.com/ros2/rclcpp/issues/2282>`_)
-* Contributors: AiVerisimilitude, Alexey Merzlyakov, Chen Lihui, Chris Lalancette, Jiaqi Li
+* associated clocks should be protected by mutex. (`#2258 <https://github.com/ros2/rclcpp/issues/2258>`_)
+* Skip client_qos test (`#2658 <https://github.com/ros2/rclcpp/issues/2658>`_)
+* Use the same context for the specified node in rclcpp::spin functions. (`#2618 <https://github.com/ros2/rclcpp/issues/2618>`_)
+* Contributors: Cristóbal Arroyo, Tomoya Fujita
 
-22.1.0 (2023-08-21)
+21.0.7 (2024-07-10)
 -------------------
-* Do not crash Executor when send_response fails due to client failure. (`#2276 <https://github.com/ros2/rclcpp/issues/2276>`_)
-* Adding Custom Unknown Type Error (`#2272 <https://github.com/ros2/rclcpp/issues/2272>`_)
-* Add a pimpl inside rclcpp::Node for future distro backports (`#2228 <https://github.com/ros2/rclcpp/issues/2228>`_)
-* Remove an unused variable from the events executor tests. (`#2270 <https://github.com/ros2/rclcpp/issues/2270>`_)
-* Add spin_all shortcut (`#2246 <https://github.com/ros2/rclcpp/issues/2246>`_)
-* Adding Missing Group Exceptions (`#2256 <https://github.com/ros2/rclcpp/issues/2256>`_)
-* Change associated clocks storage to unordered_set (`#2257 <https://github.com/ros2/rclcpp/issues/2257>`_)
-* associated clocks should be protected by mutex. (`#2255 <https://github.com/ros2/rclcpp/issues/2255>`_)
-* Instrument loaned message publication code path (`#2240 <https://github.com/ros2/rclcpp/issues/2240>`_)
-* Contributors: Chris Lalancette, Christophe Bedard, Emerson Knapp, Luca Della Vedova, Lucas Wendland, Tomoya Fujita, Tony Najjar
+* Add test creating two content filter topics with the same topic name (`#2550 <https://github.com/ros2/rclcpp/issues/2550>`_)
+* Revise the description of service configure_introspection() (`#2514 <https://github.com/ros2/rclcpp/issues/2514>`_)
+* Contributors: Alejandro Hernández Cordero, Barry Xu
 
-22.0.0 (2023-07-11)
+21.0.6 (2024-04-19)
 -------------------
-* Implement get_node_type_descriptions_interface for lifecyclenode and add smoke test for it (`#2237 <https://github.com/ros2/rclcpp/issues/2237>`_)
-* Add new node interface TypeDescriptionsInterface to provide GetTypeDescription service (`#2224 <https://github.com/ros2/rclcpp/issues/2224>`_)
-* Move always_false_v to detail namespace (`#2232 <https://github.com/ros2/rclcpp/issues/2232>`_)
-* Revamp the test_subscription.cpp tests. (`#2227 <https://github.com/ros2/rclcpp/issues/2227>`_)
-* warning: comparison of integer expressions of different signedness (`#2219 <https://github.com/ros2/rclcpp/issues/2219>`_)
-* Modifies timers API to select autostart state (`#2005 <https://github.com/ros2/rclcpp/issues/2005>`_)
-* Enable callback group tests for connextdds (`#2182 <https://github.com/ros2/rclcpp/issues/2182>`_)
-* Contributors: Chris Lalancette, Christopher Wecht, Eloy Briceno, Emerson Knapp, Nathan Wiebe Neufeldt, Tomoya Fujita
+* address ambiguous auto variable. (`#2486 <https://github.com/ros2/rclcpp/issues/2486>`_)
+* Contributors: Tomoya Fujita
 
-21.3.0 (2023-06-12)
+21.0.5 (2024-02-07)
 -------------------
-* Fix up misspellings of "receive". (`#2208 <https://github.com/ros2/rclcpp/issues/2208>`_)
-* Remove flaky stressAddRemoveNode test (`#2206 <https://github.com/ros2/rclcpp/issues/2206>`_)
-* Use TRACETOOLS\_ prefix for tracepoint-related macros (`#2162 <https://github.com/ros2/rclcpp/issues/2162>`_)
-* Contributors: Chris Lalancette, Christophe Bedard, Michael Carroll
+* Fix data race in EventHandlerBase (`#2387 <https://github.com/ros2/rclcpp/issues/2387>`_)
+* Contributors: mauropasse
 
-21.2.0 (2023-06-07)
+21.0.4 (2023-11-17)
 -------------------
-* remove nolint since ament_cpplint updated for the c++17 header (`#2198 <https://github.com/ros2/rclcpp/issues/2198>`_)
-* Feature/available capacity of ipm (`#2173 <https://github.com/ros2/rclcpp/issues/2173>`_)
-* add mutex to protect events_executor current entity collection (`#2187 <https://github.com/ros2/rclcpp/issues/2187>`_)
-* Declare rclcpp callbacks before the rcl entities (`#2024 <https://github.com/ros2/rclcpp/issues/2024>`_)
-* Contributors: Alberto Soragna, Chen Lihui, DensoADAS, mauropasse
+* Disable the loaned messages inside the executor. (`#2365 <https://github.com/ros2/rclcpp/issues/2365>`_)
+* Add missing 'enable_rosout' comments (`#2346 <https://github.com/ros2/rclcpp/issues/2346>`_)
+* Address rate related flaky tests. (`#2341 <https://github.com/ros2/rclcpp/issues/2341>`_)
+* Add missing stdexcept include (`#2333 <https://github.com/ros2/rclcpp/issues/2333>`_)
+* Update SignalHandler get_global_signal_handler to avoid complex types in static memory (`#2322 <https://github.com/ros2/rclcpp/issues/2322>`_)
+* Fix C++20 allocator construct deprecation (`#2318 <https://github.com/ros2/rclcpp/issues/2318>`_)
+* Topic correct typeadapter deduction (`#2298 <https://github.com/ros2/rclcpp/issues/2298>`_)
+* Contributors: AiVerisimilitude, Chen Lihui, Chris Lalancette, Jiaqi Li, Øystein Sture, Tomoya Fujita, William Woodall
 
-21.1.1 (2023-05-11)
+21.0.3 (2023-09-08)
 -------------------
-* Fix race condition in events-executor (`#2177 <https://github.com/ros2/rclcpp/issues/2177>`_)
-* Add missing stdexcept include (`#2186 <https://github.com/ros2/rclcpp/issues/2186>`_)
-* Fix a format-security warning when building with clang (`#2171 <https://github.com/ros2/rclcpp/issues/2171>`_)
-* Fix delivered message kind (`#2175 <https://github.com/ros2/rclcpp/issues/2175>`_)
-* Contributors: Alberto Soragna, Chris Lalancette, methylDragon, Øystein Sture
+* Do not crash Executor when send_response fails due to client failure. (`#2279 <https://github.com/ros2/rclcpp/issues/2279>`_)
+* Add new node interface TypeDescriptionsInterface to provide GetTypeDescription service (`#2236 <https://github.com/ros2/rclcpp/issues/2236>`_)
+* Contributors: Emerson Knapp, Tomoya Fujita, Zang MingJie
 
-21.1.0 (2023-04-27)
+21.0.2 (2023-07-14)
 -------------------
+* Fix warnings related to comparison of integer expressions of different signedness (`#2222 <https://github.com/ros2/rclcpp/issues/2222>`_)
+* Fix race condition in events-executor (`#2191 <https://github.com/ros2/rclcpp/issues/2191>`_)
+* Contributors: Alberto Soragna, Tomoya Fujita
+
+21.0.1 (2023-05-11)
+-------------------
+* Fix delivered message kind (`#2175 <https://github.com/ros2/rclcpp/issues/2175>`_) (`#2178 <https://github.com/ros2/rclcpp/issues/2178>`_)
+* Contributors: mergify[bot]
 
 21.0.0 (2023-04-18)
 -------------------

rclcpp/CMakeLists.txt

@@ -10,7 +10,6 @@ find_package(builtin_interfaces REQUIRED)
 find_package(libstatistics_collector REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
-find_package(rcl_logging_interface REQUIRED)
 find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
@@ -107,7 +106,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/qos.cpp
   src/rclcpp/event_handler.cpp
   src/rclcpp/qos_overriding_options.cpp
-  src/rclcpp/rate.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp
@@ -209,7 +207,6 @@ ament_target_dependencies(${PROJECT_NAME}
   "libstatistics_collector"
   "rcl"
   "rcl_interfaces"
-  "rcl_logging_interface"
   "rcl_yaml_param_parser"
   "rcpputils"
   "rcutils"

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -156,7 +156,7 @@ public:
     const std::shared_ptr<rmw_request_id_t> & request_header,
     std::shared_ptr<typename ServiceT::Request> request)
   {
-    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
     if (std::holds_alternative<std::monostate>(callback_)) {
       // TODO(ivanpauno): Remove the set method, and force the users of this class
       // to pass a callback at construnciton.
@@ -182,7 +182,7 @@ public:
       const auto & cb = std::get<SharedPtrWithRequestHeaderCallback>(callback_);
       cb(request_header, std::move(request), response);
     }
-    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
     return response;
   }
 
@@ -191,9 +191,9 @@ public:
 #ifndef TRACETOOLS_DISABLED
     std::visit(
       [this](auto && arg) {
-        if (TRACETOOLS_TRACEPOINT_ENABLED(rclcpp_callback_register)) {
+        if (TRACEPOINT_ENABLED(rclcpp_callback_register)) {
           char * symbol = tracetools::get_symbol(arg);
-          TRACETOOLS_DO_TRACEPOINT(
+          DO_TRACEPOINT(
             rclcpp_callback_register,
             static_cast<const void *>(this),
             symbol);

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -20,7 +20,7 @@
 #include <stdexcept>
 #include <type_traits>
 #include <utility>
-#include <variant>
+#include <variant>  // NOLINT[build/include_order]
 
 #include "rosidl_runtime_cpp/traits.hpp"
 #include "tracetools/tracetools.h"
@@ -34,15 +34,15 @@
 #include "rclcpp/type_adapter.hpp"
 
 
+template<class>
+inline constexpr bool always_false_v = false;
+
 namespace rclcpp
 {
 
 namespace detail
 {
 
-template<class>
-inline constexpr bool always_false_v = false;
-
 template<typename MessageT, typename AllocatorT>
 struct MessageDeleterHelper
 {
@@ -492,7 +492,7 @@ public:
     std::shared_ptr<ROSMessageType> message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -580,10 +580,10 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(detail::always_false_v<T>, "unhandled callback type");
+          static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   // Dispatch when input is a serialized message and the output could be anything.
@@ -592,7 +592,7 @@ public:
     std::shared_ptr<rclcpp::SerializedMessage> serialized_message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -660,10 +660,10 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(detail::always_false_v<T>, "unhandled callback type");
+          static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   void
@@ -671,7 +671,7 @@ public:
     std::shared_ptr<const SubscribedType> message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -790,10 +790,10 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(detail::always_false_v<T>, "unhandled callback type");
+          static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   void
@@ -801,7 +801,7 @@ public:
     std::unique_ptr<SubscribedType, SubscribedTypeDeleter> message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -924,10 +924,10 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(detail::always_false_v<T>, "unhandled callback type");
+          static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   constexpr
@@ -965,9 +965,9 @@ public:
 #ifndef TRACETOOLS_DISABLED
     std::visit(
       [this](auto && callback) {
-        if (TRACETOOLS_TRACEPOINT_ENABLED(rclcpp_callback_register)) {
+        if (TRACEPOINT_ENABLED(rclcpp_callback_register)) {
           char * symbol = tracetools::get_symbol(callback);
-          TRACETOOLS_DO_TRACEPOINT(
+          DO_TRACEPOINT(
             rclcpp_callback_register,
             static_cast<const void *>(this),
             symbol);

rclcpp/include/rclcpp/client.hpp

@@ -20,13 +20,13 @@
 #include <future>
 #include <memory>
 #include <mutex>
-#include <optional>
+#include <optional>  // NOLINT, cpplint doesn't think this is a cpp std header
 #include <sstream>
 #include <string>
 #include <tuple>
 #include <unordered_map>
 #include <utility>
-#include <variant>
+#include <variant>  // NOLINT
 #include <vector>
 
 #include "rcl/client.h"
@@ -363,16 +363,12 @@ protected:
   std::shared_ptr<rclcpp::Context> context_;
   rclcpp::Logger node_logger_;
 
-  std::recursive_mutex callback_mutex_;
-  // It is important to declare on_new_response_callback_ before
-  // client_handle_, so on destruction the client is
-  // destroyed first. Otherwise, the rmw client callback
-  // would point briefly to a destroyed function.
-  std::function<void(size_t)> on_new_response_callback_{nullptr};
-  // Declare client_handle_ after callback
   std::shared_ptr<rcl_client_t> client_handle_;
 
   std::atomic<bool> in_use_by_wait_set_{false};
+
+  std::recursive_mutex callback_mutex_;
+  std::function<void(size_t)> on_new_response_callback_{nullptr};
 };
 
 template<typename ServiceT>
@@ -849,7 +845,7 @@ protected:
         "Received invalid sequence number. Ignoring...");
       return std::nullopt;
     }
-    auto value = std::move(it->second.second);
+    std::optional<CallbackInfoVariant> value = std::move(it->second.second);
     this->pending_requests_.erase(request_number);
     return value;
   }

rclcpp/include/rclcpp/create_timer.hpp

@@ -90,8 +90,7 @@ create_timer(
   rclcpp::Clock::SharedPtr clock,
   rclcpp::Duration period,
   CallbackT && callback,
-  rclcpp::CallbackGroup::SharedPtr group = nullptr,
-  bool autostart = true)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
 {
   return create_timer(
     clock,
@@ -99,8 +98,7 @@ create_timer(
     std::forward<CallbackT>(callback),
     group,
     node_base.get(),
-    node_timers.get(),
-    autostart);
+    node_timers.get());
 }
 
 /// Create a timer with a given clock
@@ -111,8 +109,7 @@ create_timer(
   rclcpp::Clock::SharedPtr clock,
   rclcpp::Duration period,
   CallbackT && callback,
-  rclcpp::CallbackGroup::SharedPtr group = nullptr,
-  bool autostart = true)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
 {
   return create_timer(
     clock,
@@ -120,8 +117,7 @@ create_timer(
     std::forward<CallbackT>(callback),
     group,
     rclcpp::node_interfaces::get_node_base_interface(node).get(),
-    rclcpp::node_interfaces::get_node_timers_interface(node).get(),
-    autostart);
+    rclcpp::node_interfaces::get_node_timers_interface(node).get());
 }
 
 /// Convenience method to create a general timer with node resources.
@@ -136,7 +132,6 @@ create_timer(
  * \param group callback group
  * \param node_base node base interface
  * \param node_timers node timer interface
- * \param autostart defines if the timer should start it's countdown on initialization or not.
  * \return shared pointer to a generic timer
  * \throws std::invalid_argument if either clock, node_base or node_timers
  * are nullptr, or period is negative or too large
@@ -149,8 +144,7 @@ create_timer(
   CallbackT callback,
   rclcpp::CallbackGroup::SharedPtr group,
   node_interfaces::NodeBaseInterface * node_base,
-  node_interfaces::NodeTimersInterface * node_timers,
-  bool autostart = true)
+  node_interfaces::NodeTimersInterface * node_timers)
 {
   if (clock == nullptr) {
     throw std::invalid_argument{"clock cannot be null"};
@@ -166,7 +160,7 @@ create_timer(
 
   // Add a new generic timer.
   auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
-    std::move(clock), period_ns, std::move(callback), node_base->get_context(), autostart);
+    std::move(clock), period_ns, std::move(callback), node_base->get_context());
   node_timers->add_timer(timer, group);
   return timer;
 }
@@ -193,8 +187,7 @@ create_wall_timer(
   CallbackT callback,
   rclcpp::CallbackGroup::SharedPtr group,
   node_interfaces::NodeBaseInterface * node_base,
-  node_interfaces::NodeTimersInterface * node_timers,
-  bool autostart = true)
+  node_interfaces::NodeTimersInterface * node_timers)
 {
   if (node_base == nullptr) {
     throw std::invalid_argument{"input node_base cannot be null"};
@@ -208,7 +201,7 @@ create_wall_timer(
 
   // Add a new wall timer.
   auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
-    period_ns, std::move(callback), node_base->get_context(), autostart);
+    period_ns, std::move(callback), node_base->get_context());
   node_timers->add_timer(timer, group);
   return timer;
 }

rclcpp/include/rclcpp/event_handler.hpp

@@ -260,6 +260,16 @@ public:
     }
   }
 
+  ~EventHandler()
+  {
+    // Since the rmw event listener holds a reference to the
+    // "on ready" callback, we need to clear it on destruction of this class.
+    // This clearing is not needed for other rclcpp entities like pub/subs, since
+    // they do own the underlying rmw entities, which are destroyed
+    // on their rclcpp destructors, thus no risk of dangling pointers.
+    clear_on_ready_callback();
+  }
+
   /// Take data so that the callback cannot be scheduled again
   std::shared_ptr<void>
   take_data() override

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -206,14 +206,6 @@ public:
   const std::vector<std::string> unknown_ros_args;
 };
 
-/// Thrown when an unknown type is passed
-class UnknownTypeError : public std::runtime_error
-{
-public:
-  explicit UnknownTypeError(const std::string & type)
-  : std::runtime_error("Unknown type: " + type) {}
-};
-
 /// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
 class InvalidEventError : public std::runtime_error
 {
@@ -230,14 +222,6 @@ public:
   : std::runtime_error("event already registered") {}
 };
 
-/// Thrown when a callback group is missing from the node, when it wants to utilize the group.
-class MissingGroupNodeException : public std::runtime_error
-{
-public:
-  explicit MissingGroupNodeException(const std::string & obj_type)
-  : std::runtime_error("cannot create: " + obj_type + " , callback group not in node") {}
-};
-
 /// Thrown if passed parameters are inconsistent or invalid
 class InvalidParametersException : public std::runtime_error
 {

rclcpp/include/rclcpp/executor.hpp

@@ -297,21 +297,6 @@ public:
   virtual void
   spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
 
-  /// Add a node, complete all immediately available work exhaustively, and remove the node.
-  /**
-   * \param[in] node Shared pointer to the node to add.
-   */
-  RCLCPP_PUBLIC
-  void
-  spin_node_all(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
-    std::chrono::nanoseconds max_duration);
-
-  /// Convenience function which takes Node and forwards NodeBaseInterface.
-  RCLCPP_PUBLIC
-  void
-  spin_node_all(std::shared_ptr<rclcpp::Node> node, std::chrono::nanoseconds max_duration);
-
   /// 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

rclcpp/include/rclcpp/executors.hpp

@@ -29,18 +29,6 @@
 namespace rclcpp
 {
 
-/// Create a default single-threaded executor and execute all available work exhaustively.
-/** \param[in] node_ptr Shared pointer to the node to spin. */
-RCLCPP_PUBLIC
-void
-spin_all(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  std::chrono::nanoseconds max_duration);
-
-RCLCPP_PUBLIC
-void
-spin_all(rclcpp::Node::SharedPtr node_ptr, std::chrono::nanoseconds max_duration);
-
 /// Create a default single-threaded executor and execute any immediately available work.
 /** \param[in] node_ptr Shared pointer to the node to spin. */
 RCLCPP_PUBLIC
@@ -120,7 +108,9 @@ spin_until_future_complete(
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::ExecutorOptions options;
+  options.context = node_ptr->get_context();
+  rclcpp::executors::SingleThreadedExecutor executor(options);
   return executors::spin_node_until_future_complete<FutureT>(executor, node_ptr, future, timeout);
 }
 

rclcpp/include/rclcpp/experimental/buffers/buffer_implementation_base.hpp

@@ -33,7 +33,6 @@ public:
 
   virtual void clear() = 0;
   virtual bool has_data() const = 0;
-  virtual size_t available_capacity() const = 0;
 };
 
 }  // namespace buffers

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

@@ -44,7 +44,6 @@ public:
 
   virtual bool has_data() const = 0;
   virtual bool use_take_shared_method() const = 0;
-  virtual size_t available_capacity() const = 0;
 };
 
 template<
@@ -96,7 +95,7 @@ public:
 
     buffer_ = std::move(buffer_impl);
 
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_buffer_to_ipb,
       static_cast<const void *>(buffer_.get()),
       static_cast<const void *>(this));
@@ -144,11 +143,6 @@ public:
     return std::is_same<BufferT, MessageSharedPtr>::value;
   }
 
-  size_t available_capacity() const override
-  {
-    return buffer_->available_capacity();
-  }
-
 private:
   std::unique_ptr<BufferImplementationBase<BufferT>> buffer_;
 

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

@@ -52,10 +52,7 @@ public:
     if (capacity == 0) {
       throw std::invalid_argument("capacity must be a positive, non-zero value");
     }
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_construct_ring_buffer,
-      static_cast<const void *>(this),
-      capacity_);
+    TRACEPOINT(rclcpp_construct_ring_buffer, static_cast<const void *>(this), capacity_);
   }
 
   virtual ~RingBufferImplementation() {}
@@ -72,7 +69,7 @@ public:
 
     write_index_ = next_(write_index_);
     ring_buffer_[write_index_] = std::move(request);
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_ring_buffer_enqueue,
       static_cast<const void *>(this),
       write_index_,
@@ -101,7 +98,7 @@ public:
     }
 
     auto request = std::move(ring_buffer_[read_index_]);
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_ring_buffer_dequeue,
       static_cast<const void *>(this),
       read_index_,
@@ -151,21 +148,9 @@ public:
     return is_full_();
   }
 
-  /// Get the remaining capacity to store messages
-  /**
-   * This member function is thread-safe.
-   *
-   * \return the number of free capacity for new messages
-   */
-  size_t available_capacity() const
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return available_capacity_();
-  }
-
   void clear()
   {
-    TRACETOOLS_TRACEPOINT(rclcpp_ring_buffer_clear, static_cast<const void *>(this));
+    TRACEPOINT(rclcpp_ring_buffer_clear, static_cast<const void *>(this));
   }
 
 private:
@@ -204,17 +189,6 @@ private:
     return size_ == capacity_;
   }
 
-  /// Get the remaining capacity to store messages
-  /**
-   * This member function is not thread-safe.
-   *
-   * \return the number of free capacity for new messages
-   */
-  inline size_t available_capacity_() const
-  {
-    return capacity_ - size_;
-  }
-
   size_t capacity_;
 
   std::vector<BufferT> ring_buffer_;

rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor.hpp

@@ -274,11 +274,8 @@ private:
   rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue_;
 
   std::shared_ptr<rclcpp::executors::ExecutorEntitiesCollector> entities_collector_;
-  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> notify_waitable_;
-
-  /// Mutex to protect the current_entities_collection_
-  std::recursive_mutex collection_mutex_;
   std::shared_ptr<rclcpp::executors::ExecutorEntitiesCollection> current_entities_collection_;
+  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> notify_waitable_;
 
   /// Flag used to reduce the number of unnecessary waitable events
   std::atomic<bool> notify_waitable_event_pushed_ {false};

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -306,11 +306,6 @@ public:
   rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr
   get_subscription_intra_process(uint64_t intra_process_subscription_id);
 
-  /// Return the lowest available capacity for all subscription buffers for a publisher id.
-  RCLCPP_PUBLIC
-  size_t
-  lowest_available_capacity(const uint64_t intra_process_publisher_id) const;
-
 private:
   struct SplittedSubscriptions
   {

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -87,7 +87,7 @@ public:
       buffer_type),
     any_callback_(callback)
   {
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_subscription_callback_added,
       static_cast<const void *>(this),
       static_cast<const void *>(&any_callback_));

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

@@ -62,11 +62,6 @@ public:
   void
   add_to_wait_set(rcl_wait_set_t * wait_set) override;
 
-  RCLCPP_PUBLIC
-  virtual
-  size_t
-  available_capacity() const = 0;
-
   bool
   is_ready(rcl_wait_set_t * wait_set) override = 0;
 

rclcpp/include/rclcpp/experimental/subscription_intra_process_buffer.hpp

@@ -93,7 +93,7 @@ public:
       buffer_type,
       qos_profile,
       std::make_shared<Alloc>(subscribed_type_allocator_));
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_ipb_to_subscription,
       static_cast<const void *>(buffer_.get()),
       static_cast<const void *>(this));
@@ -169,11 +169,6 @@ public:
     return buffer_->use_take_shared_method();
   }
 
-  size_t available_capacity() const override
-  {
-    return buffer_->available_capacity();
-  }
-
 protected:
   void
   trigger_guard_condition() override

rclcpp/include/rclcpp/node.hpp

@@ -233,15 +233,13 @@ public:
    * \param[in] period Time interval between triggers of the callback.
    * \param[in] callback User-defined callback function.
    * \param[in] group Callback group to execute this timer's callback in.
-   * \param[in] autostart The state of the clock on initialization.
    */
   template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
   typename rclcpp::WallTimer<CallbackT>::SharedPtr
   create_wall_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr,
-    bool autostart = true);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Create a timer that uses the node clock to drive the callback.
   /**
@@ -1594,18 +1592,16 @@ private:
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
-  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
   const rclcpp::NodeOptions node_options_;
   const std::string sub_namespace_;
   const std::string effective_namespace_;
 
-  class NodeImpl;
-  // This member is meant to be a place to backport features into stable distributions,
-  // and new features targeting Rolling should not use this.
-  // See the comment in node.cpp for more information.
-  std::shared_ptr<NodeImpl> hidden_impl_{nullptr};
+  /// Static map(s) containing extra member variables for Node without changing its ABI.
+  // See node.cpp for more details.
+  class BackportMembers;
+  static BackportMembers backport_members_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/node_impl.hpp

@@ -110,16 +110,14 @@ typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::CallbackGroup::SharedPtr group,
-  bool autostart)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_wall_timer(
     period,
     std::move(callback),
     group,
     this->node_base_.get(),
-    this->node_timers_.get(),
-    autostart);
+    this->node_timers_.get());
 }
 
 template<typename DurationRepT, typename DurationT, typename CallbackT>

rclcpp/include/rclcpp/node_options.hpp

@@ -43,6 +43,7 @@ public:
    *   - arguments = {}
    *   - parameter_overrides = {}
    *   - use_global_arguments = true
+   *   - enable_rosout = true
    *   - use_intra_process_comms = false
    *   - enable_topic_statistics = false
    *   - start_parameter_services = true

rclcpp/include/rclcpp/parameter_events_filter.hpp

@@ -48,7 +48,7 @@ public:
    *
    * Example Usage:
    *
-   * If you have received a parameter event and are only interested in parameters foo and
+   * If you have recieved a parameter event and are only interested in parameters foo and
    * bar being added or changed but don't care about deletion.
    *
    * ```cpp

rclcpp/include/rclcpp/parameter_value.hpp

@@ -24,7 +24,6 @@
 
 #include "rcl_interfaces/msg/parameter_type.hpp"
 #include "rcl_interfaces/msg/parameter_value.hpp"
-#include "rclcpp/exceptions/exceptions.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp

rclcpp/include/rclcpp/publisher.hpp

@@ -421,7 +421,7 @@ protected:
   void
   do_inter_process_publish(const ROSMessageType & msg)
   {
-    TRACETOOLS_TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(&msg));
+    TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(&msg));
     auto status = rcl_publish(publisher_handle_.get(), &msg, nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
@@ -456,7 +456,6 @@ protected:
   do_loaned_message_publish(
     std::unique_ptr<ROSMessageType, std::function<void(ROSMessageType *)>> msg)
   {
-    TRACETOOLS_TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(msg.get()));
     auto status = rcl_publish_loaned_message(publisher_handle_.get(), msg.get(), nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
@@ -485,7 +484,7 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_intra_publish,
       static_cast<const void *>(publisher_handle_.get()),
       msg.get());
@@ -507,7 +506,7 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_intra_publish,
       static_cast<const void *>(publisher_handle_.get()),
       msg.get());
@@ -530,7 +529,7 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_intra_publish,
       static_cast<const void *>(publisher_handle_.get()),
       msg.get());

rclcpp/include/rclcpp/publisher_base.hpp

@@ -215,17 +215,6 @@ public:
   std::vector<rclcpp::NetworkFlowEndpoint>
   get_network_flow_endpoints() const;
 
-  /// Return the lowest available capacity for all subscription buffers.
-  /**
-   * For intraprocess communication return the lowest buffer capacity for all subscriptions.
-   * If intraprocess is disabled or no intraprocess subscriptions present, return maximum of size_t.
-   * On failure return 0.
-   * \return lowest buffer capacity for all subscriptions
-   */
-  RCLCPP_PUBLIC
-  size_t
-  lowest_available_ipm_capacity() const;
-
   /// Wait until all published messages are acknowledged or until the specified timeout elapses.
   /**
    * This method waits until all published messages are acknowledged by all matching

rclcpp/include/rclcpp/rate.hpp

@@ -19,8 +19,6 @@
 #include <memory>
 #include <thread>
 
-#include "rclcpp/clock.hpp"
-#include "rclcpp/duration.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -33,20 +31,9 @@ class RateBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(RateBase)
 
-  RCLCPP_PUBLIC
   virtual ~RateBase() {}
-
-  RCLCPP_PUBLIC
   virtual bool sleep() = 0;
-
-  [[deprecated("use get_type() instead")]]
-  RCLCPP_PUBLIC
   virtual bool is_steady() const = 0;
-
-  RCLCPP_PUBLIC
-  virtual rcl_clock_type_t get_type() const = 0;
-
-  RCLCPP_PUBLIC
   virtual void reset() = 0;
 };
 
@@ -55,13 +42,14 @@ using std::chrono::duration_cast;
 using std::chrono::nanoseconds;
 
 template<class Clock = std::chrono::high_resolution_clock>
-class [[deprecated("use rclcpp::Rate class instead of GenericRate")]] GenericRate : public RateBase
+class GenericRate : public RateBase
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(GenericRate)
 
   explicit GenericRate(double rate)
-  : period_(duration_cast<nanoseconds>(duration<double>(1.0 / rate))), last_interval_(Clock::now())
+  : GenericRate<Clock>(
+      duration_cast<nanoseconds>(duration<double>(1.0 / rate)))
   {}
   explicit GenericRate(std::chrono::nanoseconds period)
   : period_(period), last_interval_(Clock::now())
@@ -99,18 +87,12 @@ public:
     return true;
   }
 
-  [[deprecated("use get_type() instead")]]
   virtual bool
   is_steady() const
   {
     return Clock::is_steady;
   }
 
-  virtual rcl_clock_type_t get_type() const
-  {
-    return Clock::is_steady ? RCL_STEADY_TIME : RCL_SYSTEM_TIME;
-  }
-
   virtual void
   reset()
   {
@@ -130,69 +112,8 @@ private:
   std::chrono::time_point<Clock, ClockDurationNano> last_interval_;
 };
 
-class Rate : public RateBase
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(Rate)
-
-  RCLCPP_PUBLIC
-  explicit Rate(
-    const double rate,
-    Clock::SharedPtr clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));
-
-  RCLCPP_PUBLIC
-  explicit Rate(
-    const Duration & period,
-    Clock::SharedPtr clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));
-
-  RCLCPP_PUBLIC
-  virtual bool
-  sleep();
-
-  [[deprecated("use get_type() instead")]]
-  RCLCPP_PUBLIC
-  virtual bool
-  is_steady() const;
-
-  RCLCPP_PUBLIC
-  virtual rcl_clock_type_t
-  get_type() const;
-
-  RCLCPP_PUBLIC
-  virtual void
-  reset();
-
-  RCLCPP_PUBLIC
-  Duration
-  period() const;
-
-private:
-  RCLCPP_DISABLE_COPY(Rate)
-
-  Clock::SharedPtr clock_;
-  Duration period_;
-  Time last_interval_;
-};
-
-class WallRate : public Rate
-{
-public:
-  RCLCPP_PUBLIC
-  explicit WallRate(const double rate);
-
-  RCLCPP_PUBLIC
-  explicit WallRate(const Duration & period);
-};
-
-class ROSRate : public Rate
-{
-public:
-  RCLCPP_PUBLIC
-  explicit ROSRate(const double rate);
-
-  RCLCPP_PUBLIC
-  explicit ROSRate(const Duration & period);
-};
+using Rate = GenericRate<std::chrono::system_clock>;
+using WallRate = GenericRate<std::chrono::steady_clock>;
 
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/service.hpp

@@ -265,19 +265,15 @@ protected:
 
   std::shared_ptr<rcl_node_t> node_handle_;
 
-  std::recursive_mutex callback_mutex_;
-  // It is important to declare on_new_request_callback_ before
-  // service_handle_, so on destruction the service is
-  // destroyed first. Otherwise, the rmw service callback
-  // would point briefly to a destroyed function.
-  std::function<void(size_t)> on_new_request_callback_{nullptr};
-  // Declare service_handle_ after callback
   std::shared_ptr<rcl_service_t> service_handle_;
   bool owns_rcl_handle_ = true;
 
   rclcpp::Logger node_logger_;
 
   std::atomic<bool> in_use_by_wait_set_{false};
+
+  std::recursive_mutex callback_mutex_;
+  std::function<void(size_t)> on_new_request_callback_{nullptr};
 };
 
 template<typename ServiceT>
@@ -352,7 +348,7 @@ public:
 
       rclcpp::exceptions::throw_from_rcl_error(ret, "could not create service");
     }
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_service_callback_added,
       static_cast<const void *>(get_service_handle().get()),
       static_cast<const void *>(&any_callback_));
@@ -387,7 +383,7 @@ public:
     }
 
     service_handle_ = service_handle;
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_service_callback_added,
       static_cast<const void *>(get_service_handle().get()),
       static_cast<const void *>(&any_callback_));
@@ -424,7 +420,7 @@ public:
     // In this case, rcl owns the service handle memory
     service_handle_ = std::shared_ptr<rcl_service_t>(new rcl_service_t);
     service_handle_->impl = service_handle->impl;
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_service_callback_added,
       static_cast<const void *>(get_service_handle().get()),
       static_cast<const void *>(&any_callback_));
@@ -499,7 +495,7 @@ public:
     }
   }
 
-  /// Configure client introspection.
+  /// Configure service introspection.
   /**
    * \param[in] clock clock to use to generate introspection timestamps
    * \param[in] qos_service_event_pub QoS settings to use when creating the introspection publisher

rclcpp/include/rclcpp/subscription.hpp

@@ -185,7 +185,7 @@ public:
         this->get_topic_name(),  // important to get like this, as it has the fully-qualified name
         qos_profile,
         resolve_intra_process_buffer_type(options_.intra_process_buffer_type, callback));
-      TRACETOOLS_TRACEPOINT(
+      TRACEPOINT(
         rclcpp_subscription_init,
         static_cast<const void *>(get_subscription_handle().get()),
         static_cast<const void *>(subscription_intra_process_.get()));
@@ -201,11 +201,11 @@ public:
       this->subscription_topic_statistics_ = std::move(subscription_topic_statistics);
     }
 
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_subscription_init,
       static_cast<const void *>(get_subscription_handle().get()),
       static_cast<const void *>(this));
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_subscription_callback_added,
       static_cast<const void *>(this),
       static_cast<const void *>(&any_callback_));

rclcpp/include/rclcpp/subscription_base.hpp

@@ -645,14 +645,6 @@ protected:
   rclcpp::node_interfaces::NodeBaseInterface * const node_base_;
 
   std::shared_ptr<rcl_node_t> node_handle_;
-
-  std::recursive_mutex callback_mutex_;
-  // It is important to declare on_new_message_callback_ before
-  // subscription_handle_, so on destruction the subscription is
-  // destroyed first. Otherwise, the rmw subscription callback
-  // would point briefly to a destroyed function.
-  std::function<void(size_t)> on_new_message_callback_{nullptr};
-  // Declare subscription_handle_ after callback
   std::shared_ptr<rcl_subscription_t> subscription_handle_;
   std::shared_ptr<rcl_subscription_t> intra_process_subscription_handle_;
   rclcpp::Logger node_logger_;
@@ -677,6 +669,9 @@ private:
   std::atomic<bool> intra_process_subscription_waitable_in_use_by_wait_set_{false};
   std::unordered_map<rclcpp::EventHandlerBase *,
     std::atomic<bool>> qos_events_in_use_by_wait_set_;
+
+  std::recursive_mutex callback_mutex_;
+  std::function<void(size_t)> on_new_message_callback_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/timer.hpp

@@ -53,17 +53,12 @@ public:
    * \param clock A clock to use for time and sleeping
    * \param period The interval at which the timer fires
    * \param context node context
-   * \param autostart timer state on initialization
-   *
-   * In order to activate a timer that is not started on initialization,
-   * user should call the reset() method.
    */
   RCLCPP_PUBLIC
   explicit TimerBase(
     Clock::SharedPtr clock,
     std::chrono::nanoseconds period,
-    rclcpp::Context::SharedPtr context,
-    bool autostart = true);
+    rclcpp::Context::SharedPtr context);
 
   /// TimerBase destructor
   RCLCPP_PUBLIC
@@ -221,22 +216,21 @@ public:
    * \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.
-   * \param autostart timer state on initialization
    */
   explicit GenericTimer(
     Clock::SharedPtr clock, std::chrono::nanoseconds period, FunctorT && callback,
-    rclcpp::Context::SharedPtr context, bool autostart = true
+    rclcpp::Context::SharedPtr context
   )
-  : TimerBase(clock, period, context, autostart), callback_(std::forward<FunctorT>(callback))
+  : TimerBase(clock, period, context), callback_(std::forward<FunctorT>(callback))
   {
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_timer_callback_added,
       static_cast<const void *>(get_timer_handle().get()),
       reinterpret_cast<const void *>(&callback_));
 #ifndef TRACETOOLS_DISABLED
-    if (TRACETOOLS_TRACEPOINT_ENABLED(rclcpp_callback_register)) {
+    if (TRACEPOINT_ENABLED(rclcpp_callback_register)) {
       char * symbol = tracetools::get_symbol(callback_);
-      TRACETOOLS_DO_TRACEPOINT(
+      DO_TRACEPOINT(
         rclcpp_callback_register,
         reinterpret_cast<const void *>(&callback_),
         symbol);
@@ -275,9 +269,9 @@ public:
   void
   execute_callback() override
   {
-    TRACETOOLS_TRACEPOINT(callback_start, reinterpret_cast<const void *>(&callback_), false);
+    TRACEPOINT(callback_start, reinterpret_cast<const void *>(&callback_), false);
     execute_callback_delegate<>();
-    TRACETOOLS_TRACEPOINT(callback_end, reinterpret_cast<const void *>(&callback_));
+    TRACEPOINT(callback_end, reinterpret_cast<const void *>(&callback_));
   }
 
   // void specialization
@@ -336,15 +330,13 @@ public:
    * \param period The interval at which the timer fires
    * \param callback The callback function to execute every interval
    * \param context node context
-   * \param autostart timer state on initialization
    */
   WallTimer(
     std::chrono::nanoseconds period,
     FunctorT && callback,
-    rclcpp::Context::SharedPtr context,
-    bool autostart = true)
+    rclcpp::Context::SharedPtr context)
   : GenericTimer<FunctorT>(
-      std::make_shared<Clock>(RCL_STEADY_TIME), period, std::move(callback), context, autostart)
+      std::make_shared<Clock>(RCL_STEADY_TIME), period, std::move(callback), context)
   {}
 
 protected:

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>22.2.0</version>
+  <version>21.0.8</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
@@ -35,7 +35,6 @@
 
   <depend>libstatistics_collector</depend>
   <depend>rcl</depend>
-  <depend>rcl_logging_interface</depend>
   <depend>rcl_yaml_param_parser</depend>
   <depend>rcpputils</depend>
   <depend>rcutils</depend>

rclcpp/src/rclcpp/client.cpp

@@ -125,6 +125,7 @@ bool
 ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
 {
   auto start = std::chrono::steady_clock::now();
+  // make an event to reuse, rather than create a new one each time
   auto node_ptr = node_graph_.lock();
   if (!node_ptr) {
     throw InvalidNodeError();
@@ -137,7 +138,6 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
     // check was non-blocking, return immediately
     return false;
   }
-  // make an event to reuse, rather than create a new one each time
   auto event = node_ptr->get_graph_event();
   // update the time even on the first loop to account for time spent in the first call
   // to this->server_is_ready()

rclcpp/src/rclcpp/context.cpp

@@ -496,7 +496,7 @@ Context::sleep_for(const std::chrono::nanoseconds & nanoseconds)
       std::unique_lock<std::mutex> lock(interrupt_mutex_);
       auto start = std::chrono::steady_clock::now();
       // this will release the lock while waiting
-      interrupt_condition_variable_.wait_for(lock, nanoseconds);
+      interrupt_condition_variable_.wait_for(lock, time_left);
       time_left -= std::chrono::steady_clock::now() - start;
     }
   } while (time_left > std::chrono::nanoseconds::zero() && this->is_valid());

rclcpp/src/rclcpp/event_handler.cpp

@@ -39,13 +39,6 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(
 
 EventHandlerBase::~EventHandlerBase()
 {
-  // Since the rmw event listener holds a reference to
-  // this callback, we need to clear it on destruction of this class.
-  // This clearing is not needed for other rclcpp entities like pub/subs, since
-  // they do own the underlying rmw entities, which are destroyed
-  // on their rclcpp destructors, thus no risk of dangling pointers.
-  clear_on_ready_callback();
-
   if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",

rclcpp/src/rclcpp/executor.cpp

@@ -431,22 +431,6 @@ void Executor::spin_some(std::chrono::nanoseconds max_duration)
   return this->spin_some_impl(max_duration, false);
 }
 
-void
-Executor::spin_node_all(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
-  std::chrono::nanoseconds max_duration)
-{
-  this->add_node(node, false);
-  spin_all(max_duration);
-  this->remove_node(node, false);
-}
-
-void
-Executor::spin_node_all(std::shared_ptr<rclcpp::Node> node, std::chrono::nanoseconds max_duration)
-{
-  this->spin_node_all(node->get_node_base_interface(), max_duration);
-}
-
 void Executor::spin_all(std::chrono::nanoseconds max_duration)
 {
   if (max_duration < 0ns) {
@@ -541,13 +525,13 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
     return;
   }
   if (any_exec.timer) {
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_executor_execute,
       static_cast<const void *>(any_exec.timer->get_timer_handle().get()));
     execute_timer(any_exec.timer);
   }
   if (any_exec.subscription) {
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_executor_execute,
       static_cast<const void *>(any_exec.subscription->get_subscription_handle().get()));
     execute_subscription(any_exec.subscription);
@@ -669,6 +653,11 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
             subscription->get_topic_name(),
             [&]() {return subscription->take_type_erased(message.get(), message_info);},
             [&]() {subscription->handle_message(message, message_info);});
+          // TODO(clalancette): In the case that the user is using the MessageMemoryPool,
+          // and they take a shared_ptr reference to the message in the callback, this can
+          // inadvertently return the message to the pool when the user is still using it.
+          // This is a bug that needs to be fixed in the pool, and we should probably have
+          // a custom deleter for the message that actually does the return_message().
           subscription->return_message(message);
         }
         break;
@@ -742,7 +731,7 @@ Executor::execute_client(
 void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
-  TRACETOOLS_TRACEPOINT(rclcpp_executor_wait_for_work, timeout.count());
+  TRACEPOINT(rclcpp_executor_wait_for_work, timeout.count());
   {
     std::lock_guard<std::mutex> guard(mutex_);
 
@@ -898,7 +887,7 @@ Executor::get_next_ready_executable_from_map(
   const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
   weak_groups_to_nodes)
 {
-  TRACETOOLS_TRACEPOINT(rclcpp_executor_get_next_ready);
+  TRACEPOINT(rclcpp_executor_get_next_ready);
   bool success = false;
   std::lock_guard<std::mutex> guard{mutex_};
   // Check the timers to see if there are any that are ready

rclcpp/src/rclcpp/executors.cpp

@@ -14,25 +14,12 @@
 
 #include "rclcpp/executors.hpp"
 
-void
-rclcpp::spin_all(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  std::chrono::nanoseconds max_duration)
-{
-  rclcpp::executors::SingleThreadedExecutor exec;
-  exec.spin_node_all(node_ptr, max_duration);
-}
-
-void
-rclcpp::spin_all(rclcpp::Node::SharedPtr node_ptr, std::chrono::nanoseconds max_duration)
-{
-  rclcpp::spin_all(node_ptr->get_node_base_interface(), max_duration);
-}
-
 void
 rclcpp::spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::ExecutorOptions options;
+  options.context = node_ptr->get_context();
+  rclcpp::executors::SingleThreadedExecutor exec(options);
   exec.spin_node_some(node_ptr);
 }
 
@@ -45,7 +32,9 @@ rclcpp::spin_some(rclcpp::Node::SharedPtr node_ptr)
 void
 rclcpp::spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::ExecutorOptions options;
+  options.context = node_ptr->get_context();
+  rclcpp::executors::SingleThreadedExecutor exec(options);
   exec.add_node(node_ptr);
   exec.spin();
   exec.remove_node(node_ptr);

rclcpp/src/rclcpp/experimental/executors/events_executor/events_executor.cpp

@@ -273,13 +273,10 @@ EventsExecutor::execute_event(const ExecutorEvent & event)
   switch (event.type) {
     case ExecutorEventType::CLIENT_EVENT:
       {
-        rclcpp::ClientBase::SharedPtr client;
-        {
-          std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-          client = this->retrieve_entity(
-            static_cast<const rcl_client_t *>(event.entity_key),
-            current_entities_collection_->clients);
-        }
+        auto client = this->retrieve_entity(
+          static_cast<const rcl_client_t *>(event.entity_key),
+          current_entities_collection_->clients);
+
         if (client) {
           for (size_t i = 0; i < event.num_events; i++) {
             execute_client(client);
@@ -290,13 +287,9 @@ EventsExecutor::execute_event(const ExecutorEvent & event)
       }
     case ExecutorEventType::SUBSCRIPTION_EVENT:
       {
-        rclcpp::SubscriptionBase::SharedPtr subscription;
-        {
-          std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-          subscription = this->retrieve_entity(
-            static_cast<const rcl_subscription_t *>(event.entity_key),
-            current_entities_collection_->subscriptions);
-        }
+        auto subscription = this->retrieve_entity(
+          static_cast<const rcl_subscription_t *>(event.entity_key),
+          current_entities_collection_->subscriptions);
         if (subscription) {
           for (size_t i = 0; i < event.num_events; i++) {
             execute_subscription(subscription);
@@ -306,13 +299,10 @@ EventsExecutor::execute_event(const ExecutorEvent & event)
       }
     case ExecutorEventType::SERVICE_EVENT:
       {
-        rclcpp::ServiceBase::SharedPtr service;
-        {
-          std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-          service = this->retrieve_entity(
-            static_cast<const rcl_service_t *>(event.entity_key),
-            current_entities_collection_->services);
-        }
+        auto service = this->retrieve_entity(
+          static_cast<const rcl_service_t *>(event.entity_key),
+          current_entities_collection_->services);
+
         if (service) {
           for (size_t i = 0; i < event.num_events; i++) {
             execute_service(service);
@@ -329,13 +319,9 @@ EventsExecutor::execute_event(const ExecutorEvent & event)
       }
     case ExecutorEventType::WAITABLE_EVENT:
       {
-        rclcpp::Waitable::SharedPtr waitable;
-        {
-          std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-          waitable = this->retrieve_entity(
-            static_cast<const rclcpp::Waitable *>(event.entity_key),
-            current_entities_collection_->waitables);
-        }
+        auto waitable = this->retrieve_entity(
+          static_cast<const rclcpp::Waitable *>(event.entity_key),
+          current_entities_collection_->waitables);
         if (waitable) {
           for (size_t i = 0; i < event.num_events; i++) {
             auto data = waitable->take_data_by_entity_id(event.waitable_data);
@@ -400,7 +386,6 @@ EventsExecutor::get_automatically_added_callback_groups_from_nodes()
 void
 EventsExecutor::refresh_current_collection_from_callback_groups()
 {
-  // Build the new collection
   this->entities_collector_->update_collections();
   auto callback_groups = this->entities_collector_->get_all_callback_groups();
   rclcpp::executors::ExecutorEntitiesCollection new_collection;
@@ -415,9 +400,6 @@ EventsExecutor::refresh_current_collection_from_callback_groups()
   // To do it, we need to add the notify waitable as an entry in both the new and
   // current collections such that it's neither added or removed.
   this->add_notify_waitable_to_collection(new_collection.waitables);
-
-  // Acquire lock before modifying the current collection
-  std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
   this->add_notify_waitable_to_collection(current_entities_collection_->waitables);
 
   this->refresh_current_collection(new_collection);
@@ -427,9 +409,6 @@ void
 EventsExecutor::refresh_current_collection(
   const rclcpp::executors::ExecutorEntitiesCollection & new_collection)
 {
-  // Acquire lock before modifying the current collection
-  std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-
   current_entities_collection_->timers.update(
     new_collection.timers,
     [this](rclcpp::TimerBase::SharedPtr timer) {timers_manager_->add_timer(timer);},

rclcpp/src/rclcpp/intra_process_manager.cpp

@@ -225,52 +225,5 @@ IntraProcessManager::can_communicate(
   return true;
 }
 
-size_t
-IntraProcessManager::lowest_available_capacity(const uint64_t intra_process_publisher_id) const
-{
-  size_t capacity = std::numeric_limits<size_t>::max();
-
-  auto publisher_it = pub_to_subs_.find(intra_process_publisher_id);
-  if (publisher_it == pub_to_subs_.end()) {
-    // Publisher is either invalid or no longer exists.
-    RCLCPP_WARN(
-      rclcpp::get_logger("rclcpp"),
-      "Calling lowest_available_capacity for invalid or no longer existing publisher id");
-    return 0u;
-  }
-
-  if (publisher_it->second.take_shared_subscriptions.empty() &&
-    publisher_it->second.take_ownership_subscriptions.empty())
-  {
-    // no subscriptions available
-    return 0u;
-  }
-
-  auto available_capacity = [this, &capacity](const uint64_t intra_process_subscription_id)
-    {
-      auto subscription_it = subscriptions_.find(intra_process_subscription_id);
-      if (subscription_it != subscriptions_.end()) {
-        auto subscription = subscription_it->second.lock();
-        if (subscription) {
-          capacity = std::min(capacity, subscription->available_capacity());
-        }
-      } else {
-        // Subscription is either invalid or no longer exists.
-        RCLCPP_WARN(
-          rclcpp::get_logger("rclcpp"),
-          "Calling available_capacity for invalid or no longer existing subscription id");
-      }
-    };
-
-  for (const auto sub_id : publisher_it->second.take_shared_subscriptions) {
-    available_capacity(sub_id);
-  }
-
-  for (const auto sub_id : publisher_it->second.take_ownership_subscriptions) {
-    available_capacity(sub_id);
-  }
-
-  return capacity;
-}
 }  // namespace experimental
 }  // namespace rclcpp

rclcpp/src/rclcpp/node.cpp

@@ -17,7 +17,10 @@
 #include <limits>
 #include <map>
 #include <memory>
+#include <mutex>
+#include <shared_mutex>
 #include <string>
+#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -110,21 +113,71 @@ create_effective_namespace(const std::string & node_namespace, const std::string
 
 }  // namespace
 
-/// Internal implementation to provide hidden and API/ABI stable changes to the Node.
+/// \brief Associate new extra member variables with instances of Node without changing ABI.
 /**
- * This class is intended to be an "escape hatch" within a stable distribution, so that certain
- * smaller features and bugfixes can be backported, having a place to put new members, while
- * maintaining the ABI.
- *
- * This is not intended to be a parking place for new features, it should be used for backports
- * only, left empty and unallocated in Rolling.
+ * It is used only for bugfixes or backported features that require new members.
+ * Atomically constructs/destroys all extra members.
+ * Node instance will register and remove itself, and use its methods to retrieve members.
+ * Note for performance consideration that accessing these members uses a map lookup.
  */
-class Node::NodeImpl
+class Node::BackportMembers
 {
 public:
-  NodeImpl() = default;
-  ~NodeImpl() = default;
+  BackportMembers() = default;
+  ~BackportMembers() = default;
+
+  /// \brief Add all backported members for a new Node.
+  /**
+   * \param[in] key Raw pointer to the Node instance that will use new members.
+   */
+  void add(Node * key)
+  {
+    // Adding a new instance to the maps requires exclusive access
+    std::unique_lock lock(map_access_mutex_);
+    type_descriptions_map_.emplace(
+      key,
+      std::make_shared<rclcpp::node_interfaces::NodeTypeDescriptions>(
+        key->get_node_base_interface(),
+        key->get_node_logging_interface(),
+        key->get_node_parameters_interface(),
+        key->get_node_services_interface()));
+  }
+
+  /// \brief Remove the members for an instance of Node
+  /**
+   * \param[in] key Raw pointer to the Node
+   */
+  void remove(const Node * key)
+  {
+    // Removing an instance from the maps requires exclusive access
+    std::unique_lock lock(map_access_mutex_);
+    type_descriptions_map_.erase(key);
+  }
+
+  /// \brief Retrieve the NodeTypeDescriptionsInterface for a Node.
+  /**
+   * \param[in] key Raw pointer to an instance of Node.
+   * \return A shared ptr to this Node's NodeTypeDescriptionsInterface instance.
+   */
+  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+  get_node_type_descriptions_interface(const Node * key) const
+  {
+    // Multiple threads can retrieve from the maps at the same time
+    std::shared_lock lock(map_access_mutex_);
+    return type_descriptions_map_.at(key);
+  }
+
+private:
+  /// \brief Map that stored TypeDescriptionsInterface members
+  std::unordered_map<
+    const Node *, rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+  > type_descriptions_map_;
+
+  /// \brief Controls access to all private maps
+  mutable std::shared_mutex map_access_mutex_;
 };
+// Definition of static member declaration
+Node::BackportMembers Node::backport_members_;
 
 Node::Node(
   const std::string & node_name,
@@ -223,17 +276,13 @@ Node::Node(
       options.clock_qos(),
       options.use_clock_thread()
     )),
-  node_type_descriptions_(new rclcpp::node_interfaces::NodeTypeDescriptions(
-      node_base_,
-      node_logging_,
-      node_parameters_,
-      node_services_
-    )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
   node_options_(options),
   sub_namespace_(""),
   effective_namespace_(create_effective_namespace(this->get_namespace(), sub_namespace_))
 {
+  backport_members_.add(this);
+
   // we have got what we wanted directly from the overrides,
   // but declare the parameters anyway so they are visible.
   rclcpp::detail::declare_qos_parameters(
@@ -269,8 +318,7 @@ Node::Node(
   node_waitables_(other.node_waitables_),
   node_options_(other.node_options_),
   sub_namespace_(extend_sub_namespace(other.get_sub_namespace(), sub_namespace)),
-  effective_namespace_(create_effective_namespace(other.get_namespace(), sub_namespace_)),
-  hidden_impl_(other.hidden_impl_)
+  effective_namespace_(create_effective_namespace(other.get_namespace(), sub_namespace_))
 {
   // Validate new effective namespace.
   int validation_result;
@@ -296,6 +344,7 @@ Node::Node(
 Node::~Node()
 {
   // release sub-interfaces in an order that allows them to consult with node_base during tear-down
+  backport_members_.remove(this);
   node_waitables_.reset();
   node_time_source_.reset();
   node_parameters_.reset();
@@ -618,7 +667,7 @@ Node::get_node_topics_interface()
 rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
 Node::get_node_type_descriptions_interface()
 {
-  return node_type_descriptions_;
+  return backport_members_.get_node_type_descriptions_interface(this);
 }
 
 rclcpp::node_interfaces::NodeServicesInterface::SharedPtr

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -20,7 +20,6 @@
 #include "rclcpp/node_interfaces/node_base.hpp"
 
 #include "rcl/arguments.h"
-#include "rcl/node_type_cache.h"
 #include "rclcpp/exceptions.hpp"
 #include "rcutils/logging_macros.h"
 #include "rmw/validate_namespace.h"

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -1038,48 +1038,35 @@ NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint6
   // TODO(mikaelarguedas) define parameter separator different from "/" to avoid ambiguity
   // using "." for now
   const char * separator = ".";
-
-  auto separators_less_than_depth = [&depth, &separator](const std::string & str) -> bool {
-      return static_cast<uint64_t>(std::count(str.begin(), str.end(), *separator)) < depth;
-    };
-
-  bool recursive = (prefixes.size() == 0) &&
-    (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE);
-
-  for (const std::pair<const std::string, ParameterInfo> & kv : parameters_) {
-    if (!recursive) {
-      bool get_all = (prefixes.size() == 0) && separators_less_than_depth(kv.first);
-      if (!get_all) {
-        bool prefix_matches = std::any_of(
-          prefixes.cbegin(), prefixes.cend(),
-          [&kv, &depth, &separator, &separators_less_than_depth](const std::string & prefix) {
-            if (kv.first == prefix) {
-              return true;
-            } else if (kv.first.find(prefix + separator) == 0) {
-              if (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) {
-                return true;
-              }
-              std::string substr = kv.first.substr(prefix.length());
-              return separators_less_than_depth(substr);
-            }
-            return false;
-          });
-
-        if (!prefix_matches) {
-          continue;
+  for (auto & kv : parameters_) {
+    bool get_all = (prefixes.size() == 0) &&
+      ((depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
+      (static_cast<uint64_t>(std::count(kv.first.begin(), kv.first.end(), *separator)) < depth));
+    bool prefix_matches = std::any_of(
+      prefixes.cbegin(), prefixes.cend(),
+      [&kv, &depth, &separator](const std::string & prefix) {
+        if (kv.first == prefix) {
+          return true;
+        } else if (kv.first.find(prefix + separator) == 0) {
+          size_t length = prefix.length();
+          std::string substr = kv.first.substr(length);
+          // Cast as unsigned integer to avoid warning
+          return (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
+          (static_cast<uint64_t>(std::count(substr.begin(), substr.end(), *separator)) < depth);
+        }
+        return false;
+      });
+    if (get_all || prefix_matches) {
+      result.names.push_back(kv.first);
+      size_t last_separator = kv.first.find_last_of(separator);
+      if (std::string::npos != last_separator) {
+        std::string prefix = kv.first.substr(0, last_separator);
+        if (
+          std::find(result.prefixes.cbegin(), result.prefixes.cend(), prefix) ==
+          result.prefixes.cend())
+        {
+          result.prefixes.push_back(prefix);
         }
-      }
-    }
-
-    result.names.push_back(kv.first);
-    size_t last_separator = kv.first.find_last_of(separator);
-    if (std::string::npos != last_separator) {
-      std::string prefix = kv.first.substr(0, last_separator);
-      if (
-        std::find(result.prefixes.cbegin(), result.prefixes.cend(), prefix) ==
-        result.prefixes.cend())
-      {
-        result.prefixes.push_back(prefix);
       }
     }
   }

rclcpp/src/rclcpp/node_interfaces/node_services.cpp

@@ -32,7 +32,8 @@ NodeServices::add_service(
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {
-      throw rclcpp::exceptions::MissingGroupNodeException("service");
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create service, group not in node.");
     }
   } else {
     group = node_base_->get_default_callback_group();
@@ -57,7 +58,8 @@ NodeServices::add_client(
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {
-      throw rclcpp::exceptions::MissingGroupNodeException("client");
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create client, group not in node.");
     }
   } else {
     group = node_base_->get_default_callback_group();

rclcpp/src/rclcpp/node_interfaces/node_timers.cpp

@@ -34,7 +34,8 @@ NodeTimers::add_timer(
 {
   if (callback_group) {
     if (!node_base_->callback_group_in_node(callback_group)) {
-      throw rclcpp::exceptions::MissingGroupNodeException("timer");
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create timer, group not in node.");
     }
   } else {
     callback_group = node_base_->get_default_callback_group();
@@ -49,7 +50,7 @@ NodeTimers::add_timer(
             std::string("failed to notify wait set on timer creation: ") + ex.what());
   }
 
-  TRACETOOLS_TRACEPOINT(
+  TRACEPOINT(
     rclcpp_timer_link_node,
     static_cast<const void *>(timer->get_timer_handle().get()),
     static_cast<const void *>(node_base_->get_rcl_node_handle()));

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -58,7 +58,7 @@ NodeTopics::add_publisher(
   // Assign to a group.
   if (callback_group) {
     if (!node_base_->callback_group_in_node(callback_group)) {
-      throw rclcpp::exceptions::MissingGroupNodeException("publisher");
+      throw std::runtime_error("Cannot create publisher, callback group not in node.");
     }
   } else {
     callback_group = node_base_->get_default_callback_group();
@@ -97,7 +97,8 @@ NodeTopics::add_subscription(
   // Assign to a group.
   if (callback_group) {
     if (!node_base_->callback_group_in_node(callback_group)) {
-      throw rclcpp::exceptions::MissingGroupNodeException("subscription");
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create subscription, callback group not in node.");
     }
   } else {
     callback_group = node_base_->get_default_callback_group();

rclcpp/src/rclcpp/node_interfaces/node_waitables.cpp

@@ -32,7 +32,8 @@ NodeWaitables::add_waitable(
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {
-      throw rclcpp::exceptions::MissingGroupNodeException("waitable");
+      // TODO(jacobperron): use custom exception
+      throw std::runtime_error("Cannot create waitable, group not in node.");
     }
   } else {
     group = node_base_->get_default_callback_group();

rclcpp/src/rclcpp/parameter_value.cpp

@@ -129,7 +129,8 @@ ParameterValue::ParameterValue(const rcl_interfaces::msg::ParameterValue & value
     case PARAMETER_NOT_SET:
       break;
     default:
-      throw rclcpp::exceptions::UnknownTypeError(std::to_string(value.type));
+      // TODO(wjwwood): use custom exception
+      throw std::runtime_error("Unknown type: " + std::to_string(value.type));
   }
 }
 

rclcpp/src/rclcpp/publisher_base.cpp

@@ -384,22 +384,3 @@ std::vector<rclcpp::NetworkFlowEndpoint> PublisherBase::get_network_flow_endpoin
 
   return network_flow_endpoint_vector;
 }
-
-size_t PublisherBase::lowest_available_ipm_capacity() const
-{
-  if (!intra_process_is_enabled_) {
-    return 0u;
-  }
-
-  auto ipm = weak_ipm_.lock();
-
-  if (!ipm) {
-    // TODO(ivanpauno): should this raise an error?
-    RCLCPP_WARN(
-      rclcpp::get_logger("rclcpp"),
-      "Intra process manager died for a publisher.");
-    return 0u;
-  }
-
-  return ipm->lowest_available_capacity(intra_process_publisher_id_);
-}

rclcpp/src/rclcpp/rate.cpp

@@ -1,112 +0,0 @@
-// Copyright 2023 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "rclcpp/rate.hpp"
-
-#include <stdexcept>
-
-namespace rclcpp
-{
-
-Rate::Rate(
-  const double rate, Clock::SharedPtr clock)
-: clock_(clock), period_(0, 0), last_interval_(clock_->now())
-{
-  if (rate <= 0.0) {
-    throw std::invalid_argument{"rate must be greater than 0"};
-  }
-  period_ = Duration::from_seconds(1.0 / rate);
-}
-
-Rate::Rate(
-  const Duration & period, Clock::SharedPtr clock)
-: clock_(clock), period_(period), last_interval_(clock_->now())
-{
-  if (period <= Duration(0, 0)) {
-    throw std::invalid_argument{"period must be greater than 0"};
-  }
-}
-
-bool
-Rate::sleep()
-{
-  // Time coming into sleep
-  auto now = clock_->now();
-  // Time of next interval
-  auto next_interval = last_interval_ + period_;
-  // Detect backwards time flow
-  if (now < last_interval_) {
-    // Best thing to do is to set the next_interval to now + period
-    next_interval = now + period_;
-  }
-  // Update the interval
-  last_interval_ += period_;
-  // If the time_to_sleep is negative or zero, don't sleep
-  if (next_interval <= now) {
-    // If an entire cycle was missed then reset next interval.
-    // This might happen if the loop took more than a cycle.
-    // Or if time jumps forward.
-    if (now > next_interval + period_) {
-      last_interval_ = now + period_;
-    }
-    // Either way do not sleep and return false
-    return false;
-  }
-  // Calculate the time to sleep
-  auto time_to_sleep = next_interval - now;
-  // Sleep (will get interrupted by ctrl-c, may not sleep full time)
-  return clock_->sleep_for(time_to_sleep);
-}
-
-bool
-Rate::is_steady() const
-{
-  return clock_->get_clock_type() == RCL_STEADY_TIME;
-}
-
-rcl_clock_type_t
-Rate::get_type() const
-{
-  return clock_->get_clock_type();
-}
-
-void
-Rate::reset()
-{
-  last_interval_ = clock_->now();
-}
-
-Duration
-Rate::period() const
-{
-  return period_;
-}
-
-WallRate::WallRate(const double rate)
-: Rate(rate, std::make_shared<Clock>(RCL_STEADY_TIME))
-{}
-
-WallRate::WallRate(const Duration & period)
-: Rate(period, std::make_shared<Clock>(RCL_STEADY_TIME))
-{}
-
-ROSRate::ROSRate(const double rate)
-: Rate(rate, std::make_shared<Clock>(RCL_ROS_TIME))
-{}
-
-ROSRate::ROSRate(const Duration & period)
-: Rate(period, std::make_shared<Clock>(RCL_ROS_TIME))
-{}
-
-}  // namespace rclcpp

rclcpp/src/rclcpp/signal_handler.cpp

@@ -113,7 +113,7 @@ SignalHandler::get_logger()
 SignalHandler &
 SignalHandler::get_global_signal_handler()
 {
-  static SignalHandler signal_handler;
+  static SignalHandler & signal_handler = *new SignalHandler();
   return signal_handler;
 }
 

rclcpp/src/rclcpp/subscription_base.cpp

@@ -218,7 +218,7 @@ SubscriptionBase::take_type_erased(void * message_out, rclcpp::MessageInfo & mes
     &message_info_out.get_rmw_message_info(),
     nullptr  // rmw_subscription_allocation_t is unused here
   );
-  TRACETOOLS_TRACEPOINT(rclcpp_take, static_cast<const void *>(message_out));
+  TRACEPOINT(rclcpp_take, static_cast<const void *>(message_out));
   if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
     return false;
   } else if (RCL_RET_OK != ret) {
@@ -298,7 +298,20 @@ SubscriptionBase::setup_intra_process(
 bool
 SubscriptionBase::can_loan_messages() const
 {
-  return rcl_subscription_can_loan_messages(subscription_handle_.get());
+  bool retval = rcl_subscription_can_loan_messages(subscription_handle_.get());
+  if (retval) {
+    // TODO(clalancette): The loaned message interface is currently not safe to use with
+    // shared_ptr callbacks.  If a user takes a copy of the shared_ptr, it can get freed from
+    // underneath them via rcl_return_loaned_message_from_subscription().  The correct solution is
+    // to return the loaned message in a custom deleter, but that needs to be carefully handled
+    // with locking.  Warn the user about this until we fix it.
+    RCLCPP_WARN_ONCE(
+      this->node_logger_,
+      "Loaned messages are only safe with const ref subscription callbacks. "
+      "If you are using any other kind of subscriptions, "
+      "set the ROS_DISABLE_LOANED_MESSAGES environment variable to 1 (the default).");
+  }
+  return retval;
 }
 
 rclcpp::Waitable::SharedPtr

rclcpp/src/rclcpp/time_source.cpp

@@ -14,7 +14,6 @@
 
 #include <memory>
 #include <string>
-#include <unordered_set>
 #include <utility>
 #include <vector>
 
@@ -91,7 +90,7 @@ public:
       }
     }
     std::lock_guard<std::mutex> guard(clock_list_lock_);
-    associated_clocks_.insert(clock);
+    associated_clocks_.push_back(clock);
     // Set the clock to zero unless there's a recently received message
     set_clock(last_time_msg_, ros_time_active_, clock);
   }
@@ -100,8 +99,10 @@ public:
   void detachClock(rclcpp::Clock::SharedPtr clock)
   {
     std::lock_guard<std::mutex> guard(clock_list_lock_);
-    auto removed = associated_clocks_.erase(clock);
-    if (removed == 0) {
+    auto result = std::find(associated_clocks_.begin(), associated_clocks_.end(), clock);
+    if (result != associated_clocks_.end()) {
+      associated_clocks_.erase(result);
+    } else {
       RCLCPP_ERROR(logger_, "failed to remove clock");
     }
   }
@@ -178,8 +179,8 @@ private:
 
   // A lock to protect iterating the associated_clocks_ field.
   std::mutex clock_list_lock_;
-  // An unordered_set to store references to associated clocks.
-  std::unordered_set<rclcpp::Clock::SharedPtr> associated_clocks_;
+  // A vector to store references to associated clocks.
+  std::vector<rclcpp::Clock::SharedPtr> associated_clocks_;
 
   // Local storage of validity of ROS time
   // This is needed when new clocks are added.

rclcpp/src/rclcpp/timer.cpp

@@ -32,8 +32,7 @@ using rclcpp::TimerBase;
 TimerBase::TimerBase(
   rclcpp::Clock::SharedPtr clock,
   std::chrono::nanoseconds period,
-  rclcpp::Context::SharedPtr context,
-  bool autostart)
+  rclcpp::Context::SharedPtr context)
 : clock_(clock), timer_handle_(nullptr)
 {
   if (nullptr == context) {
@@ -65,9 +64,9 @@ TimerBase::TimerBase(
   rcl_clock_t * clock_handle = clock_->get_clock_handle();
   {
     std::lock_guard<std::mutex> clock_guard(clock_->get_clock_mutex());
-    rcl_ret_t ret = rcl_timer_init2(
-      timer_handle_.get(), clock_handle, rcl_context.get(), period.count(),
-      nullptr, rcl_get_default_allocator(), autostart);
+    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/rclcpp/executors/test_events_executor.cpp

@@ -43,6 +43,11 @@ public:
 
 TEST_F(TestEventsExecutor, run_pub_sub)
 {
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto node = std::make_shared<rclcpp::Node>("node");
 
   bool msg_received = false;
@@ -60,7 +65,7 @@ TEST_F(TestEventsExecutor, run_pub_sub)
   executor.add_node(node);
 
   bool spin_exited = false;
-  std::thread spinner([&spin_exited, &executor]() {
+  std::thread spinner([&spin_exited, &executor, this]() {
       executor.spin();
       spin_exited = true;
     });
@@ -75,6 +80,8 @@ TEST_F(TestEventsExecutor, run_pub_sub)
     !spin_exited &&
     (std::chrono::high_resolution_clock::now() - start < 1s))
   {
+    auto time = std::chrono::high_resolution_clock::now() - start;
+    auto time_msec = std::chrono::duration_cast<std::chrono::milliseconds>(time);
     std::this_thread::sleep_for(25ms);
   }
 
@@ -88,6 +95,11 @@ TEST_F(TestEventsExecutor, run_pub_sub)
 
 TEST_F(TestEventsExecutor, run_clients_servers)
 {
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto node = std::make_shared<rclcpp::Node>("node");
 
   bool request_received = false;
@@ -107,7 +119,7 @@ TEST_F(TestEventsExecutor, run_clients_servers)
   executor.add_node(node);
 
   bool spin_exited = false;
-  std::thread spinner([&spin_exited, &executor]() {
+  std::thread spinner([&spin_exited, &executor, this]() {
       executor.spin();
       spin_exited = true;
     });
@@ -141,6 +153,11 @@ TEST_F(TestEventsExecutor, run_clients_servers)
 
 TEST_F(TestEventsExecutor, spin_once_max_duration_timeout)
 {
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto node = std::make_shared<rclcpp::Node>("node");
 
   EventsExecutor executor;
@@ -173,6 +190,11 @@ TEST_F(TestEventsExecutor, spin_once_max_duration_timeout)
 
 TEST_F(TestEventsExecutor, spin_once_max_duration_timer)
 {
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto node = std::make_shared<rclcpp::Node>("node");
 
   EventsExecutor executor;
@@ -204,6 +226,11 @@ TEST_F(TestEventsExecutor, spin_once_max_duration_timer)
 
 TEST_F(TestEventsExecutor, spin_some_max_duration)
 {
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   {
     auto node = std::make_shared<rclcpp::Node>("node");
 
@@ -250,6 +277,11 @@ TEST_F(TestEventsExecutor, spin_some_max_duration)
 
 TEST_F(TestEventsExecutor, spin_some_zero_duration)
 {
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto node = std::make_shared<rclcpp::Node>("node");
 
   size_t t_runs = 0;
@@ -271,6 +303,11 @@ TEST_F(TestEventsExecutor, spin_some_zero_duration)
 
 TEST_F(TestEventsExecutor, spin_all_max_duration)
 {
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   {
     auto node = std::make_shared<rclcpp::Node>("node");
 
@@ -321,6 +358,11 @@ TEST_F(TestEventsExecutor, spin_all_max_duration)
 
 TEST_F(TestEventsExecutor, cancel_while_timers_running)
 {
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto node = std::make_shared<rclcpp::Node>("node");
 
   EventsExecutor executor;
@@ -346,7 +388,7 @@ TEST_F(TestEventsExecutor, cancel_while_timers_running)
     });
 
 
-  std::thread spinner([&executor]() {executor.spin();});
+  std::thread spinner([&executor, this]() {executor.spin();});
 
   std::this_thread::sleep_for(10ms);
   // Call cancel while t1 callback is still being executed
@@ -360,6 +402,11 @@ TEST_F(TestEventsExecutor, cancel_while_timers_running)
 
 TEST_F(TestEventsExecutor, cancel_while_timers_waiting)
 {
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto node = std::make_shared<rclcpp::Node>("node");
 
   size_t t1_runs = 0;
@@ -373,7 +420,7 @@ TEST_F(TestEventsExecutor, cancel_while_timers_waiting)
   executor.add_node(node);
 
   auto start = std::chrono::steady_clock::now();
-  std::thread spinner([&executor]() {executor.spin();});
+  std::thread spinner([&executor, this]() {executor.spin();});
 
   std::this_thread::sleep_for(10ms);
   executor.cancel();
@@ -388,6 +435,11 @@ TEST_F(TestEventsExecutor, destroy_entities)
   // This test fails on Windows! We skip it for now
   GTEST_SKIP();
 
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   // Create a publisher node and start publishing messages
   auto node_pub = std::make_shared<rclcpp::Node>("node_pub");
   auto publisher = node_pub->create_publisher<test_msgs::msg::Empty>("topic", rclcpp::QoS(10));
@@ -395,7 +447,7 @@ TEST_F(TestEventsExecutor, destroy_entities)
     2ms, [&]() {publisher->publish(std::make_unique<test_msgs::msg::Empty>());});
   EventsExecutor executor_pub;
   executor_pub.add_node(node_pub);
-  std::thread spinner([&executor_pub]() {executor_pub.spin();});
+  std::thread spinner([&executor_pub, this]() {executor_pub.spin();});
 
   // Create a node with two different subscriptions to the topic
   auto node_sub = std::make_shared<rclcpp::Node>("node_sub");
@@ -433,6 +485,11 @@ std::string * g_sub_log_msg;
 std::promise<void> * g_log_msgs_promise;
 TEST_F(TestEventsExecutor, test_default_incompatible_qos_callbacks)
 {
+  // rmw_connextdds doesn't support events-executor
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto node = std::make_shared<rclcpp::Node>("node");
   rcutils_logging_output_handler_t original_output_handler = rcutils_logging_get_output_handler();
 

rclcpp/test/rclcpp/executors/test_executors.cpp

@@ -22,6 +22,7 @@
 #include <algorithm>
 #include <atomic>
 #include <chrono>
+#include <future>
 #include <limits>
 #include <memory>
 #include <string>
@@ -135,6 +136,14 @@ TYPED_TEST_SUITE(TestExecutorsStable, StandardExecutors, ExecutorTypeNames);
 TYPED_TEST(TestExecutors, detachOnDestruction)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   {
     ExecutorType executor;
     executor.add_node(this->node);
@@ -151,6 +160,14 @@ TYPED_TEST(TestExecutors, detachOnDestruction)
 TYPED_TEST(TestExecutorsStable, addTemporaryNode)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
 
   {
@@ -171,6 +188,14 @@ TYPED_TEST(TestExecutorsStable, addTemporaryNode)
 TYPED_TEST(TestExecutors, emptyExecutor)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
   std::thread spinner([&]() {EXPECT_NO_THROW(executor.spin());});
   std::this_thread::sleep_for(50ms);
@@ -182,6 +207,14 @@ TYPED_TEST(TestExecutors, emptyExecutor)
 TYPED_TEST(TestExecutors, addNodeTwoExecutors)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor1;
   ExecutorType executor2;
   EXPECT_NO_THROW(executor1.add_node(this->node));
@@ -193,6 +226,14 @@ TYPED_TEST(TestExecutors, addNodeTwoExecutors)
 TYPED_TEST(TestExecutors, spinWithTimer)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
 
   bool timer_completed = false;
@@ -216,6 +257,14 @@ TYPED_TEST(TestExecutors, spinWithTimer)
 TYPED_TEST(TestExecutors, spinWhileAlreadySpinning)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -243,6 +292,14 @@ TYPED_TEST(TestExecutors, spinWhileAlreadySpinning)
 TYPED_TEST(TestExecutors, testSpinUntilFutureComplete)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -266,6 +323,14 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureComplete)
 TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -290,6 +355,14 @@ TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete)
 TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -337,6 +410,14 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout)
 TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteWithTimeout)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -449,6 +530,14 @@ private:
 TYPED_TEST(TestExecutors, spinAll)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
   auto waitable_interfaces = this->node->get_node_waitables_interface();
   auto my_waitable = std::make_shared<TestWaitable>();
@@ -491,6 +580,14 @@ TYPED_TEST(TestExecutors, spinAll)
 TYPED_TEST(TestExecutors, spinSome)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
   auto waitable_interfaces = this->node->get_node_waitables_interface();
   auto my_waitable = std::make_shared<TestWaitable>();
@@ -533,6 +630,14 @@ TYPED_TEST(TestExecutors, spinSome)
 TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
 
   std::promise<bool> promise;
@@ -549,6 +654,14 @@ TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr)
 TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
 
   std::promise<bool> promise;
@@ -565,6 +678,14 @@ TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr)
 TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
+
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -779,7 +900,7 @@ TYPED_TEST(TestIntraprocessExecutors, testIntraprocessRetrigger) {
   // that publishers aren't continuing to publish.
   // This was previously broken in that intraprocess guard conditions were only triggered on
   // publish and the test was added to prevent future regressions.
-  static constexpr size_t kNumMessages = 100;
+  const size_t kNumMessages = 100;
 
   using ExecutorType = TypeParam;
   ExecutorType executor;
@@ -808,12 +929,42 @@ TYPED_TEST(TestIntraprocessExecutors, testIntraprocessRetrigger) {
   // Fire a timer every 10ms up to 5 seconds waiting for subscriptions to be read.
   loops = 0;
   auto timer = this->node->create_wall_timer(
-    std::chrono::milliseconds(10), [this, &executor, &loops]() {
+    std::chrono::milliseconds(10), [this, &executor, &loops, &kNumMessages]() {
       loops++;
-      if (kNumMessages == this->callback_count.load() || loops == 500) {
+      if (kNumMessages == this->callback_count.load() ||
+      loops == 500)
+      {
         executor.cancel();
       }
     });
   executor.spin();
   EXPECT_EQ(kNumMessages, this->callback_count.load());
 }
+
+// Check spin functions with non default context
+TEST(TestExecutors, testSpinWithNonDefaultContext)
+{
+  auto non_default_context = std::make_shared<rclcpp::Context>();
+  non_default_context->init(0, nullptr);
+
+  {
+    auto node =
+      std::make_unique<rclcpp::Node>("node", rclcpp::NodeOptions().context(non_default_context));
+
+    EXPECT_NO_THROW(rclcpp::spin_some(node->get_node_base_interface()));
+
+    auto check_spin_until_future_complete = [&]() {
+        std::promise<bool> promise;
+        std::future<bool> future = promise.get_future();
+        promise.set_value(true);
+
+        auto shared_future = future.share();
+        auto ret = rclcpp::spin_until_future_complete(
+          node->get_node_base_interface(), shared_future, 1s);
+        EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+      };
+    EXPECT_NO_THROW(check_spin_until_future_complete());
+  }
+
+  rclcpp::shutdown(non_default_context);
+}

rclcpp/test/rclcpp/node_interfaces/test_node_services.cpp

@@ -92,7 +92,7 @@ TEST_F(TestNodeService, add_service)
     different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   RCLCPP_EXPECT_THROW_EQ(
     node_services->add_service(service, callback_group_in_different_node),
-    rclcpp::exceptions::MissingGroupNodeException("service"));
+    std::runtime_error("Cannot create service, group not in node."));
 }
 
 TEST_F(TestNodeService, add_service_rcl_trigger_guard_condition_error)
@@ -119,7 +119,7 @@ TEST_F(TestNodeService, add_client)
     different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   RCLCPP_EXPECT_THROW_EQ(
     node_services->add_client(client, callback_group_in_different_node),
-    rclcpp::exceptions::MissingGroupNodeException("client"));
+    std::runtime_error("Cannot create client, group not in node."));
 }
 
 TEST_F(TestNodeService, add_client_rcl_trigger_guard_condition_error)

rclcpp/test/rclcpp/node_interfaces/test_node_timers.cpp

@@ -75,7 +75,7 @@ TEST_F(TestNodeTimers, add_timer)
     different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   RCLCPP_EXPECT_THROW_EQ(
     node_timers->add_timer(timer, callback_group_in_different_node),
-    rclcpp::exceptions::MissingGroupNodeException("timer"));
+    std::runtime_error("Cannot create timer, group not in node."));
 }
 
 TEST_F(TestNodeTimers, add_timer_rcl_trigger_guard_condition_error)

rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp

@@ -78,7 +78,7 @@ TEST_F(TestNodeWaitables, add_remove_waitable)
     node_waitables->add_waitable(waitable, callback_group1));
   RCLCPP_EXPECT_THROW_EQ(
     node_waitables->add_waitable(waitable, callback_group2),
-    rclcpp::exceptions::MissingGroupNodeException("waitable"));
+    std::runtime_error("Cannot create waitable, group not in node."));
   EXPECT_NO_THROW(node_waitables->remove_waitable(waitable, callback_group1));
   EXPECT_NO_THROW(node_waitables->remove_waitable(waitable, callback_group2));
 

rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp

@@ -99,6 +99,13 @@ TYPED_TEST_SUITE(TestAddCallbackGroupsToExecutorStable, StandardExecutors, Execu
 TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
 
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   auto timer_callback = []() {};
@@ -148,6 +155,13 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups)
 TYPED_TEST(TestAddCallbackGroupsToExecutor, remove_callback_groups)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
 
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   auto timer_callback = []() {};
@@ -179,6 +193,13 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, remove_callback_groups)
 TYPED_TEST(TestAddCallbackGroupsToExecutor, add_duplicate_callback_groups)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
 
   ExecutorType executor;
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
@@ -199,6 +220,13 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, add_duplicate_callback_groups)
 TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups_after_add_node_to_executor)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
 
   ExecutorType executor;
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
@@ -235,6 +263,13 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups_after_add_node_t
 TYPED_TEST(TestAddCallbackGroupsToExecutor, add_unallowable_callback_groups)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
 
   ExecutorType executor;
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
@@ -272,6 +307,13 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, add_unallowable_callback_groups)
 TYPED_TEST(TestAddCallbackGroupsToExecutor, one_node_many_callback_groups_many_executors)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
 
   ExecutorType timer_executor;
   ExecutorType sub_executor;
@@ -313,6 +355,13 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, one_node_many_callback_groups_many_e
 TYPED_TEST(TestAddCallbackGroupsToExecutorStable, subscriber_triggered_to_receive_message)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
 
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
 
@@ -379,6 +428,13 @@ TYPED_TEST(TestAddCallbackGroupsToExecutorStable, subscriber_triggered_to_receiv
 TYPED_TEST(TestAddCallbackGroupsToExecutorStable, callback_group_create_after_spin)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
 
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
 
@@ -425,6 +481,13 @@ TYPED_TEST(TestAddCallbackGroupsToExecutorStable, callback_group_create_after_sp
 TYPED_TEST(TestAddCallbackGroupsToExecutor, remove_callback_group)
 {
   using ExecutorType = TypeParam;
+  // rmw_connextdds doesn't support events-executor
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
+    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
+  {
+    GTEST_SKIP();
+  }
 
   ExecutorType executor;
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");

rclcpp/test/rclcpp/test_client.cpp

@@ -521,6 +521,10 @@ TEST_F(TestClient, rcl_client_response_subscription_get_actual_qos_error) {
 }
 
 TEST_F(TestClient, client_qos) {
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP() << "Skipping. The tests is known to be flaky in the rmw_connextdds.";
+  }
+
   rclcpp::ServicesQoS qos_profile;
   qos_profile.liveliness(rclcpp::LivelinessPolicy::Automatic);
   rclcpp::Duration duration(std::chrono::nanoseconds(1));

rclcpp/test/rclcpp/test_create_timer.cpp

@@ -193,29 +193,3 @@ TEST(TestCreateTimer, timer_function_pointer)
 
   rclcpp::shutdown();
 }
-
-TEST(TestCreateTimer, timer_without_autostart)
-{
-  rclcpp::init(0, nullptr);
-  auto node = std::make_shared<rclcpp::Node>("test_create_timer_node");
-
-  rclcpp::TimerBase::SharedPtr timer;
-  timer = rclcpp::create_timer(
-    node,
-    node->get_clock(),
-    rclcpp::Duration(0ms),
-    []() {},
-    nullptr,
-    false);
-
-  EXPECT_TRUE(timer->is_canceled());
-  EXPECT_EQ(timer->time_until_trigger().count(), std::chrono::nanoseconds::max().count());
-
-  timer->reset();
-  EXPECT_LE(timer->time_until_trigger().count(), std::chrono::nanoseconds::max().count());
-  EXPECT_FALSE(timer->is_canceled());
-
-  timer->cancel();
-
-  rclcpp::shutdown();
-}

rclcpp/test/rclcpp/test_executor.cpp

@@ -546,40 +546,6 @@ TEST_F(TestExecutor, spin_node_once_node) {
   EXPECT_TRUE(spin_called);
 }
 
-TEST_F(TestExecutor, spin_node_all_base_interface) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  bool spin_called = false;
-  auto timer =
-    node->create_wall_timer(
-    std::chrono::milliseconds(1), [&]() {
-      spin_called = true;
-    });
-
-  // Wait for the wall timer to have expired.
-  std::this_thread::sleep_for(std::chrono::milliseconds(50));
-  EXPECT_FALSE(spin_called);
-  dummy.spin_node_all(node->get_node_base_interface(), std::chrono::milliseconds(50));
-  EXPECT_TRUE(spin_called);
-}
-
-TEST_F(TestExecutor, spin_node_all_node) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  bool spin_called = false;
-  auto timer =
-    node->create_wall_timer(
-    std::chrono::milliseconds(1), [&]() {
-      spin_called = true;
-    });
-
-  // Wait for the wall timer to have expired.
-  std::this_thread::sleep_for(std::chrono::milliseconds(50));
-  EXPECT_FALSE(spin_called);
-  dummy.spin_node_all(node, std::chrono::milliseconds(50));
-  EXPECT_TRUE(spin_called);
-}
-
 TEST_F(TestExecutor, spin_until_future_complete_future_already_complete) {
   DummyExecutor dummy;
   auto node = std::make_shared<rclcpp::Node>("node", "ns");

rclcpp/test/rclcpp/test_intra_process_buffer.cpp

@@ -238,75 +238,3 @@ TEST(TestIntraProcessBuffer, unique_buffer_consume) {
   EXPECT_EQ(original_value, *popped_unique_msg);
   EXPECT_EQ(original_message_pointer, popped_message_pointer);
 }
-
-/*
-  Check the available buffer capacity while storing and consuming data from an intra-process
-  buffer.
-  The initial available buffer capacity should equal the buffer size.
-  Inserting a message should decrease the available buffer capacity by 1.
-  Consuming a message should increase the available buffer capacity by 1.
- */
-TEST(TestIntraProcessBuffer, available_capacity) {
-  using MessageT = char;
-  using Alloc = std::allocator<void>;
-  using Deleter = std::default_delete<MessageT>;
-  using SharedMessageT = std::shared_ptr<const MessageT>;
-  using UniqueMessageT = std::unique_ptr<MessageT, Deleter>;
-  using UniqueIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
-    MessageT, Alloc, Deleter, UniqueMessageT>;
-
-  constexpr auto history_depth = 5u;
-
-  auto buffer_impl =
-    std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<UniqueMessageT>>(
-    history_depth);
-
-  UniqueIntraProcessBufferT intra_process_buffer(std::move(buffer_impl));
-
-  EXPECT_EQ(history_depth, intra_process_buffer.available_capacity());
-
-  auto original_unique_msg = std::make_unique<char>('a');
-  auto original_message_pointer = reinterpret_cast<std::uintptr_t>(original_unique_msg.get());
-  auto original_value = *original_unique_msg;
-
-  intra_process_buffer.add_unique(std::move(original_unique_msg));
-
-  EXPECT_EQ(history_depth - 1u, intra_process_buffer.available_capacity());
-
-  SharedMessageT popped_shared_msg;
-  popped_shared_msg = intra_process_buffer.consume_shared();
-  auto popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_shared_msg.get());
-
-  EXPECT_EQ(history_depth, intra_process_buffer.available_capacity());
-  EXPECT_EQ(original_value, *popped_shared_msg);
-  EXPECT_EQ(original_message_pointer, popped_message_pointer);
-
-  original_unique_msg = std::make_unique<char>('b');
-  original_message_pointer = reinterpret_cast<std::uintptr_t>(original_unique_msg.get());
-  original_value = *original_unique_msg;
-
-  intra_process_buffer.add_unique(std::move(original_unique_msg));
-
-  auto second_unique_msg = std::make_unique<char>('c');
-  auto second_message_pointer = reinterpret_cast<std::uintptr_t>(second_unique_msg.get());
-  auto second_value = *second_unique_msg;
-
-  intra_process_buffer.add_unique(std::move(second_unique_msg));
-
-  EXPECT_EQ(history_depth - 2u, intra_process_buffer.available_capacity());
-
-  UniqueMessageT popped_unique_msg;
-  popped_unique_msg = intra_process_buffer.consume_unique();
-  popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_unique_msg.get());
-
-  EXPECT_EQ(history_depth - 1u, intra_process_buffer.available_capacity());
-  EXPECT_EQ(original_value, *popped_unique_msg);
-  EXPECT_EQ(original_message_pointer, popped_message_pointer);
-
-  popped_unique_msg = intra_process_buffer.consume_unique();
-  popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_unique_msg.get());
-
-  EXPECT_EQ(history_depth, intra_process_buffer.available_capacity());
-  EXPECT_EQ(second_value, *popped_unique_msg);
-  EXPECT_EQ(second_message_pointer, popped_message_pointer);
-}

rclcpp/test/rclcpp/test_intra_process_manager.cpp

@@ -156,26 +156,18 @@ public:
   {
     message_ptr = reinterpret_cast<std::uintptr_t>(msg.get());
     shared_msg = msg;
-    ++num_msgs;
   }
 
   void add(MessageUniquePtr msg)
   {
     message_ptr = reinterpret_cast<std::uintptr_t>(msg.get());
     unique_msg = std::move(msg);
-    ++num_msgs;
   }
 
   void pop(std::uintptr_t & msg_ptr)
   {
     msg_ptr = message_ptr;
     message_ptr = 0;
-    --num_msgs;
-  }
-
-  size_t size() const
-  {
-    return num_msgs;
   }
 
   // need to store the messages somewhere otherwise the memory address will be reused
@@ -183,8 +175,6 @@ public:
   MessageUniquePtr unique_msg;
 
   std::uintptr_t message_ptr;
-  // count add and pop
-  size_t num_msgs = 0u;
 };
 
 }  // namespace mock
@@ -231,10 +221,6 @@ public:
     return topic_name.c_str();
   }
 
-  virtual
-  size_t
-  available_capacity() const = 0;
-
   rclcpp::QoS qos_profile;
   std::string topic_name;
 };
@@ -294,12 +280,6 @@ public:
     return take_shared_method;
   }
 
-  size_t
-  available_capacity() const override
-  {
-    return qos_profile.depth() - buffer->size();
-  }
-
   bool take_shared_method;
 
   typename rclcpp::experimental::buffers::mock::IntraProcessBuffer<MessageT>::UniquePtr buffer;
@@ -732,91 +712,3 @@ TEST(TestIntraProcessManager, multiple_subscriptions_different_type) {
   EXPECT_EQ(original_message_pointer, received_message_pointer_10);
   EXPECT_NE(original_message_pointer, received_message_pointer_11);
 }
-
-/*
-   This tests the method "lowest_available_capacity":
-   - Creates 1 publisher.
-   - The available buffer capacity should be at least history size.
-   - Add 2 subscribers.
-   - Add everything to the intra-process manager.
-   - All the entities are expected to have different ids.
-   - Check the subscriptions count for the publisher.
-   - The available buffer capacity should be the history size.
-   - Publish one message (without receiving it).
-   - The available buffer capacity should decrease by 1.
-   - Publish another message (without receiving it).
-   - The available buffer capacity should decrease by 1.
-   - One subscriber receives one message.
-   - The available buffer capacity should stay the same,
-     as the other subscriber still has not freed its buffer.
-   - The other subscriber receives one message.
-   - The available buffer capacity should increase by 1.
-   - One subscription goes out of scope.
-   - The available buffer capacity should not change.
- */
-TEST(TestIntraProcessManager, lowest_available_capacity) {
-  using IntraProcessManagerT = rclcpp::experimental::IntraProcessManager;
-  using MessageT = rcl_interfaces::msg::Log;
-  using PublisherT = rclcpp::mock::Publisher<MessageT>;
-  using SubscriptionIntraProcessT = rclcpp::experimental::mock::SubscriptionIntraProcess<MessageT>;
-
-  constexpr auto history_depth = 10u;
-
-  auto ipm = std::make_shared<IntraProcessManagerT>();
-
-  auto p1 = std::make_shared<PublisherT>(rclcpp::QoS(history_depth).best_effort());
-
-  auto s1 = std::make_shared<SubscriptionIntraProcessT>(rclcpp::QoS(history_depth).best_effort());
-  auto s2 = std::make_shared<SubscriptionIntraProcessT>(rclcpp::QoS(history_depth).best_effort());
-
-  auto p1_id = ipm->add_publisher(p1);
-  p1->set_intra_process_manager(p1_id, ipm);
-
-  auto c1 = ipm->lowest_available_capacity(p1_id);
-
-  ASSERT_LE(0u, c1);
-
-  auto s1_id = ipm->add_subscription(s1);
-  auto s2_id = ipm->add_subscription(s2);
-
-  bool unique_ids = s1_id != s2_id && p1_id != s1_id;
-  ASSERT_TRUE(unique_ids);
-
-  size_t p1_subs = ipm->get_subscription_count(p1_id);
-  size_t non_existing_pub_subs = ipm->get_subscription_count(42);
-  ASSERT_EQ(2u, p1_subs);
-  ASSERT_EQ(0u, non_existing_pub_subs);
-
-  c1 = ipm->lowest_available_capacity(p1_id);
-  auto non_existing_pub_c = ipm->lowest_available_capacity(42);
-
-  ASSERT_EQ(history_depth, c1);
-  ASSERT_EQ(0u, non_existing_pub_c);
-
-  auto unique_msg = std::make_unique<MessageT>();
-  p1->publish(std::move(unique_msg));
-
-  c1 = ipm->lowest_available_capacity(p1_id);
-  ASSERT_EQ(history_depth - 1u, c1);
-
-  unique_msg = std::make_unique<MessageT>();
-  p1->publish(std::move(unique_msg));
-
-  c1 = ipm->lowest_available_capacity(p1_id);
-  ASSERT_EQ(history_depth - 2u, c1);
-
-  s1->pop();
-
-  c1 = ipm->lowest_available_capacity(p1_id);
-  ASSERT_EQ(history_depth - 2u, c1);
-
-  s2->pop();
-
-  c1 = ipm->lowest_available_capacity(p1_id);
-  ASSERT_EQ(history_depth - 1u, c1);
-
-  ipm->get_subscription_intra_process(s1_id).reset();
-
-  c1 = ipm->lowest_available_capacity(p1_id);
-  ASSERT_EQ(history_depth - 1u, c1);
-}

rclcpp/test/rclcpp/test_publisher.cpp

@@ -629,41 +629,6 @@ TEST_P(TestPublisherWaitForAllAcked, check_wait_for_all_acked_with_QosPolicy) {
   EXPECT_TRUE(pub->wait_for_all_acked(std::chrono::milliseconds(6000)));
 }
 
-TEST_F(TestPublisher, lowest_available_ipm_capacity) {
-  constexpr auto history_depth = 10u;
-
-  initialize(rclcpp::NodeOptions().use_intra_process_comms(true));
-
-  rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options_ipm_disabled;
-  options_ipm_disabled.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
-
-  rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options_ipm_enabled;
-  options_ipm_enabled.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
-
-  auto do_nothing = [](std::shared_ptr<const test_msgs::msg::Strings>) {};
-  auto pub_ipm_disabled = node->create_publisher<test_msgs::msg::Strings>(
-    "topic", history_depth,
-    options_ipm_disabled);
-  auto pub_ipm_enabled = node->create_publisher<test_msgs::msg::Strings>(
-    "topic", history_depth,
-    options_ipm_enabled);
-  auto sub = node->create_subscription<test_msgs::msg::Strings>(
-    "topic",
-    history_depth,
-    do_nothing);
-
-  ASSERT_EQ(1, pub_ipm_enabled->get_intra_process_subscription_count());
-  ASSERT_EQ(0, pub_ipm_disabled->lowest_available_ipm_capacity());
-  ASSERT_EQ(history_depth, pub_ipm_enabled->lowest_available_ipm_capacity());
-
-  auto msg = std::make_shared<test_msgs::msg::Strings>();
-  ASSERT_NO_THROW(pub_ipm_disabled->publish(*msg));
-  ASSERT_NO_THROW(pub_ipm_enabled->publish(*msg));
-
-  ASSERT_EQ(0, pub_ipm_disabled->lowest_available_ipm_capacity());
-  ASSERT_EQ(history_depth - 1u, pub_ipm_enabled->lowest_available_ipm_capacity());
-}
-
 INSTANTIATE_TEST_SUITE_P(
   TestWaitForAllAckedWithParm,
   TestPublisherWaitForAllAcked,

rclcpp/test/rclcpp/test_qos_event.cpp

@@ -314,6 +314,11 @@ TEST_F(TestQosEvent, add_to_wait_set) {
 
 TEST_F(TestQosEvent, test_on_new_event_callback)
 {
+  // rmw_connextdds doesn't support rmw_event_set_callback() interface
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto offered_deadline = rclcpp::Duration(std::chrono::milliseconds(1));
   auto requested_deadline = rclcpp::Duration(std::chrono::milliseconds(2));
 
@@ -355,6 +360,11 @@ TEST_F(TestQosEvent, test_on_new_event_callback)
 
 TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
 {
+  // rmw_connextdds doesn't support rmw_event_set_callback() interface
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   auto pub = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
   auto sub = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
   auto dummy_cb = [](size_t count_events) {(void)count_events;};
@@ -429,6 +439,11 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
 
 TEST_F(TestQosEvent, test_pub_matched_event_by_set_event_callback)
 {
+  // rmw_connextdds doesn't support rmw_event_set_callback() interface
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   std::atomic_size_t matched_count = 0;
 
   rclcpp::PublisherOptions pub_options;
@@ -436,10 +451,8 @@ TEST_F(TestQosEvent, test_pub_matched_event_by_set_event_callback)
   auto pub = node->create_publisher<test_msgs::msg::Empty>(
     topic_name, 10, pub_options);
 
-  std::promise<void> prom;
-  auto matched_event_callback = [&matched_count, &prom](size_t count) {
+  auto matched_event_callback = [&matched_count](size_t count) {
       matched_count += count;
-      prom.set_value();
     };
 
   pub->set_on_new_qos_event_callback(matched_event_callback, RCL_PUBLISHER_MATCHED);
@@ -447,32 +460,34 @@ TEST_F(TestQosEvent, test_pub_matched_event_by_set_event_callback)
   rclcpp::executors::SingleThreadedExecutor ex;
   ex.add_node(node->get_node_base_interface());
 
-  const auto timeout = std::chrono::seconds(10);
+  const auto timeout = std::chrono::milliseconds(200);
 
   {
     auto sub1 = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
-    ex.spin_until_future_complete(prom.get_future(), timeout);
-    prom = {};
+    ex.spin_some(timeout);
     EXPECT_EQ(matched_count, static_cast<size_t>(1));
 
     {
       auto sub2 = node->create_subscription<test_msgs::msg::Empty>(
         topic_name, 10, message_callback);
-      ex.spin_until_future_complete(prom.get_future(), timeout);
-      prom = {};
+      ex.spin_some(timeout);
       EXPECT_EQ(matched_count, static_cast<size_t>(2));
     }
-    ex.spin_until_future_complete(prom.get_future(), timeout);
-    prom = {};
+    ex.spin_some(timeout);
     EXPECT_EQ(matched_count, static_cast<size_t>(3));
   }
 
-  ex.spin_until_future_complete(prom.get_future(), timeout);
+  ex.spin_some(timeout);
   EXPECT_EQ(matched_count, static_cast<size_t>(4));
 }
 
 TEST_F(TestQosEvent, test_sub_matched_event_by_set_event_callback)
 {
+  // rmw_connextdds doesn't support rmw_event_set_callback() interface
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
+    GTEST_SKIP();
+  }
+
   std::atomic_size_t matched_count = 0;
 
   rclcpp::SubscriptionOptions sub_options;
@@ -480,10 +495,8 @@ TEST_F(TestQosEvent, test_sub_matched_event_by_set_event_callback)
   auto sub = node->create_subscription<test_msgs::msg::Empty>(
     topic_name, 10, message_callback, sub_options);
 
-  std::promise<void> prom;
-  auto matched_event_callback = [&matched_count, &prom](size_t count) {
+  auto matched_event_callback = [&matched_count](size_t count) {
       matched_count += count;
-      prom.set_value();
     };
 
   sub->set_on_new_qos_event_callback(matched_event_callback, RCL_SUBSCRIPTION_MATCHED);
@@ -491,44 +504,39 @@ TEST_F(TestQosEvent, test_sub_matched_event_by_set_event_callback)
   rclcpp::executors::SingleThreadedExecutor ex;
   ex.add_node(node->get_node_base_interface());
 
-  const auto timeout = std::chrono::seconds(10000);
+  const auto timeout = std::chrono::milliseconds(200);
 
   {
     auto pub1 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
 
-    ex.spin_until_future_complete(prom.get_future(), timeout);
-    prom = {};
+    ex.spin_some(timeout);
     EXPECT_EQ(matched_count, static_cast<size_t>(1));
 
     {
       auto pub2 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
-      ex.spin_until_future_complete(prom.get_future(), timeout);
-      prom = {};
+      ex.spin_some(timeout);
       EXPECT_EQ(matched_count, static_cast<size_t>(2));
     }
 
-    ex.spin_until_future_complete(prom.get_future(), timeout);
-    prom = {};
+    ex.spin_some(timeout);
     EXPECT_EQ(matched_count, static_cast<size_t>(3));
   }
 
-  ex.spin_until_future_complete(prom.get_future(), timeout);
+  ex.spin_some(timeout);
   EXPECT_EQ(matched_count, static_cast<size_t>(4));
 }
 
 TEST_F(TestQosEvent, test_pub_matched_event_by_option_event_callback)
 {
   rmw_matched_status_t matched_expected_result;
-  std::promise<void> prom;
 
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [&matched_expected_result, &prom](rmw_matched_status_t & s) {
+    [&matched_expected_result](rmw_matched_status_t & s) {
       EXPECT_EQ(s.total_count, matched_expected_result.total_count);
       EXPECT_EQ(s.total_count_change, matched_expected_result.total_count_change);
       EXPECT_EQ(s.current_count, matched_expected_result.current_count);
       EXPECT_EQ(s.current_count_change, matched_expected_result.current_count_change);
-      prom.set_value();
     };
 
   auto pub = node->create_publisher<test_msgs::msg::Empty>(
@@ -543,12 +551,11 @@ TEST_F(TestQosEvent, test_pub_matched_event_by_option_event_callback)
   matched_expected_result.current_count = 1;
   matched_expected_result.current_count_change = 1;
 
-  const auto timeout = std::chrono::seconds(10);
+  const auto timeout = std::chrono::milliseconds(200);
 
   {
     auto sub = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
-    ex.spin_until_future_complete(prom.get_future(), timeout);
-    prom = {};
+    ex.spin_some(timeout);
 
     // destroy a connected subscription
     matched_expected_result.total_count = 1;
@@ -556,22 +563,20 @@ TEST_F(TestQosEvent, test_pub_matched_event_by_option_event_callback)
     matched_expected_result.current_count = 0;
     matched_expected_result.current_count_change = -1;
   }
-  ex.spin_until_future_complete(prom.get_future(), timeout);
+  ex.spin_some(timeout);
 }
 
 TEST_F(TestQosEvent, test_sub_matched_event_by_option_event_callback)
 {
   rmw_matched_status_t matched_expected_result;
 
-  std::promise<void> prom;
   rclcpp::SubscriptionOptions sub_options;
   sub_options.event_callbacks.matched_callback =
-    [&matched_expected_result, &prom](rmw_matched_status_t & s) {
+    [&matched_expected_result](rmw_matched_status_t & s) {
       EXPECT_EQ(s.total_count, matched_expected_result.total_count);
       EXPECT_EQ(s.total_count_change, matched_expected_result.total_count_change);
       EXPECT_EQ(s.current_count, matched_expected_result.current_count);
       EXPECT_EQ(s.current_count_change, matched_expected_result.current_count_change);
-      prom.set_value();
     };
   auto sub = node->create_subscription<test_msgs::msg::Empty>(
     topic_name, 10, message_callback, sub_options);
@@ -585,11 +590,10 @@ TEST_F(TestQosEvent, test_sub_matched_event_by_option_event_callback)
   matched_expected_result.current_count = 1;
   matched_expected_result.current_count_change = 1;
 
-  const auto timeout = std::chrono::seconds(10);
+  const auto timeout = std::chrono::milliseconds(200);
   {
     auto pub1 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
-    ex.spin_until_future_complete(prom.get_future(), timeout);
-    prom = {};
+    ex.spin_some(timeout);
 
     // destroy a connected publisher
     matched_expected_result.total_count = 1;
@@ -597,5 +601,5 @@ TEST_F(TestQosEvent, test_sub_matched_event_by_option_event_callback)
     matched_expected_result.current_count = 0;
     matched_expected_result.current_count_change = -1;
   }
-  ex.spin_until_future_complete(prom.get_future(), timeout);
+  ex.spin_some(timeout);
 }

rclcpp/test/rclcpp/test_rate.cpp

@@ -14,19 +14,28 @@
 
 #include <gtest/gtest.h>
 
-#include <stdexcept>
 #include <string>
 
 #include "rclcpp/rate.hpp"
 
-#include "../utils/rclcpp_gtest_macros.hpp"
+class TestRate : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
 
 /*
-   Basic tests for the Rate, WallRate and ROSRate classes.
+   Basic tests for the Rate and WallRate classes.
  */
-TEST(TestRate, rate_basics) {
-  rclcpp::init(0, nullptr);
-
+TEST_F(TestRate, rate_basics) {
   auto period = std::chrono::milliseconds(1000);
   auto offset = std::chrono::milliseconds(500);
   auto epsilon = std::chrono::milliseconds(100);
@@ -34,23 +43,8 @@ TEST(TestRate, rate_basics) {
 
   auto start = std::chrono::system_clock::now();
   rclcpp::Rate r(period);
-  EXPECT_EQ(rclcpp::Duration(period), r.period());
-// suppress deprecated 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
+  EXPECT_EQ(period, r.period());
   ASSERT_FALSE(r.is_steady());
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-  ASSERT_EQ(RCL_SYSTEM_TIME, r.get_type());
   ASSERT_TRUE(r.sleep());
   auto one = std::chrono::system_clock::now();
   auto delta = one - start;
@@ -79,13 +73,9 @@ TEST(TestRate, rate_basics) {
   auto five = std::chrono::system_clock::now();
   delta = five - four;
   ASSERT_TRUE(epsilon > delta);
-
-  rclcpp::shutdown();
 }
 
-TEST(TestRate, wall_rate_basics) {
-  rclcpp::init(0, nullptr);
-
+TEST_F(TestRate, wall_rate_basics) {
   auto period = std::chrono::milliseconds(100);
   auto offset = std::chrono::milliseconds(50);
   auto epsilon = std::chrono::milliseconds(1);
@@ -93,25 +83,8 @@ TEST(TestRate, wall_rate_basics) {
 
   auto start = std::chrono::steady_clock::now();
   rclcpp::WallRate r(period);
-  EXPECT_EQ(rclcpp::Duration(period), r.period());
-// suppress deprecated 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
+  EXPECT_EQ(period, r.period());
   ASSERT_TRUE(r.is_steady());
-// suppress deprecated 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
-  ASSERT_EQ(RCL_STEADY_TIME, r.get_type());
   ASSERT_TRUE(r.sleep());
   auto one = std::chrono::steady_clock::now();
   auto delta = one - start;
@@ -140,288 +113,23 @@ TEST(TestRate, wall_rate_basics) {
   auto five = std::chrono::steady_clock::now();
   delta = five - four;
   EXPECT_GT(epsilon, delta);
-
-  rclcpp::shutdown();
 }
 
-TEST(TestRate, ros_rate_basics) {
-  rclcpp::init(0, nullptr);
-
-  auto period = std::chrono::milliseconds(100);
-  auto offset = std::chrono::milliseconds(50);
-  auto epsilon = std::chrono::milliseconds(1);
-  double overrun_ratio = 1.5;
-
-  rclcpp::Clock clock(RCL_ROS_TIME);
-
-  auto start = clock.now();
-  rclcpp::ROSRate r(period);
-  EXPECT_EQ(rclcpp::Duration(period), r.period());
-// suppress deprecated 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
-  ASSERT_FALSE(r.is_steady());
-// suppress deprecated 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
-  ASSERT_EQ(RCL_ROS_TIME, r.get_type());
-  ASSERT_TRUE(r.sleep());
-  auto one = clock.now();
-  auto delta = one - start;
-  EXPECT_LT(rclcpp::Duration(period), delta);
-  EXPECT_GT(rclcpp::Duration(period * overrun_ratio), delta);
-
-  clock.sleep_for(offset);
-  ASSERT_TRUE(r.sleep());
-  auto two = clock.now();
-  delta = two - start;
-  EXPECT_LT(rclcpp::Duration(2 * period), delta + epsilon);
-  EXPECT_GT(rclcpp::Duration(2 * period * overrun_ratio), delta);
-
-  clock.sleep_for(offset);
-  auto two_offset = clock.now();
-  r.reset();
-  ASSERT_TRUE(r.sleep());
-  auto three = clock.now();
-  delta = three - two_offset;
-  EXPECT_LT(rclcpp::Duration(period), delta);
-  EXPECT_GT(rclcpp::Duration(period * overrun_ratio), delta);
-
-  clock.sleep_for(offset + period);
-  auto four = clock.now();
-  ASSERT_FALSE(r.sleep());
-  auto five = clock.now();
-  delta = five - four;
-  EXPECT_GT(rclcpp::Duration(epsilon), delta);
-
-  rclcpp::shutdown();
-}
-
-/*
-   Basic test for the deprecated GenericRate class.
- */
-TEST(TestRate, generic_rate) {
-  auto period = std::chrono::milliseconds(100);
-  auto offset = std::chrono::milliseconds(50);
-  auto epsilon = std::chrono::milliseconds(1);
-  double overrun_ratio = 1.5;
-
+TEST_F(TestRate, from_double) {
   {
-    auto start = std::chrono::system_clock::now();
-
-// suppress deprecated 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
-
-    rclcpp::GenericRate<std::chrono::system_clock> gr(period);
-    ASSERT_FALSE(gr.is_steady());
-
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
-    ASSERT_EQ(gr.get_type(), RCL_SYSTEM_TIME);
-    EXPECT_EQ(period, gr.period());
-    ASSERT_TRUE(gr.sleep());
-    auto one = std::chrono::system_clock::now();
-    auto delta = one - start;
-    EXPECT_LT(period, delta + epsilon);
-    EXPECT_GT(period * overrun_ratio, delta);
-
-    rclcpp::sleep_for(offset);
-    ASSERT_TRUE(gr.sleep());
-    auto two = std::chrono::system_clock::now();
-    delta = two - start;
-    EXPECT_LT(2 * period, delta);
-    EXPECT_GT(2 * period * overrun_ratio, delta);
-
-    rclcpp::sleep_for(offset);
-    auto two_offset = std::chrono::system_clock::now();
-    gr.reset();
-    ASSERT_TRUE(gr.sleep());
-    auto three = std::chrono::system_clock::now();
-    delta = three - two_offset;
-    EXPECT_LT(period, delta + epsilon);
-    EXPECT_GT(period * overrun_ratio, delta);
-
-    rclcpp::sleep_for(offset + period);
-    auto four = std::chrono::system_clock::now();
-    ASSERT_FALSE(gr.sleep());
-    auto five = std::chrono::system_clock::now();
-    delta = five - four;
-    ASSERT_TRUE(epsilon > delta);
-  }
-
-  {
-    auto start = std::chrono::steady_clock::now();
-
-// suppress deprecated 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
-
-    rclcpp::GenericRate<std::chrono::steady_clock> gr(period);
-    ASSERT_TRUE(gr.is_steady());
-
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
-    ASSERT_EQ(gr.get_type(), RCL_STEADY_TIME);
-    EXPECT_EQ(period, gr.period());
-    ASSERT_TRUE(gr.sleep());
-    auto one = std::chrono::steady_clock::now();
-    auto delta = one - start;
-    EXPECT_LT(period, delta);
-    EXPECT_GT(period * overrun_ratio, delta);
-
-    rclcpp::sleep_for(offset);
-    ASSERT_TRUE(gr.sleep());
-    auto two = std::chrono::steady_clock::now();
-    delta = two - start;
-    EXPECT_LT(2 * period, delta + epsilon);
-    EXPECT_GT(2 * period * overrun_ratio, delta);
-
-    rclcpp::sleep_for(offset);
-    auto two_offset = std::chrono::steady_clock::now();
-    gr.reset();
-    ASSERT_TRUE(gr.sleep());
-    auto three = std::chrono::steady_clock::now();
-    delta = three - two_offset;
-    EXPECT_LT(period, delta);
-    EXPECT_GT(period * overrun_ratio, delta);
-
-    rclcpp::sleep_for(offset + period);
-    auto four = std::chrono::steady_clock::now();
-    ASSERT_FALSE(gr.sleep());
-    auto five = std::chrono::steady_clock::now();
-    delta = five - four;
-    EXPECT_GT(epsilon, delta);
-  }
-}
-
-TEST(TestRate, from_double) {
-  {
-    rclcpp::Rate rate(1.0);
-    EXPECT_EQ(rclcpp::Duration(std::chrono::seconds(1)), rate.period());
+    rclcpp::WallRate rate(1.0);
+    EXPECT_EQ(std::chrono::seconds(1), rate.period());
   }
   {
     rclcpp::WallRate rate(2.0);
-    EXPECT_EQ(rclcpp::Duration(std::chrono::milliseconds(500)), rate.period());
+    EXPECT_EQ(std::chrono::milliseconds(500), rate.period());
   }
   {
     rclcpp::WallRate rate(0.5);
-    EXPECT_EQ(rclcpp::Duration(std::chrono::seconds(2)), rate.period());
+    EXPECT_EQ(std::chrono::seconds(2), rate.period());
   }
   {
-    rclcpp::ROSRate rate(4.0);
-    EXPECT_EQ(rclcpp::Duration(std::chrono::milliseconds(250)), rate.period());
+    rclcpp::WallRate rate(4.0);
+    EXPECT_EQ(std::chrono::milliseconds(250), rate.period());
   }
 }
-
-TEST(TestRate, clock_types) {
-  {
-    rclcpp::Rate rate(1.0, std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME));
-// suppress deprecated 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
-    EXPECT_FALSE(rate.is_steady());
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-    EXPECT_EQ(RCL_SYSTEM_TIME, rate.get_type());
-  }
-  {
-    rclcpp::Rate rate(1.0, std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME));
-// suppress deprecated 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
-    EXPECT_TRUE(rate.is_steady());
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-    EXPECT_EQ(RCL_STEADY_TIME, rate.get_type());
-  }
-  {
-    rclcpp::Rate rate(1.0, std::make_shared<rclcpp::Clock>(RCL_ROS_TIME));
-// suppress deprecated 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
-    EXPECT_FALSE(rate.is_steady());
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-    EXPECT_EQ(RCL_ROS_TIME, rate.get_type());
-  }
-}
-
-TEST(TestRate, incorrect_constuctor) {
-  // Constructor with 0-frequency
-  RCLCPP_EXPECT_THROW_EQ(
-    rclcpp::Rate rate(0.0),
-    std::invalid_argument("rate must be greater than 0"));
-
-  // Constructor with negative frequency
-  RCLCPP_EXPECT_THROW_EQ(
-    rclcpp::Rate rate(-1.0),
-    std::invalid_argument("rate must be greater than 0"));
-
-  // Constructor with 0-duration
-  RCLCPP_EXPECT_THROW_EQ(
-    rclcpp::Rate rate(rclcpp::Duration(0, 0)),
-    std::invalid_argument("period must be greater than 0"));
-
-  // Constructor with negative duration
-  RCLCPP_EXPECT_THROW_EQ(
-    rclcpp::Rate rate(rclcpp::Duration(-1, 0)),
-    std::invalid_argument("period must be greater than 0"));
-}

rclcpp/test/rclcpp/test_rosout_subscription.cpp

@@ -70,7 +70,7 @@ TEST_F(TestRosoutSubscription, test_rosoutsubscription_getchild) {
     // before calling get_child of Logger
     {
       RCLCPP_INFO(
-        rclcpp::get_logger(logger_name), "%s", this->rosout_msg_data.c_str());
+        rclcpp::get_logger(logger_name), this->rosout_msg_data.c_str());
       auto future = received_msg_promise.get_future();
       auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
       ASSERT_EQ(rclcpp::FutureReturnCode::TIMEOUT, return_code);
@@ -83,7 +83,7 @@ TEST_F(TestRosoutSubscription, test_rosoutsubscription_getchild) {
     // after calling get_child of Logger
     // 1. use child_logger directly
     {
-      RCLCPP_INFO(child_logger, "%s", this->rosout_msg_data.c_str());
+      RCLCPP_INFO(child_logger, this->rosout_msg_data.c_str());
       auto future = received_msg_promise.get_future();
       auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
       ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
@@ -93,7 +93,7 @@ TEST_F(TestRosoutSubscription, test_rosoutsubscription_getchild) {
 
     // 2. use rclcpp::get_logger
     {
-      RCLCPP_INFO(rclcpp::get_logger(logger_name), "%s", this->rosout_msg_data.c_str());
+      RCLCPP_INFO(rclcpp::get_logger(logger_name), this->rosout_msg_data.c_str());
       auto future = received_msg_promise.get_future();
       auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
       ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
@@ -104,7 +104,7 @@ TEST_F(TestRosoutSubscription, test_rosoutsubscription_getchild) {
 
   // `child_logger` is end of life, there is no sublogger
   {
-    RCLCPP_INFO(rclcpp::get_logger(logger_name), "%s", this->rosout_msg_data.c_str());
+    RCLCPP_INFO(rclcpp::get_logger(logger_name), this->rosout_msg_data.c_str());
     auto future = received_msg_promise.get_future();
     auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
     ASSERT_EQ(rclcpp::FutureReturnCode::TIMEOUT, return_code);
@@ -119,7 +119,7 @@ TEST_F(TestRosoutSubscription, test_rosoutsubscription_parent_log) {
 
   rclcpp::Logger logger = this->node->get_logger();
   ASSERT_EQ(logger.get_name(), logger_name);
-  RCLCPP_INFO(logger, "%s", this->rosout_msg_data.c_str());
+  RCLCPP_INFO(logger, this->rosout_msg_data.c_str());
   auto future = received_msg_promise.get_future();
   auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
   ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
@@ -133,14 +133,14 @@ TEST_F(TestRosoutSubscription, test_rosoutsubscription_child_log) {
   this->rosout_msg_name = logger_name;
 
   rclcpp::Logger logger = this->node->get_logger();
-  RCLCPP_INFO(logger, "%s", this->rosout_msg_data.c_str());
+  RCLCPP_INFO(logger, this->rosout_msg_data.c_str());
   auto future = received_msg_promise.get_future();
   auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
   ASSERT_EQ(rclcpp::FutureReturnCode::TIMEOUT, return_code);
   received_msg_promise = {};
 
   logger = this->node->get_logger().get_child("child1");
-  RCLCPP_INFO(logger, "%s", this->rosout_msg_data.c_str());
+  RCLCPP_INFO(logger, this->rosout_msg_data.c_str());
   future = received_msg_promise.get_future();
   return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
   ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
@@ -148,14 +148,14 @@ TEST_F(TestRosoutSubscription, test_rosoutsubscription_child_log) {
   received_msg_promise = {};
 
   logger = this->node->get_logger().get_child("child2");
-  RCLCPP_INFO(logger, "%s", this->rosout_msg_data.c_str());
+  RCLCPP_INFO(logger, this->rosout_msg_data.c_str());
   future = received_msg_promise.get_future();
   return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
   ASSERT_EQ(rclcpp::FutureReturnCode::TIMEOUT, return_code);
   received_msg_promise = {};
 
   this->rosout_msg_name = "ns.test_rosout_subscription.child2";
-  RCLCPP_INFO(logger, "%s", this->rosout_msg_data.c_str());
+  RCLCPP_INFO(logger, this->rosout_msg_data.c_str());
   future = received_msg_promise.get_future();
   return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
   ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
@@ -171,7 +171,7 @@ TEST_F(TestRosoutSubscription, test_rosoutsubscription_getchild_hierarchy) {
   rclcpp::Logger grandchild_logger =
     this->node->get_logger().get_child("child").get_child("grandchild");
   ASSERT_EQ(grandchild_logger.get_name(), logger_name);
-  RCLCPP_INFO(grandchild_logger, "%s", this->rosout_msg_data.c_str());
+  RCLCPP_INFO(grandchild_logger, this->rosout_msg_data.c_str());
   auto future = received_msg_promise.get_future();
   auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
   ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);

rclcpp/test/rclcpp/test_subscription.cpp

@@ -17,8 +17,6 @@
 #include <chrono>
 #include <functional>
 #include <memory>
-#include <ostream>
-#include <stdexcept>
 #include <string>
 #include <thread>
 #include <vector>
@@ -36,7 +34,53 @@ using namespace std::chrono_literals;
 class TestSubscription : public ::testing::Test
 {
 public:
-  void on_message(test_msgs::msg::Empty::ConstSharedPtr msg)
+  void OnMessage(test_msgs::msg::Empty::ConstSharedPtr msg)
+  {
+    (void)msg;
+  }
+
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+protected:
+  void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
+  {
+    node = std::make_shared<rclcpp::Node>("test_subscription", "/ns", node_options);
+  }
+
+  void TearDown()
+  {
+    node.reset();
+  }
+
+  rclcpp::Node::SharedPtr node;
+};
+
+struct TestParameters
+{
+  TestParameters(rclcpp::QoS qos, std::string description)
+  : qos(qos), description(description) {}
+  rclcpp::QoS qos;
+  std::string description;
+};
+
+std::ostream & operator<<(std::ostream & out, const TestParameters & params)
+{
+  out << params.description;
+  return out;
+}
+
+class TestSubscriptionInvalidIntraprocessQos
+  : public TestSubscription,
+  public ::testing::WithParamInterface<TestParameters>
+{};
+
+class TestSubscriptionSub : public ::testing::Test
+{
+public:
+  void OnMessage(test_msgs::msg::Empty::ConstSharedPtr msg)
   {
     (void)msg;
   }
@@ -44,20 +88,60 @@ public:
 protected:
   static void SetUpTestCase()
   {
-    rclcpp::init(0, nullptr);
   }
 
-  static void TearDownTestCase()
+  void SetUp()
   {
-    rclcpp::shutdown();
+    node = std::make_shared<rclcpp::Node>("test_subscription", "/ns");
+    subnode = node->create_sub_node("sub_ns");
   }
 
-  void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
+  void TearDown()
   {
-    node_ = std::make_shared<rclcpp::Node>("test_subscription", "/ns", node_options);
+    node.reset();
   }
 
-  rclcpp::Node::SharedPtr node_;
+  rclcpp::Node::SharedPtr node;
+  rclcpp::Node::SharedPtr subnode;
+};
+
+class SubscriptionClassNodeInheritance : public rclcpp::Node
+{
+public:
+  SubscriptionClassNodeInheritance()
+  : Node("subscription_class_node_inheritance")
+  {
+  }
+
+  void OnMessage(test_msgs::msg::Empty::ConstSharedPtr msg)
+  {
+    (void)msg;
+  }
+
+  void CreateSubscription()
+  {
+    auto callback = std::bind(
+      &SubscriptionClassNodeInheritance::OnMessage, this, std::placeholders::_1);
+    using test_msgs::msg::Empty;
+    auto sub = this->create_subscription<Empty>("topic", 10, callback);
+  }
+};
+
+class SubscriptionClass
+{
+public:
+  void OnMessage(test_msgs::msg::Empty::ConstSharedPtr msg)
+  {
+    (void)msg;
+  }
+
+  void CreateSubscription()
+  {
+    auto node = std::make_shared<rclcpp::Node>("test_subscription_member_callback", "/ns");
+    auto callback = std::bind(&SubscriptionClass::OnMessage, this, std::placeholders::_1);
+    using test_msgs::msg::Empty;
+    auto sub = node->create_subscription<Empty>("topic", 10, callback);
+  }
 };
 
 /*
@@ -71,7 +155,7 @@ TEST_F(TestSubscription, construction_and_destruction) {
     };
   {
     constexpr size_t depth = 10u;
-    auto sub = node_->create_subscription<Empty>("topic", depth, callback);
+    auto sub = node->create_subscription<Empty>("topic", depth, callback);
 
     EXPECT_NE(nullptr, sub->get_subscription_handle());
     // Converting to base class was necessary for the compiler to choose the const version of
@@ -88,7 +172,40 @@ TEST_F(TestSubscription, construction_and_destruction) {
   {
     ASSERT_THROW(
     {
-      auto sub = node_->create_subscription<Empty>("invalid_topic?", 10, callback);
+      auto sub = node->create_subscription<Empty>("invalid_topic?", 10, callback);
+    }, rclcpp::exceptions::InvalidTopicNameError);
+  }
+}
+
+/*
+   Testing subscription construction and destruction for subnodes.
+ */
+TEST_F(TestSubscriptionSub, construction_and_destruction) {
+  using test_msgs::msg::Empty;
+  auto callback = [](Empty::ConstSharedPtr msg) {
+      (void)msg;
+    };
+  {
+    auto sub = subnode->create_subscription<Empty>("topic", 1, callback);
+    EXPECT_STREQ(sub->get_topic_name(), "/ns/sub_ns/topic");
+  }
+
+  {
+    auto sub = subnode->create_subscription<Empty>("/topic", 1, callback);
+    EXPECT_STREQ(sub->get_topic_name(), "/topic");
+  }
+
+  {
+    auto sub = subnode->create_subscription<Empty>("~/topic", 1, callback);
+    std::string expected_topic_name =
+      std::string(node->get_namespace()) + "/" + node->get_name() + "/topic";
+    EXPECT_STREQ(sub->get_topic_name(), expected_topic_name.c_str());
+  }
+
+  {
+    ASSERT_THROW(
+    {
+      auto sub = node->create_subscription<Empty>("invalid_topic?", 1, callback);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
 }
@@ -101,31 +218,31 @@ TEST_F(TestSubscription, various_creation_signatures) {
   using test_msgs::msg::Empty;
   auto cb = [](test_msgs::msg::Empty::ConstSharedPtr) {};
   {
-    auto sub = node_->create_subscription<Empty>("topic", 1, cb);
+    auto sub = node->create_subscription<Empty>("topic", 1, cb);
     (void)sub;
   }
   {
-    auto sub = node_->create_subscription<Empty>("topic", rclcpp::QoS(1), cb);
+    auto sub = node->create_subscription<Empty>("topic", rclcpp::QoS(1), cb);
     (void)sub;
   }
   {
     auto sub =
-      node_->create_subscription<Empty>("topic", rclcpp::QoS(rclcpp::KeepLast(1)), cb);
+      node->create_subscription<Empty>("topic", rclcpp::QoS(rclcpp::KeepLast(1)), cb);
     (void)sub;
   }
   {
     auto sub =
-      node_->create_subscription<Empty>("topic", rclcpp::QoS(rclcpp::KeepAll()), cb);
+      node->create_subscription<Empty>("topic", rclcpp::QoS(rclcpp::KeepAll()), cb);
     (void)sub;
   }
   {
-    auto sub = node_->create_subscription<Empty>(
+    auto sub = node->create_subscription<Empty>(
       "topic", 42, cb, rclcpp::SubscriptionOptions());
     (void)sub;
   }
   {
     auto sub = rclcpp::create_subscription<Empty>(
-      node_, "topic", 42, cb, rclcpp::SubscriptionOptions());
+      node, "topic", 42, cb, rclcpp::SubscriptionOptions());
     (void)sub;
   }
   {
@@ -133,78 +250,40 @@ TEST_F(TestSubscription, various_creation_signatures) {
     options.allocator = std::make_shared<std::allocator<void>>();
     EXPECT_NE(nullptr, options.get_allocator());
     auto sub = rclcpp::create_subscription<Empty>(
-      node_, "topic", 42, cb, options);
+      node, "topic", 42, cb, options);
     (void)sub;
   }
   {
     rclcpp::SubscriptionOptionsBase options_base;
     rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>> options(options_base);
     auto sub = rclcpp::create_subscription<Empty>(
-      node_, "topic", 42, cb, options);
+      node, "topic", 42, cb, options);
     (void)sub;
   }
 }
 
-class SubscriptionClass final
-{
-public:
-  void custom_create_subscription()
-  {
-    auto node = std::make_shared<rclcpp::Node>("test_subscription_member_callback", "/ns");
-    auto callback = std::bind(&SubscriptionClass::on_message, this, std::placeholders::_1);
-    auto sub = node->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
-  }
-
-private:
-  void on_message(test_msgs::msg::Empty::ConstSharedPtr msg)
-  {
-    (void)msg;
-  }
-};
-
-class SubscriptionClassNodeInheritance final : public rclcpp::Node
-{
-public:
-  SubscriptionClassNodeInheritance()
-  : Node("subscription_class_node_inheritance")
-  {
-  }
-
-  void custom_create_subscription()
-  {
-    auto callback = std::bind(
-      &SubscriptionClassNodeInheritance::on_message, this, std::placeholders::_1);
-    auto sub = this->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
-  }
-
-private:
-  void on_message(test_msgs::msg::Empty::ConstSharedPtr msg)
-  {
-    (void)msg;
-  }
-};
-
 /*
    Testing subscriptions using std::bind.
  */
 TEST_F(TestSubscription, callback_bind) {
   initialize();
+  using test_msgs::msg::Empty;
   {
     // Member callback for plain class
     SubscriptionClass subscription_object;
-    subscription_object.custom_create_subscription();
+    subscription_object.CreateSubscription();
   }
   {
     // Member callback for class inheriting from rclcpp::Node
     SubscriptionClassNodeInheritance subscription_object;
-    subscription_object.custom_create_subscription();
+    subscription_object.CreateSubscription();
   }
   {
     // Member callback for class inheriting from testing::Test
     // Regression test for https://github.com/ros2/rclcpp/issues/479 where the TEST_F GTest macro
     // was interfering with rclcpp's `function_traits`.
-    auto callback = std::bind(&TestSubscription::on_message, this, std::placeholders::_1);
-    auto sub = node_->create_subscription<test_msgs::msg::Empty>("topic", 1, callback);
+    auto callback = std::bind(&TestSubscription::OnMessage, this, std::placeholders::_1);
+    auto sub = node->create_subscription<Empty>("topic", 1, callback);
   }
 }
 
@@ -213,9 +292,10 @@ TEST_F(TestSubscription, callback_bind) {
  */
 TEST_F(TestSubscription, take) {
   initialize();
+  using test_msgs::msg::Empty;
   auto do_nothing = [](std::shared_ptr<const test_msgs::msg::Empty>) {FAIL();};
   {
-    auto sub = node_->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing);
+    auto sub = node->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing);
     test_msgs::msg::Empty msg;
     rclcpp::MessageInfo msg_info;
     EXPECT_FALSE(sub->take(msg, msg_info));
@@ -223,23 +303,23 @@ TEST_F(TestSubscription, take) {
   {
     rclcpp::SubscriptionOptions so;
     so.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
-    auto sub = node_->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing, so);
+    auto sub = node->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing, so);
     rclcpp::PublisherOptions po;
     po.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
-    auto pub = node_->create_publisher<test_msgs::msg::Empty>("~/test_take", 1, po);
+    auto pub = node->create_publisher<test_msgs::msg::Empty>("~/test_take", 1, po);
     {
       test_msgs::msg::Empty msg;
       pub->publish(msg);
     }
     test_msgs::msg::Empty msg;
     rclcpp::MessageInfo msg_info;
-    bool message_received = false;
+    bool message_recieved = false;
     auto start = std::chrono::steady_clock::now();
     do {
-      message_received = sub->take(msg, msg_info);
+      message_recieved = sub->take(msg, msg_info);
       std::this_thread::sleep_for(100ms);
-    } while (!message_received && std::chrono::steady_clock::now() - start < 10s);
-    EXPECT_TRUE(message_received);
+    } while (!message_recieved && std::chrono::steady_clock::now() - start < 10s);
+    EXPECT_TRUE(message_recieved);
   }
   // TODO(wjwwood): figure out a good way to test the intra-process exclusion behavior.
 }
@@ -249,9 +329,10 @@ TEST_F(TestSubscription, take) {
  */
 TEST_F(TestSubscription, take_serialized) {
   initialize();
+  using test_msgs::msg::Empty;
   auto do_nothing = [](std::shared_ptr<const rclcpp::SerializedMessage>) {FAIL();};
   {
-    auto sub = node_->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing);
+    auto sub = node->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing);
     std::shared_ptr<rclcpp::SerializedMessage> msg = sub->create_serialized_message();
     rclcpp::MessageInfo msg_info;
     EXPECT_FALSE(sub->take_serialized(*msg, msg_info));
@@ -259,23 +340,23 @@ TEST_F(TestSubscription, take_serialized) {
   {
     rclcpp::SubscriptionOptions so;
     so.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
-    auto sub = node_->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing, so);
+    auto sub = node->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing, so);
     rclcpp::PublisherOptions po;
     po.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
-    auto pub = node_->create_publisher<test_msgs::msg::Empty>("~/test_take", 1, po);
+    auto pub = node->create_publisher<test_msgs::msg::Empty>("~/test_take", 1, po);
     {
       test_msgs::msg::Empty msg;
       pub->publish(msg);
     }
     std::shared_ptr<rclcpp::SerializedMessage> msg = sub->create_serialized_message();
     rclcpp::MessageInfo msg_info;
-    bool message_received = false;
+    bool message_recieved = false;
     auto start = std::chrono::steady_clock::now();
     do {
-      message_received = sub->take_serialized(*msg, msg_info);
+      message_recieved = sub->take_serialized(*msg, msg_info);
       std::this_thread::sleep_for(100ms);
-    } while (!message_received && std::chrono::steady_clock::now() - start < 10s);
-    EXPECT_TRUE(message_received);
+    } while (!message_recieved && std::chrono::steady_clock::now() - start < 10s);
+    EXPECT_TRUE(message_recieved);
   }
 }
 
@@ -287,7 +368,7 @@ TEST_F(TestSubscription, rcl_subscription_init_error) {
 
   // reset() is not needed for triggering exception, just to avoid an unused return value warning
   EXPECT_THROW(
-    node_->create_subscription<test_msgs::msg::Empty>("topic", 10, callback).reset(),
+    node->create_subscription<test_msgs::msg::Empty>("topic", 10, callback).reset(),
     rclcpp::exceptions::RCLError);
 }
 
@@ -299,7 +380,7 @@ TEST_F(TestSubscription, rcl_subscription_fini_error) {
 
   // Cleanup just fails, no exception expected
   EXPECT_NO_THROW(
-    node_->create_subscription<test_msgs::msg::Empty>("topic", 10, callback).reset());
+    node->create_subscription<test_msgs::msg::Empty>("topic", 10, callback).reset());
 }
 
 TEST_F(TestSubscription, rcl_subscription_get_actual_qos_error) {
@@ -308,7 +389,7 @@ TEST_F(TestSubscription, rcl_subscription_get_actual_qos_error) {
   auto mock = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_subscription_get_actual_qos, nullptr);
 
-  auto sub = node_->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
+  auto sub = node->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
   RCLCPP_EXPECT_THROW_EQ(
     sub->get_actual_qos(), std::runtime_error("failed to get qos settings: error not set"));
 }
@@ -319,7 +400,7 @@ TEST_F(TestSubscription, rcl_take_type_erased_error) {
   auto mock = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_take, RCL_RET_ERROR);
 
-  auto sub = node_->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
+  auto sub = node->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
   test_msgs::msg::Empty msg;
   rclcpp::MessageInfo message_info;
 
@@ -332,7 +413,7 @@ TEST_F(TestSubscription, rcl_take_serialized_message_error) {
   auto mock = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_take_serialized_message, RCL_RET_ERROR);
 
-  auto sub = node_->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
+  auto sub = node->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
   rclcpp::SerializedMessage msg;
   rclcpp::MessageInfo message_info;
 
@@ -345,14 +426,14 @@ TEST_F(TestSubscription, rcl_subscription_get_publisher_count_error) {
   auto mock = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_subscription_get_publisher_count, RCL_RET_ERROR);
 
-  auto sub = node_->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
+  auto sub = node->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
   EXPECT_THROW(sub->get_publisher_count(), rclcpp::exceptions::RCLError);
 }
 
 TEST_F(TestSubscription, handle_loaned_message) {
   initialize();
   auto callback = [](std::shared_ptr<const test_msgs::msg::Empty>) {};
-  auto sub = node_->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
+  auto sub = node->create_subscription<test_msgs::msg::Empty>("topic", 10, callback);
 
   test_msgs::msg::Empty msg;
   rclcpp::MessageInfo message_info;
@@ -367,13 +448,13 @@ TEST_F(TestSubscription, on_new_message_callback) {
   using test_msgs::msg::Empty;
 
   auto do_nothing = [](std::shared_ptr<const test_msgs::msg::Empty>) {FAIL();};
-  auto sub = node_->create_subscription<test_msgs::msg::Empty>("~/test_take", 10, do_nothing);
+  auto sub = node->create_subscription<test_msgs::msg::Empty>("~/test_take", 10, do_nothing);
 
   std::atomic<size_t> c1 {0};
   auto increase_c1_cb = [&c1](size_t count_msgs) {c1 += count_msgs;};
   sub->set_on_new_message_callback(increase_c1_cb);
 
-  auto pub = node_->create_publisher<test_msgs::msg::Empty>("~/test_take", 3);
+  auto pub = node->create_publisher<test_msgs::msg::Empty>("~/test_take", 3);
   {
     test_msgs::msg::Empty msg;
     pub->publish(msg);
@@ -437,13 +518,13 @@ TEST_F(TestSubscription, on_new_intra_process_message_callback) {
   using test_msgs::msg::Empty;
 
   auto do_nothing = [](std::shared_ptr<const test_msgs::msg::Empty>) {FAIL();};
-  auto sub = node_->create_subscription<test_msgs::msg::Empty>("~/test_take", 10, do_nothing);
+  auto sub = node->create_subscription<test_msgs::msg::Empty>("~/test_take", 10, do_nothing);
 
   std::atomic<size_t> c1 {0};
   auto increase_c1_cb = [&c1](size_t count_msgs) {c1 += count_msgs;};
   sub->set_on_new_intra_process_message_callback(increase_c1_cb);
 
-  auto pub = node_->create_publisher<test_msgs::msg::Empty>("~/test_take", 1);
+  auto pub = node->create_publisher<test_msgs::msg::Empty>("~/test_take", 1);
   {
     test_msgs::msg::Empty msg;
     pub->publish(msg);
@@ -499,13 +580,80 @@ TEST_F(TestSubscription, on_new_intra_process_message_callback) {
   EXPECT_THROW(sub->set_on_new_intra_process_message_callback(invalid_cb), std::invalid_argument);
 }
 
+/*
+   Testing subscription with intraprocess enabled and invalid QoS
+ */
+TEST_P(TestSubscriptionInvalidIntraprocessQos, test_subscription_throws) {
+  initialize(rclcpp::NodeOptions().use_intra_process_comms(true));
+  rclcpp::QoS qos = GetParam().qos;
+  using test_msgs::msg::Empty;
+  {
+    auto callback = std::bind(
+      &TestSubscriptionInvalidIntraprocessQos::OnMessage,
+      this,
+      std::placeholders::_1);
+
+    ASSERT_THROW(
+      {auto subscription = node->create_subscription<Empty>(
+          "topic",
+          qos,
+          callback);},
+      std::invalid_argument);
+  }
+}
+
+/*
+   Testing subscription with invalid use_intra_process_comm
+ */
+TEST_P(TestSubscriptionInvalidIntraprocessQos, test_subscription_throws_intraprocess) {
+  rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>> options;
+  options.use_intra_process_comm = static_cast<rclcpp::IntraProcessSetting>(5);
+
+  initialize();
+  rclcpp::QoS qos = GetParam().qos;
+  auto callback = std::bind(
+    &TestSubscriptionInvalidIntraprocessQos::OnMessage,
+    this,
+    std::placeholders::_1);
+
+  RCLCPP_EXPECT_THROW_EQ(
+    {auto subscription = node->create_subscription<test_msgs::msg::Empty>(
+        "topic",
+        qos,
+        callback,
+        options);},
+    std::runtime_error("Unrecognized IntraProcessSetting value"));
+}
+
+static std::vector<TestParameters> invalid_qos_profiles()
+{
+  std::vector<TestParameters> parameters;
+
+  parameters.reserve(3);
+  parameters.push_back(
+    TestParameters(
+      rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(),
+      "transient_local_qos"));
+  parameters.push_back(
+    TestParameters(
+      rclcpp::QoS(rclcpp::KeepAll()),
+      "keep_all_qos"));
+
+  return parameters;
+}
+
+INSTANTIATE_TEST_SUITE_P(
+  TestSubscriptionThrows, TestSubscriptionInvalidIntraprocessQos,
+  ::testing::ValuesIn(invalid_qos_profiles()),
+  ::testing::PrintToStringParamName());
+
 TEST_F(TestSubscription, get_network_flow_endpoints_errors) {
   initialize();
   const rclcpp::QoS subscription_qos(1);
   auto subscription_callback = [](test_msgs::msg::Empty::ConstSharedPtr msg) {
       (void)msg;
     };
-  auto subscription = node_->create_subscription<test_msgs::msg::Empty>(
+  auto subscription = node->create_subscription<test_msgs::msg::Empty>(
     "topic", subscription_qos, subscription_callback);
 
   {
@@ -532,143 +680,3 @@ TEST_F(TestSubscription, get_network_flow_endpoints_errors) {
     EXPECT_NO_THROW(subscription->get_network_flow_endpoints());
   }
 }
-
-class TestSubscriptionSub : public ::testing::Test
-{
-protected:
-  static void SetUpTestCase()
-  {
-    rclcpp::init(0, nullptr);
-  }
-
-  static void TearDownTestCase()
-  {
-    rclcpp::shutdown();
-  }
-
-  void SetUp()
-  {
-    node_ = std::make_shared<rclcpp::Node>("test_subscription", "/ns");
-    subnode_ = node_->create_sub_node("sub_ns");
-  }
-
-  rclcpp::Node::SharedPtr node_;
-  rclcpp::Node::SharedPtr subnode_;
-};
-
-/*
-   Testing subscription construction and destruction for subnodes.
- */
-TEST_F(TestSubscriptionSub, construction_and_destruction) {
-  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr msg) {
-      (void)msg;
-    };
-  {
-    auto sub = subnode_->create_subscription<test_msgs::msg::Empty>("topic", 1, callback);
-    EXPECT_STREQ(sub->get_topic_name(), "/ns/sub_ns/topic");
-  }
-
-  {
-    auto sub = subnode_->create_subscription<test_msgs::msg::Empty>("/topic", 1, callback);
-    EXPECT_STREQ(sub->get_topic_name(), "/topic");
-  }
-
-  {
-    auto sub = subnode_->create_subscription<test_msgs::msg::Empty>("~/topic", 1, callback);
-    std::string expected_topic_name =
-      std::string(node_->get_namespace()) + "/" + node_->get_name() + "/topic";
-    EXPECT_STREQ(sub->get_topic_name(), expected_topic_name.c_str());
-  }
-
-  {
-    ASSERT_THROW(
-    {
-      auto sub = node_->create_subscription<test_msgs::msg::Empty>("invalid_topic?", 1, callback);
-    }, rclcpp::exceptions::InvalidTopicNameError);
-  }
-}
-
-struct TestParameters final
-{
-  TestParameters(rclcpp::QoS qos, std::string description)
-  : qos(qos), description(description) {}
-  rclcpp::QoS qos;
-  std::string description;
-};
-
-std::ostream & operator<<(std::ostream & out, const TestParameters & params)
-{
-  out << params.description;
-  return out;
-}
-
-class TestSubscriptionInvalidIntraprocessQos
-  : public TestSubscription,
-  public ::testing::WithParamInterface<TestParameters>
-{};
-
-static std::vector<TestParameters> invalid_qos_profiles()
-{
-  std::vector<TestParameters> parameters;
-
-  parameters.reserve(3);
-  parameters.push_back(
-    TestParameters(
-      rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(),
-      "transient_local_qos"));
-  parameters.push_back(
-    TestParameters(
-      rclcpp::QoS(rclcpp::KeepAll()),
-      "keep_all_qos"));
-
-  return parameters;
-}
-
-INSTANTIATE_TEST_SUITE_P(
-  TestSubscriptionThrows, TestSubscriptionInvalidIntraprocessQos,
-  ::testing::ValuesIn(invalid_qos_profiles()),
-  ::testing::PrintToStringParamName());
-
-/*
-   Testing subscription with intraprocess enabled and invalid QoS
- */
-TEST_P(TestSubscriptionInvalidIntraprocessQos, test_subscription_throws) {
-  initialize(rclcpp::NodeOptions().use_intra_process_comms(true));
-  rclcpp::QoS qos = GetParam().qos;
-  {
-    auto callback = std::bind(
-      &TestSubscriptionInvalidIntraprocessQos::on_message,
-      this,
-      std::placeholders::_1);
-
-    ASSERT_THROW(
-      {auto subscription = node_->create_subscription<test_msgs::msg::Empty>(
-          "topic",
-          qos,
-          callback);},
-      std::invalid_argument);
-  }
-}
-
-/*
-   Testing subscription with invalid use_intra_process_comm
- */
-TEST_P(TestSubscriptionInvalidIntraprocessQos, test_subscription_throws_intraprocess) {
-  rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>> options;
-  options.use_intra_process_comm = static_cast<rclcpp::IntraProcessSetting>(5);
-
-  initialize();
-  rclcpp::QoS qos = GetParam().qos;
-  auto callback = std::bind(
-    &TestSubscriptionInvalidIntraprocessQos::on_message,
-    this,
-    std::placeholders::_1);
-
-  RCLCPP_EXPECT_THROW_EQ(
-    {auto subscription = node_->create_subscription<test_msgs::msg::Empty>(
-        "topic",
-        qos,
-        callback,
-        options);},
-    std::runtime_error("Unrecognized IntraProcessSetting value"));
-}

rclcpp/test/rclcpp/test_subscription_content_filter.cpp

@@ -310,3 +310,25 @@ TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), content_fil
     }
   }
 }
+
+TEST_F(
+  CLASSNAME(
+    TestContentFilterSubscription,
+    RMW_IMPLEMENTATION), create_two_content_filters_with_same_topic_name_and_destroy) {
+
+  // Create another content filter
+  auto options = rclcpp::SubscriptionOptions();
+
+  std::string filter_expression = "int32_value > %0";
+  std::vector<std::string> expression_parameters = {"4"};
+
+  options.content_filter_options.filter_expression = filter_expression;
+  options.content_filter_options.expression_parameters = expression_parameters;
+
+  auto callback = [](std::shared_ptr<const test_msgs::msg::BasicTypes>) {};
+  auto sub_2 = node->create_subscription<test_msgs::msg::BasicTypes>(
+    "content_filter_topic", qos, callback, options);
+
+  EXPECT_NE(nullptr, sub_2);
+  sub_2.reset();
+}

rclcpp/test/rclcpp/test_time_source.cpp

@@ -305,7 +305,7 @@ TEST_F(TestTimeSource, clock) {
 
   trigger_clock_changes(node, ros_clock, false);
 
-  // Even now that we've received a message, ROS time should still not be active since the
+  // Even now that we've recieved a message, ROS time should still not be active since the
   // parameter has not been explicitly set.
   EXPECT_FALSE(ros_clock->ros_time_is_active());
 

rclcpp/test/rclcpp/test_timer.cpp

@@ -73,20 +73,6 @@ protected:
         EXPECT_FALSE(timer->is_steady());
         break;
     }
-    timer_without_autostart = test_node->create_wall_timer(
-      100ms,
-      [this]() -> void
-      {
-        this->has_timer_run.store(true);
-
-        if (this->cancel_timer.load()) {
-          this->timer->cancel();
-        }
-        // prevent any tests running timer from blocking
-        this->executor->cancel();
-      }, nullptr, false);
-    EXPECT_TRUE(timer_without_autostart->is_steady());
-
     executor->add_node(test_node);
     // don't start spinning, let the test dictate when
   }
@@ -107,7 +93,6 @@ protected:
   std::atomic<bool> cancel_timer;
   rclcpp::Node::SharedPtr test_node;
   std::shared_ptr<rclcpp::TimerBase> timer;
-  std::shared_ptr<rclcpp::TimerBase> timer_without_autostart;
   std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> executor;
 };
 
@@ -349,18 +334,3 @@ INSTANTIATE_TEST_SUITE_P(
     return std::string("unknown");
   }
 );
-
-/// Simple test of a timer without autostart
-TEST_P(TestTimer, test_timer_without_autostart)
-{
-  EXPECT_TRUE(timer_without_autostart->is_canceled());
-  EXPECT_EQ(
-    timer_without_autostart->time_until_trigger().count(),
-    std::chrono::nanoseconds::max().count());
-  // Reset to change start timer
-  timer_without_autostart->reset();
-  EXPECT_LE(
-    timer_without_autostart->time_until_trigger().count(),
-    std::chrono::nanoseconds::max().count());
-  EXPECT_FALSE(timer_without_autostart->is_canceled());
-}

rclcpp_action/CHANGELOG.rst

@@ -3,29 +3,31 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-22.2.0 (2023-09-07)
--------------------
-* Correct the position of a comment. (`#2290 <https://github.com/ros2/rclcpp/issues/2290>`_)
-* Fix a typo in a comment. (`#2283 <https://github.com/ros2/rclcpp/issues/2283>`_)
-* doc fix: call `canceled` only after goal state is in canceling. (`#2266 <https://github.com/ros2/rclcpp/issues/2266>`_)
-* Contributors: Chris Lalancette, Jiaqi Li, Tomoya Fujita
-
-22.1.0 (2023-08-21)
+21.0.8 (2024-11-08)
 -------------------
 
-22.0.0 (2023-07-11)
+21.0.7 (2024-07-10)
+-------------------
+* fix: Fixed race condition in action server between is_ready and take"… (`#2531 <https://github.com/ros2/rclcpp/issues/2531>`_)
+* Do not generate the exception when action service response timeout. (`#2519 <https://github.com/ros2/rclcpp/issues/2519>`_)
+* Contributors: Janosch Machowinski, Tomoya Fujita, William Woodall
+
+21.0.6 (2024-04-19)
 -------------------
 
-21.3.0 (2023-06-12)
+21.0.5 (2024-02-07)
 -------------------
 
-21.2.0 (2023-06-07)
+21.0.4 (2023-11-17)
 -------------------
 
-21.1.1 (2023-05-11)
+21.0.3 (2023-09-08)
 -------------------
 
-21.1.0 (2023-04-27)
+21.0.2 (2023-07-14)
+-------------------
+
+21.0.1 (2023-05-11)
 -------------------
 
 21.0.0 (2023-04-18)

rclcpp_action/include/rclcpp_action/server_goal_handle.hpp

@@ -128,7 +128,7 @@ class Server;
  * accepted.
  * A `Server` will create an instance and give it to the user in their `handle_accepted` callback.
  *
- * Internally, this class is responsible for converting between the C++ action type and generic
+ * Internally, this class is responsible for coverting between the C++ action type and generic
  * types for `rclcpp_action::ServerGoalHandleBase`.
  */
 template<typename ActionT>
@@ -196,7 +196,7 @@ public:
 
   /// Indicate that a goal has been canceled.
   /**
-   * Only call this if the goal is canceling.
+   * Only call this if the goal is executing or pending, but has been canceled.
    * This is a terminal state, no more methods should be called on a goal handle after this is
    * called.
    *

rclcpp_action/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_action</name>
-  <version>22.2.0</version>
+  <version>21.0.8</version>
   <description>Adds action APIs for C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_action/src/client.cpp

@@ -19,6 +19,7 @@
 #include <string>
 #include <tuple>
 #include <utility>
+#include <variant>
 
 #include "rcl_action/action_client.h"
 #include "rcl_action/wait.h"
@@ -31,6 +32,67 @@
 namespace rclcpp_action
 {
 
+struct ClientBaseData
+{
+  struct FeedbackReadyData
+  {
+    FeedbackReadyData(rcl_ret_t retIn, std::shared_ptr<void> msg)
+    : ret(retIn), feedback_message(msg) {}
+    rcl_ret_t ret;
+    std::shared_ptr<void> feedback_message;
+  };
+  struct StatusReadyData
+  {
+    StatusReadyData(rcl_ret_t retIn, std::shared_ptr<void> msg)
+    : ret(retIn), status_message(msg) {}
+    rcl_ret_t ret;
+    std::shared_ptr<void> status_message;
+  };
+  struct GoalResponseData
+  {
+    GoalResponseData(rcl_ret_t retIn, rmw_request_id_t header, std::shared_ptr<void> response)
+    : ret(retIn), response_header(header), goal_response(response) {}
+    rcl_ret_t ret;
+    rmw_request_id_t response_header;
+    std::shared_ptr<void> goal_response;
+  };
+  struct CancelResponseData
+  {
+    CancelResponseData(rcl_ret_t retIn, rmw_request_id_t header, std::shared_ptr<void> response)
+    : ret(retIn), response_header(header), cancel_response(response) {}
+    rcl_ret_t ret;
+    rmw_request_id_t response_header;
+    std::shared_ptr<void> cancel_response;
+  };
+  struct ResultResponseData
+  {
+    ResultResponseData(rcl_ret_t retIn, rmw_request_id_t header, std::shared_ptr<void> response)
+    : ret(retIn), response_header(header), result_response(response) {}
+    rcl_ret_t ret;
+    rmw_request_id_t response_header;
+    std::shared_ptr<void> result_response;
+  };
+
+  std::variant<
+    FeedbackReadyData,
+    StatusReadyData,
+    GoalResponseData,
+    CancelResponseData,
+    ResultResponseData
+  > data;
+
+  explicit ClientBaseData(FeedbackReadyData && data_in)
+  : data(std::move(data_in)) {}
+  explicit ClientBaseData(StatusReadyData && data_in)
+  : data(std::move(data_in)) {}
+  explicit ClientBaseData(GoalResponseData && data_in)
+  : data(std::move(data_in)) {}
+  explicit ClientBaseData(CancelResponseData && data_in)
+  : data(std::move(data_in)) {}
+  explicit ClientBaseData(ResultResponseData && data_in)
+  : data(std::move(data_in)) {}
+};
+
 class ClientBaseImpl
 {
 public:
@@ -94,11 +156,13 @@ public:
   size_t num_clients{0u};
   size_t num_services{0u};
 
-  bool is_feedback_ready{false};
-  bool is_status_ready{false};
-  bool is_goal_response_ready{false};
-  bool is_cancel_response_ready{false};
-  bool is_result_response_ready{false};
+  // Lock for action_client_
+  std::recursive_mutex action_client_mutex_;
+
+  // next ready event for taking, will be set by is_ready and will be processed by take_data
+  std::atomic<size_t> next_ready_event;
+  // used to indicate that next_ready_event has no ready event for processing
+  static constexpr size_t NO_EVENT_READY = std::numeric_limits<size_t>::max();
 
   rclcpp::Context::SharedPtr context_;
   rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
@@ -142,6 +206,7 @@ bool
 ClientBase::action_server_is_ready() const
 {
   bool is_ready;
+  std::lock_guard<std::recursive_mutex> lock(pimpl_->action_client_mutex_);
   rcl_ret_t ret = rcl_action_server_is_available(
     this->pimpl_->node_handle.get(),
     this->pimpl_->client_handle.get(),
@@ -163,6 +228,7 @@ bool
 ClientBase::wait_for_action_server_nanoseconds(std::chrono::nanoseconds timeout)
 {
   auto start = std::chrono::steady_clock::now();
+  // make an event to reuse, rather than create a new one each time
   auto node_ptr = pimpl_->node_graph_.lock();
   if (!node_ptr) {
     throw rclcpp::exceptions::InvalidNodeError();
@@ -171,7 +237,6 @@ ClientBase::wait_for_action_server_nanoseconds(std::chrono::nanoseconds timeout)
   if (this->action_server_is_ready()) {
     return true;
   }
-  // make an event to reuse, rather than create a new one each time
   auto event = node_ptr->get_graph_event();
   if (timeout == std::chrono::nanoseconds(0)) {
     // check was non-blocking, return immediately
@@ -255,6 +320,7 @@ ClientBase::get_number_of_ready_services()
 void
 ClientBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 {
+  std::lock_guard<std::recursive_mutex> lock(pimpl_->action_client_mutex_);
   rcl_ret_t ret = rcl_action_wait_set_add_action_client(
     wait_set, pimpl_->client_handle.get(), nullptr, nullptr);
   if (RCL_RET_OK != ret) {
@@ -265,23 +331,56 @@ ClientBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 bool
 ClientBase::is_ready(rcl_wait_set_t * wait_set)
 {
-  rcl_ret_t ret = rcl_action_client_wait_set_get_entities_ready(
-    wait_set, pimpl_->client_handle.get(),
-    &pimpl_->is_feedback_ready,
-    &pimpl_->is_status_ready,
-    &pimpl_->is_goal_response_ready,
-    &pimpl_->is_cancel_response_ready,
-    &pimpl_->is_result_response_ready);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(
-      ret, "failed to check for any ready entities");
+  bool is_feedback_ready{false};
+  bool is_status_ready{false};
+  bool is_goal_response_ready{false};
+  bool is_cancel_response_ready{false};
+  bool is_result_response_ready{false};
+
+  rcl_ret_t ret;
+  {
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_client_mutex_);
+    ret = rcl_action_client_wait_set_get_entities_ready(
+      wait_set, pimpl_->client_handle.get(),
+      &is_feedback_ready,
+      &is_status_ready,
+      &is_goal_response_ready,
+      &is_cancel_response_ready,
+      &is_result_response_ready);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(
+        ret, "failed to check for any ready entities");
+    }
   }
-  return
-    pimpl_->is_feedback_ready ||
-    pimpl_->is_status_ready ||
-    pimpl_->is_goal_response_ready ||
-    pimpl_->is_cancel_response_ready ||
-    pimpl_->is_result_response_ready;
+
+  pimpl_->next_ready_event = ClientBaseImpl::NO_EVENT_READY;
+
+  if (is_feedback_ready) {
+    pimpl_->next_ready_event = static_cast<size_t>(EntityType::FeedbackSubscription);
+    return true;
+  }
+
+  if (is_status_ready) {
+    pimpl_->next_ready_event = static_cast<size_t>(EntityType::StatusSubscription);
+    return true;
+  }
+
+  if (is_goal_response_ready) {
+    pimpl_->next_ready_event = static_cast<size_t>(EntityType::GoalClient);
+    return true;
+  }
+
+  if (is_result_response_ready) {
+    pimpl_->next_ready_event = static_cast<size_t>(EntityType::ResultClient);
+    return true;
+  }
+
+  if (is_cancel_response_ready) {
+    pimpl_->next_ready_event = static_cast<size_t>(EntityType::CancelClient);
+    return true;
+  }
+
+  return false;
 }
 
 void
@@ -432,7 +531,6 @@ ClientBase::set_callback_to_entity(
       }
     };
 
-
   // Set it temporarily to the new callback, while we replace the old one.
   // This two-step setting, prevents a gap where the old std::function has
   // been replaced but the middleware hasn't been told about the new one yet.
@@ -550,140 +648,159 @@ ClientBase::clear_on_ready_callback()
 std::shared_ptr<void>
 ClientBase::take_data()
 {
-  if (pimpl_->is_feedback_ready) {
-    std::shared_ptr<void> feedback_message = this->create_feedback_message();
-    rcl_ret_t ret = rcl_action_take_feedback(
-      pimpl_->client_handle.get(), feedback_message.get());
-    return std::static_pointer_cast<void>(
-      std::make_shared<std::tuple<rcl_ret_t, std::shared_ptr<void>>>(
-        ret, feedback_message));
-  } else if (pimpl_->is_status_ready) {
-    std::shared_ptr<void> status_message = this->create_status_message();
-    rcl_ret_t ret = rcl_action_take_status(
-      pimpl_->client_handle.get(), status_message.get());
-    return std::static_pointer_cast<void>(
-      std::make_shared<std::tuple<rcl_ret_t, std::shared_ptr<void>>>(
-        ret, status_message));
-  } else if (pimpl_->is_goal_response_ready) {
-    rmw_request_id_t response_header;
-    std::shared_ptr<void> goal_response = this->create_goal_response();
-    rcl_ret_t ret = rcl_action_take_goal_response(
-      pimpl_->client_handle.get(), &response_header, goal_response.get());
-    return std::static_pointer_cast<void>(
-      std::make_shared<std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(
-        ret, response_header, goal_response));
-  } else if (pimpl_->is_result_response_ready) {
-    rmw_request_id_t response_header;
-    std::shared_ptr<void> result_response = this->create_result_response();
-    rcl_ret_t ret = rcl_action_take_result_response(
-      pimpl_->client_handle.get(), &response_header, result_response.get());
-    return std::static_pointer_cast<void>(
-      std::make_shared<std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(
-        ret, response_header, result_response));
-  } else if (pimpl_->is_cancel_response_ready) {
-    rmw_request_id_t response_header;
-    std::shared_ptr<void> cancel_response = this->create_cancel_response();
-    rcl_ret_t ret = rcl_action_take_cancel_response(
-      pimpl_->client_handle.get(), &response_header, cancel_response.get());
-    return std::static_pointer_cast<void>(
-      std::make_shared<std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(
-        ret, response_header, cancel_response));
-  } else {
-    throw std::runtime_error("Taking data from action client but nothing is ready");
+  // next_ready_event is an atomic, caching localy
+  size_t next_ready_event = pimpl_->next_ready_event.exchange(ClientBaseImpl::NO_EVENT_READY);
+
+  if (next_ready_event == ClientBaseImpl::NO_EVENT_READY) {
+    // there is a known bug in iron, that take_data might be called multiple
+    // times. Therefore instead of throwing, we just return a nullptr as a workaround.
+    return nullptr;
   }
+
+  return take_data_by_entity_id(next_ready_event);
 }
 
 std::shared_ptr<void>
 ClientBase::take_data_by_entity_id(size_t id)
 {
+  std::shared_ptr<ClientBaseData> data_ptr;
+  rcl_ret_t ret;
+
   // Mark as ready the entity from which we want to take data
   switch (static_cast<EntityType>(id)) {
     case EntityType::GoalClient:
-      pimpl_->is_goal_response_ready = true;
+      {
+        rmw_request_id_t response_header;
+        std::shared_ptr<void> goal_response;
+        {
+          std::lock_guard<std::recursive_mutex> lock(pimpl_->action_client_mutex_);
+
+          goal_response = this->create_goal_response();
+          ret = rcl_action_take_goal_response(
+            pimpl_->client_handle.get(), &response_header, goal_response.get());
+        }
+        data_ptr = std::make_shared<ClientBaseData>(
+          ClientBaseData::GoalResponseData(
+            ret, response_header, goal_response));
+      }
       break;
     case EntityType::ResultClient:
-      pimpl_->is_result_response_ready = true;
+      {
+        rmw_request_id_t response_header;
+        std::shared_ptr<void> result_response;
+        {
+          std::lock_guard<std::recursive_mutex> lock(pimpl_->action_client_mutex_);
+          result_response = this->create_result_response();
+          ret = rcl_action_take_result_response(
+            pimpl_->client_handle.get(), &response_header, result_response.get());
+        }
+        data_ptr =
+          std::make_shared<ClientBaseData>(
+          ClientBaseData::ResultResponseData(
+            ret, response_header, result_response));
+      }
       break;
     case EntityType::CancelClient:
-      pimpl_->is_cancel_response_ready = true;
+      {
+        rmw_request_id_t response_header;
+        std::shared_ptr<void> cancel_response;
+        {
+          std::lock_guard<std::recursive_mutex> lock(pimpl_->action_client_mutex_);
+          cancel_response = this->create_cancel_response();
+          ret = rcl_action_take_cancel_response(
+            pimpl_->client_handle.get(), &response_header, cancel_response.get());
+        }
+        data_ptr =
+          std::make_shared<ClientBaseData>(
+          ClientBaseData::CancelResponseData(
+            ret, response_header, cancel_response));
+      }
       break;
     case EntityType::FeedbackSubscription:
-      pimpl_->is_feedback_ready = true;
+      {
+        std::shared_ptr<void> feedback_message;
+        {
+          std::lock_guard<std::recursive_mutex> lock(pimpl_->action_client_mutex_);
+          feedback_message = this->create_feedback_message();
+          ret = rcl_action_take_feedback(
+            pimpl_->client_handle.get(), feedback_message.get());
+        }
+        data_ptr =
+          std::make_shared<ClientBaseData>(
+          ClientBaseData::FeedbackReadyData(
+            ret, feedback_message));
+      }
       break;
     case EntityType::StatusSubscription:
-      pimpl_->is_status_ready = true;
+      {
+        std::shared_ptr<void> status_message;
+        {
+          std::lock_guard<std::recursive_mutex> lock(pimpl_->action_client_mutex_);
+          status_message = this->create_status_message();
+          ret = rcl_action_take_status(
+            pimpl_->client_handle.get(), status_message.get());
+        }
+        data_ptr =
+          std::make_shared<ClientBaseData>(
+          ClientBaseData::StatusReadyData(
+            ret, status_message));
+      }
       break;
   }
 
-  return take_data();
+  return std::static_pointer_cast<void>(data_ptr);
 }
 
 void
-ClientBase::execute(std::shared_ptr<void> & data)
+ClientBase::execute(std::shared_ptr<void> & data_in)
 {
-  if (!data) {
-    throw std::runtime_error("'data' is empty");
+  if (!data_in) {
+    // workaround, if take_data was called multiple timed, it returns a nullptr
+    // normally we should throw here, but as an API stable bug fix, we just ignore this...
+    return;
   }
 
-  if (pimpl_->is_feedback_ready) {
-    auto shared_ptr = std::static_pointer_cast<std::tuple<rcl_ret_t, std::shared_ptr<void>>>(data);
-    auto ret = std::get<0>(*shared_ptr);
-    pimpl_->is_feedback_ready = false;
-    if (RCL_RET_OK == ret) {
-      auto feedback_message = std::get<1>(*shared_ptr);
-      this->handle_feedback_message(feedback_message);
-    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
-    }
-  } else if (pimpl_->is_status_ready) {
-    auto shared_ptr = std::static_pointer_cast<std::tuple<rcl_ret_t, std::shared_ptr<void>>>(data);
-    auto ret = std::get<0>(*shared_ptr);
-    pimpl_->is_status_ready = false;
-    if (RCL_RET_OK == ret) {
-      auto status_message = std::get<1>(*shared_ptr);
-      this->handle_status_message(status_message);
-    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
-    }
-  } else if (pimpl_->is_goal_response_ready) {
-    auto shared_ptr = std::static_pointer_cast<
-      std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(data);
-    auto ret = std::get<0>(*shared_ptr);
-    pimpl_->is_goal_response_ready = false;
-    if (RCL_RET_OK == ret) {
-      auto response_header = std::get<1>(*shared_ptr);
-      auto goal_response = std::get<2>(*shared_ptr);
-      this->handle_goal_response(response_header, goal_response);
-    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
-    }
-  } else if (pimpl_->is_result_response_ready) {
-    auto shared_ptr = std::static_pointer_cast<
-      std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(data);
-    auto ret = std::get<0>(*shared_ptr);
-    pimpl_->is_result_response_ready = false;
-    if (RCL_RET_OK == ret) {
-      auto response_header = std::get<1>(*shared_ptr);
-      auto result_response = std::get<2>(*shared_ptr);
-      this->handle_result_response(response_header, result_response);
-    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
-    }
-  } else if (pimpl_->is_cancel_response_ready) {
-    auto shared_ptr = std::static_pointer_cast<
-      std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(data);
-    auto ret = std::get<0>(*shared_ptr);
-    pimpl_->is_cancel_response_ready = false;
-    if (RCL_RET_OK == ret) {
-      auto response_header = std::get<1>(*shared_ptr);
-      auto cancel_response = std::get<2>(*shared_ptr);
-      this->handle_cancel_response(response_header, cancel_response);
-    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
-    }
-  } else {
-    throw std::runtime_error("Executing action client but nothing is ready");
-  }
+  std::shared_ptr<ClientBaseData> data_ptr = std::static_pointer_cast<ClientBaseData>(data_in);
+
+  std::visit(
+    [&](auto && data) -> void {
+      using T = std::decay_t<decltype(data)>;
+      if constexpr (std::is_same_v<T, ClientBaseData::FeedbackReadyData>) {
+        if (RCL_RET_OK == data.ret) {
+          this->handle_feedback_message(data.feedback_message);
+        } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != data.ret) {
+          rclcpp::exceptions::throw_from_rcl_error(data.ret, "error taking feedback");
+        }
+      }
+      if constexpr (std::is_same_v<T, ClientBaseData::StatusReadyData>) {
+        if (RCL_RET_OK == data.ret) {
+          this->handle_status_message(data.status_message);
+        } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != data.ret) {
+          rclcpp::exceptions::throw_from_rcl_error(data.ret, "error taking status");
+        }
+      }
+      if constexpr (std::is_same_v<T, ClientBaseData::GoalResponseData>) {
+        if (RCL_RET_OK == data.ret) {
+          this->handle_goal_response(data.response_header, data.goal_response);
+        } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != data.ret) {
+          rclcpp::exceptions::throw_from_rcl_error(data.ret, "error taking goal response");
+        }
+      }
+      if constexpr (std::is_same_v<T, ClientBaseData::ResultResponseData>) {
+        if (RCL_RET_OK == data.ret) {
+          this->handle_result_response(data.response_header, data.result_response);
+        } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != data.ret) {
+          rclcpp::exceptions::throw_from_rcl_error(data.ret, "error taking result response");
+        }
+      }
+      if constexpr (std::is_same_v<T, ClientBaseData::CancelResponseData>) {
+        if (RCL_RET_OK == data.ret) {
+          this->handle_cancel_response(data.response_header, data.cancel_response);
+        } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != data.ret) {
+          rclcpp::exceptions::throw_from_rcl_error(data.ret, "error taking cancel response");
+        }
+      }
+    }, data_ptr->data);
 }
 
 }  // namespace rclcpp_action

rclcpp_action/src/server.cpp

@@ -18,6 +18,7 @@
 #include <tuple>
 #include <unordered_map>
 #include <utility>
+#include <variant>
 #include <vector>
 
 #include "rcl_action/action_server.h"
@@ -33,8 +34,50 @@
 using rclcpp_action::ServerBase;
 using rclcpp_action::GoalUUID;
 
+struct ServerBaseData;
+
 namespace rclcpp_action
 {
+
+struct ServerBaseData
+{
+  using GoalRequestData = std::tuple<
+    rcl_ret_t,
+    const rcl_action_goal_info_t,
+    rmw_request_id_t,
+    std::shared_ptr<void>
+  >;
+
+  using CancelRequestData = std::tuple<
+    rcl_ret_t,
+    std::shared_ptr<action_msgs::srv::CancelGoal::Request>,
+    rmw_request_id_t
+  >;
+
+  using ResultRequestData = std::tuple<rcl_ret_t, std::shared_ptr<void>, rmw_request_id_t>;
+
+  using GoalExpiredData = struct Empty {};
+
+  std::variant<GoalRequestData, CancelRequestData, ResultRequestData, GoalExpiredData> data;
+
+  explicit ServerBaseData(GoalRequestData && data_in)
+  : data(std::move(data_in)) {}
+  explicit ServerBaseData(CancelRequestData && data_in)
+  : data(std::move(data_in)) {}
+  explicit ServerBaseData(ResultRequestData && data_in)
+  : data(std::move(data_in)) {}
+  explicit ServerBaseData(GoalExpiredData && data_in)
+  : data(std::move(data_in)) {}
+};
+
+enum class ActionEventType : std::size_t
+{
+  GoalService,
+  ResultService,
+  CancelService,
+  Expired,
+};
+
 class ServerBaseImpl
 {
 public:
@@ -60,11 +103,6 @@ public:
   size_t num_services_ = 0;
   size_t num_guard_conditions_ = 0;
 
-  std::atomic<bool> goal_request_ready_{false};
-  std::atomic<bool> cancel_request_ready_{false};
-  std::atomic<bool> result_request_ready_{false};
-  std::atomic<bool> goal_expired_{false};
-
   // Lock for unordered_maps
   std::recursive_mutex unordered_map_mutex_;
 
@@ -75,8 +113,15 @@ public:
   // rcl goal handles are kept so api to send result doesn't try to access freed memory
   std::unordered_map<GoalUUID, std::shared_ptr<rcl_action_goal_handle_t>> goal_handles_;
 
+
+  // next ready event for taking, will be set by is_ready and will be processed by take_data
+  std::atomic<size_t> next_ready_event;
+  // used to indicate that next_ready_event has no ready event for processing
+  static constexpr size_t NO_EVENT_READY = std::numeric_limits<size_t>::max();
+
   rclcpp::Logger logger_;
 };
+
 }  // namespace rclcpp_action
 
 ServerBase::ServerBase(
@@ -194,124 +239,170 @@ ServerBase::is_ready(rcl_wait_set_t * wait_set)
       &goal_expired);
   }
 
-  pimpl_->goal_request_ready_ = goal_request_ready;
-  pimpl_->cancel_request_ready_ = cancel_request_ready;
-  pimpl_->result_request_ready_ = result_request_ready;
-  pimpl_->goal_expired_ = goal_expired;
-
   if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
 
-  return pimpl_->goal_request_ready_.load() ||
-         pimpl_->cancel_request_ready_.load() ||
-         pimpl_->result_request_ready_.load() ||
-         pimpl_->goal_expired_.load();
+  pimpl_->next_ready_event = ServerBaseImpl::NO_EVENT_READY;
+
+  if (goal_request_ready) {
+    pimpl_->next_ready_event = static_cast<uint32_t>(ActionEventType::GoalService);
+    return true;
+  }
+
+  if (cancel_request_ready) {
+    pimpl_->next_ready_event = static_cast<uint32_t>(ActionEventType::CancelService);
+    return true;
+  }
+
+  if (result_request_ready) {
+    pimpl_->next_ready_event = static_cast<uint32_t>(ActionEventType::ResultService);
+    return true;
+  }
+
+  if (goal_expired) {
+    pimpl_->next_ready_event = static_cast<uint32_t>(ActionEventType::Expired);
+    return true;
+  }
+
+  return false;
 }
 
 std::shared_ptr<void>
 ServerBase::take_data()
 {
-  if (pimpl_->goal_request_ready_.load()) {
-    rcl_ret_t ret;
-    rcl_action_goal_info_t goal_info = rcl_action_get_zero_initialized_goal_info();
-    rmw_request_id_t request_header;
+  size_t next_ready_event = pimpl_->next_ready_event.exchange(ServerBaseImpl::NO_EVENT_READY);
 
-    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
-
-    std::shared_ptr<void> message = create_goal_request();
-    ret = rcl_action_take_goal_request(
-      pimpl_->action_server_.get(),
-      &request_header,
-      message.get());
-
-    return std::static_pointer_cast<void>(
-      std::make_shared
-      <std::tuple<rcl_ret_t, rcl_action_goal_info_t, rmw_request_id_t, std::shared_ptr<void>>>(
-        ret,
-        goal_info,
-        request_header, message));
-  } else if (pimpl_->cancel_request_ready_.load()) {
-    rcl_ret_t ret;
-    rmw_request_id_t request_header;
-
-    // Initialize cancel request
-    auto request = std::make_shared<action_msgs::srv::CancelGoal::Request>();
-
-    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
-    ret = rcl_action_take_cancel_request(
-      pimpl_->action_server_.get(),
-      &request_header,
-      request.get());
-
-    return std::static_pointer_cast<void>(
-      std::make_shared
-      <std::tuple<rcl_ret_t, std::shared_ptr<action_msgs::srv::CancelGoal::Request>,
-      rmw_request_id_t>>(ret, request, request_header));
-  } else if (pimpl_->result_request_ready_.load()) {
-    rcl_ret_t ret;
-    // Get the result request message
-    rmw_request_id_t request_header;
-    std::shared_ptr<void> result_request = create_result_request();
-    std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
-    ret = rcl_action_take_result_request(
-      pimpl_->action_server_.get(), &request_header, result_request.get());
-
-    return std::static_pointer_cast<void>(
-      std::make_shared<std::tuple<rcl_ret_t, std::shared_ptr<void>, rmw_request_id_t>>(
-        ret, result_request, request_header));
-  } else if (pimpl_->goal_expired_.load()) {
+  if (next_ready_event == ServerBaseImpl::NO_EVENT_READY) {
+    // there is a known bug in iron, that take_data might be called multiple
+    // times. Therefore instead of throwing, we just return a nullptr as a workaround.
     return nullptr;
-  } else {
-    throw std::runtime_error("Taking data from action server but nothing is ready");
   }
+
+  return take_data_by_entity_id(next_ready_event);
 }
 
 std::shared_ptr<void>
 ServerBase::take_data_by_entity_id(size_t id)
 {
+  static_assert(
+    static_cast<size_t>(EntityType::GoalService) ==
+    static_cast<size_t>(ActionEventType::GoalService));
+  static_assert(
+    static_cast<size_t>(EntityType::ResultService) ==
+    static_cast<size_t>(ActionEventType::ResultService));
+  static_assert(
+    static_cast<size_t>(EntityType::CancelService) ==
+    static_cast<size_t>(ActionEventType::CancelService));
+
+  std::shared_ptr<ServerBaseData> data_ptr;
   // Mark as ready the entity from which we want to take data
-  switch (static_cast<EntityType>(id)) {
-    case EntityType::GoalService:
-      pimpl_->goal_request_ready_ = true;
+  switch (static_cast<ActionEventType>(id)) {
+    case ActionEventType::GoalService:
+      {
+        rcl_ret_t ret;
+        rcl_action_goal_info_t goal_info = rcl_action_get_zero_initialized_goal_info();
+        rmw_request_id_t request_header;
+
+        std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+
+        std::shared_ptr<void> message = create_goal_request();
+        ret = rcl_action_take_goal_request(
+          pimpl_->action_server_.get(),
+          &request_header,
+          message.get());
+
+        data_ptr = std::make_shared<ServerBaseData>(
+          ServerBaseData::GoalRequestData(ret, goal_info, request_header, message));
+      }
       break;
-    case EntityType::ResultService:
-      pimpl_->result_request_ready_ = true;
+    case ActionEventType::ResultService:
+      {
+        rcl_ret_t ret;
+        // Get the result request message
+        rmw_request_id_t request_header;
+        std::shared_ptr<void> result_request = create_result_request();
+        std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+        ret = rcl_action_take_result_request(
+          pimpl_->action_server_.get(), &request_header, result_request.get());
+
+        data_ptr =
+          std::make_shared<ServerBaseData>(
+          ServerBaseData::ResultRequestData(ret, result_request, request_header));
+      }
       break;
-    case EntityType::CancelService:
-      pimpl_->cancel_request_ready_ = true;
+    case ActionEventType::CancelService:
+      {
+        rcl_ret_t ret;
+        rmw_request_id_t request_header;
+
+        // Initialize cancel request
+        auto request = std::make_shared<action_msgs::srv::CancelGoal::Request>();
+
+        std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
+        ret = rcl_action_take_cancel_request(
+          pimpl_->action_server_.get(),
+          &request_header,
+          request.get());
+
+        data_ptr =
+          std::make_shared<ServerBaseData>(
+          ServerBaseData::CancelRequestData(ret, request, request_header));
+      }
+      break;
+    case ActionEventType::Expired:
+      {
+        data_ptr =
+          std::make_shared<ServerBaseData>(ServerBaseData::GoalExpiredData());
+      }
       break;
   }
 
-  return take_data();
+  return std::static_pointer_cast<void>(data_ptr);
 }
 
 void
-ServerBase::execute(std::shared_ptr<void> & data)
+ServerBase::execute(std::shared_ptr<void> & data_in)
 {
-  if (!data && !pimpl_->goal_expired_.load()) {
-    throw std::runtime_error("'data' is empty");
+  if (!data_in) {
+    // workaround, if take_data was called multiple timed, it returns a nullptr
+    // normally we should throw here, but as an API stable bug fix, we just ignore this...
+    return;
   }
 
-  if (pimpl_->goal_request_ready_.load()) {
-    execute_goal_request_received(data);
-  } else if (pimpl_->cancel_request_ready_.load()) {
-    execute_cancel_request_received(data);
-  } else if (pimpl_->result_request_ready_.load()) {
-    execute_result_request_received(data);
-  } else if (pimpl_->goal_expired_.load()) {
-    execute_check_expired_goals();
-  } else {
-    throw std::runtime_error("Executing action server but nothing is ready");
-  }
+  std::shared_ptr<ServerBaseData> data_ptr = std::static_pointer_cast<ServerBaseData>(data_in);
+
+  std::visit(
+    [&](auto && data) -> void {
+      using T = std::decay_t<decltype(data)>;
+      if constexpr (std::is_same_v<T, ServerBaseData::GoalRequestData>) {
+        execute_goal_request_received(data_in);
+      }
+      if constexpr (std::is_same_v<T, ServerBaseData::CancelRequestData>) {
+        execute_cancel_request_received(data_in);
+      }
+      if constexpr (std::is_same_v<T, ServerBaseData::ResultRequestData>) {
+        execute_result_request_received(data_in);
+      }
+      if constexpr (std::is_same_v<T, ServerBaseData::GoalExpiredData>) {
+        execute_check_expired_goals();
+      }
+    },
+    data_ptr->data);
 }
 
 void
 ServerBase::execute_goal_request_received(std::shared_ptr<void> & data)
 {
-  auto shared_ptr = std::static_pointer_cast
-    <std::tuple<rcl_ret_t, rcl_action_goal_info_t, rmw_request_id_t, std::shared_ptr<void>>>(data);
-  rcl_ret_t ret = std::get<0>(*shared_ptr);
+  std::shared_ptr<ServerBaseData> data_ptr = std::static_pointer_cast<ServerBaseData>(data);
+  const ServerBaseData::GoalRequestData & gData(
+    std::get<ServerBaseData::GoalRequestData>(data_ptr->data));
+
+  rcl_ret_t ret = std::get<0>(gData);
+  rcl_action_goal_info_t goal_info = std::get<1>(gData);
+  rmw_request_id_t request_header = std::get<2>(gData);
+  const std::shared_ptr<void> message = std::get<3>(gData);
+
   if (RCL_RET_ACTION_SERVER_TAKE_FAILED == ret) {
     // Ignore take failure because connext fails if it receives a sample without valid data.
     // This happens when a client shuts down and connext receives a sample saying the client is
@@ -320,14 +411,6 @@ ServerBase::execute_goal_request_received(std::shared_ptr<void> & data)
   } else if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
-  rcl_action_goal_info_t goal_info = std::get<1>(*shared_ptr);
-  rmw_request_id_t request_header = std::get<2>(*shared_ptr);
-  std::shared_ptr<void> message = std::get<3>(*shared_ptr);
-
-  bool expected = true;
-  if (!pimpl_->goal_request_ready_.compare_exchange_strong(expected, false)) {
-    return;
-  }
 
   GoalUUID uuid = get_goal_id_from_goal_request(message.get());
   convert(uuid, &goal_info);
@@ -344,7 +427,16 @@ ServerBase::execute_goal_request_received(std::shared_ptr<void> & data)
   }
 
   if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret);
+    if (ret == RCL_RET_TIMEOUT) {
+      RCLCPP_WARN(
+        pimpl_->logger_,
+        "Failed to send goal response %s (timeout): %s",
+        to_string(uuid).c_str(), rcl_get_error_string().str);
+      rcl_reset_error();
+      return;
+    } else {
+      rclcpp::exceptions::throw_from_rcl_error(ret);
+    }
   }
 
   const auto status = response_pair.first;
@@ -402,10 +494,15 @@ ServerBase::execute_goal_request_received(std::shared_ptr<void> & data)
 void
 ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)
 {
-  auto shared_ptr = std::static_pointer_cast
-    <std::tuple<rcl_ret_t, std::shared_ptr<action_msgs::srv::CancelGoal::Request>,
-      rmw_request_id_t>>(data);
-  auto ret = std::get<0>(*shared_ptr);
+  std::shared_ptr<ServerBaseData> data_ptr = std::static_pointer_cast<ServerBaseData>(data);
+  const ServerBaseData::CancelRequestData & gData(
+    std::get<ServerBaseData::CancelRequestData>(data_ptr->data));
+
+  rcl_ret_t ret = std::get<0>(gData);
+  std::shared_ptr<action_msgs::srv::CancelGoal::Request> request = std::get<1>(gData);
+  rmw_request_id_t request_header = std::get<2>(gData);
+
+
   if (RCL_RET_ACTION_SERVER_TAKE_FAILED == ret) {
     // Ignore take failure because connext fails if it receives a sample without valid data.
     // This happens when a client shuts down and connext receives a sample saying the client is
@@ -414,9 +511,6 @@ ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)
   } else if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
-  auto request = std::get<1>(*shared_ptr);
-  auto request_header = std::get<2>(*shared_ptr);
-  pimpl_->cancel_request_ready_ = false;
 
   // Convert c++ message to C message
   rcl_action_cancel_request_t cancel_request = rcl_action_get_zero_initialized_cancel_request();
@@ -483,6 +577,15 @@ ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)
       pimpl_->action_server_.get(), &request_header, response.get());
   }
 
+  if (ret == RCL_RET_TIMEOUT) {
+    GoalUUID uuid = request->goal_info.goal_id.uuid;
+    RCLCPP_WARN(
+      pimpl_->logger_,
+      "Failed to send cancel response %s (timeout): %s",
+      to_string(uuid).c_str(), rcl_get_error_string().str);
+    rcl_reset_error();
+    return;
+  }
   if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
@@ -492,9 +595,14 @@ ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)
 void
 ServerBase::execute_result_request_received(std::shared_ptr<void> & data)
 {
-  auto shared_ptr = std::static_pointer_cast
-    <std::tuple<rcl_ret_t, std::shared_ptr<void>, rmw_request_id_t>>(data);
-  auto ret = std::get<0>(*shared_ptr);
+  std::shared_ptr<ServerBaseData> data_ptr = std::static_pointer_cast<ServerBaseData>(data);
+  const ServerBaseData::ResultRequestData & gData(
+    std::get<ServerBaseData::ResultRequestData>(data_ptr->data));
+
+  rcl_ret_t ret = std::get<0>(gData);
+  std::shared_ptr<void> result_request = std::get<1>(gData);
+  rmw_request_id_t request_header = std::get<2>(gData);
+
   if (RCL_RET_ACTION_SERVER_TAKE_FAILED == ret) {
     // Ignore take failure because connext fails if it receives a sample without valid data.
     // This happens when a client shuts down and connext receives a sample saying the client is
@@ -503,10 +611,7 @@ ServerBase::execute_result_request_received(std::shared_ptr<void> & data)
   } else if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
-  auto result_request = std::get<1>(*shared_ptr);
-  auto request_header = std::get<2>(*shared_ptr);
 
-  pimpl_->result_request_ready_ = false;
   std::shared_ptr<void> result_response;
 
   // check if the goal exists
@@ -538,6 +643,14 @@ ServerBase::execute_result_request_received(std::shared_ptr<void> & data)
     std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
     rcl_ret_t rcl_ret = rcl_action_send_result_response(
       pimpl_->action_server_.get(), &request_header, result_response.get());
+    if (rcl_ret == RCL_RET_TIMEOUT) {
+      RCLCPP_WARN(
+        pimpl_->logger_,
+        "Failed to send result response %s (timeout): %s",
+        to_string(uuid).c_str(), rcl_get_error_string().str);
+      rcl_reset_error();
+      return;
+    }
     if (RCL_RET_OK != rcl_ret) {
       rclcpp::exceptions::throw_from_rcl_error(rcl_ret);
     }
@@ -671,7 +784,13 @@ ServerBase::publish_result(const GoalUUID & uuid, std::shared_ptr<void> result_m
       for (auto & request_header : iter->second) {
         rcl_ret_t ret = rcl_action_send_result_response(
           pimpl_->action_server_.get(), &request_header, result_msg.get());
-        if (RCL_RET_OK != ret) {
+        if (ret == RCL_RET_TIMEOUT) {
+          RCLCPP_WARN(
+            pimpl_->logger_,
+            "Failed to send result response %s (timeout): %s",
+            to_string(uuid).c_str(), rcl_get_error_string().str);
+          rcl_reset_error();
+        } else if (RCL_RET_OK != ret) {
           rclcpp::exceptions::throw_from_rcl_error(ret);
         }
       }

rclcpp_components/CHANGELOG.rst

@@ -2,25 +2,32 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-22.2.0 (2023-09-07)
+21.0.8 (2024-11-08)
 -------------------
 
-22.1.0 (2023-08-21)
+21.0.7 (2024-07-10)
 -------------------
 
-22.0.0 (2023-07-11)
+21.0.6 (2024-04-19)
 -------------------
 
-21.3.0 (2023-06-12)
+21.0.5 (2024-02-07)
+-------------------
+* Increase the service queue sizes in component_container (`#2381 <https://github.com/ros2/rclcpp/issues/2381>`_)
+* Contributors: M. Fatih Cırıt
+
+21.0.4 (2023-11-17)
+-------------------
+* Add missing header required by the rclcpp::NodeOptions type (`#2325 <https://github.com/ros2/rclcpp/issues/2325>`_)
+* Contributors: Ignacio Vizzo
+
+21.0.3 (2023-09-08)
 -------------------
 
-21.2.0 (2023-06-07)
+21.0.2 (2023-07-14)
 -------------------
 
-21.1.1 (2023-05-11)
--------------------
-
-21.1.0 (2023-04-27)
+21.0.1 (2023-05-11)
 -------------------
 
 21.0.0 (2023-04-18)

rclcpp_components/include/rclcpp_components/node_factory.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP_COMPONENTS__NODE_FACTORY_HPP__
 #define RCLCPP_COMPONENTS__NODE_FACTORY_HPP__
 
+#include "rclcpp/node_options.hpp"
 #include "rclcpp_components/node_instance_wrapper.hpp"
 
 namespace rclcpp_components

rclcpp_components/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_components</name>
-  <version>22.2.0</version>
+  <version>21.0.8</version>
   <description>Package containing tools for dynamically loadable components</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_components/src/component_manager.cpp

@@ -39,10 +39,12 @@ ComponentManager::ComponentManager(
 {
   loadNode_srv_ = create_service<LoadNode>(
     "~/_container/load_node",
-    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3),
+    rclcpp::ServicesQoS().keep_last(200));
   unloadNode_srv_ = create_service<UnloadNode>(
     "~/_container/unload_node",
-    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3),
+    rclcpp::ServicesQoS().keep_last(200));
   listNodes_srv_ = create_service<ListNodes>(
     "~/_container/list_nodes",
     std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3));

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,33 +3,39 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-22.2.0 (2023-09-07)
+21.0.8 (2024-11-08)
 -------------------
-* add logger level service to lifecycle node. (`#2277 <https://github.com/ros2/rclcpp/issues/2277>`_)
+* add logger level service to lifecycle node. (`#2288 <https://github.com/ros2/rclcpp/issues/2288>`_)
 * Contributors: Tomoya Fujita
 
-22.1.0 (2023-08-21)
+21.0.7 (2024-07-10)
 -------------------
-* Stop using constref signature of benchmark DoNotOptimize. (`#2238 <https://github.com/ros2/rclcpp/issues/2238>`_)
-* Contributors: Chris Lalancette
+* revert call shutdown in LifecycleNode destructor (Iron) (`#2559 <https://github.com/ros2/rclcpp/issues/2559>`_)
+* lifecycle node dtor shutdown should be called only in primary state. (`#2543 <https://github.com/ros2/rclcpp/issues/2543>`_)
+* rclcpp::shutdown should not be called before LifecycleNode dtor. (`#2539 <https://github.com/ros2/rclcpp/issues/2539>`_)
+* Contributors: Tomoya Fujita
 
-22.0.0 (2023-07-11)
+21.0.6 (2024-04-19)
 -------------------
-* Implement get_node_type_descriptions_interface for lifecyclenode and add smoke test for it (`#2237 <https://github.com/ros2/rclcpp/issues/2237>`_)
-* Switch lifecycle to use the RCLCPP macros. (`#2233 <https://github.com/ros2/rclcpp/issues/2233>`_)
-* Add new node interface TypeDescriptionsInterface to provide GetTypeDescription service (`#2224 <https://github.com/ros2/rclcpp/issues/2224>`_)
-* Contributors: Chris Lalancette, Emerson Knapp
+* call shutdown in LifecycleNode dtor to avoid leaving the device in un… (`#2490 <https://github.com/ros2/rclcpp/issues/2490>`_)
+* Contributors: Tomoya Fujita
 
-21.3.0 (2023-06-12)
+21.0.5 (2024-02-07)
 -------------------
 
-21.2.0 (2023-06-07)
+21.0.4 (2023-11-17)
 -------------------
 
-21.1.1 (2023-05-11)
+21.0.3 (2023-09-08)
+-------------------
+* Switch lifecycle to use the RCLCPP macros. (`#2244 <https://github.com/ros2/rclcpp/issues/2244>`_)
+* Add new node interface TypeDescriptionsInterface to provide GetTypeDescription service (`#2236 <https://github.com/ros2/rclcpp/issues/2236>`_)
+* Contributors: Emerson Knapp
+
+21.0.2 (2023-07-14)
 -------------------
 
-21.1.0 (2023-04-27)
+21.0.1 (2023-05-11)
 -------------------
 
 21.0.0 (2023-04-18)

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -1094,7 +1094,6 @@ private:
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
-  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
   const rclcpp::NodeOptions node_options_;

rclcpp_lifecycle/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_lifecycle</name>
-  <version>22.2.0</version>
+  <version>21.0.8</version>
   <description>Package containing a prototype for lifecycle implementation</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -114,15 +114,13 @@ LifecycleNode::LifecycleNode(
       options.clock_qos(),
       options.use_clock_thread()
     )),
-  node_type_descriptions_(new rclcpp::node_interfaces::NodeTypeDescriptions(
+  node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
+  node_options_(options),
+  impl_(new LifecycleNodeInterfaceImpl(
       node_base_,
       node_logging_,
       node_parameters_,
-      node_services_
-    )),
-  node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
-  node_options_(options),
-  impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_, node_logging_))
+      node_services_))
 {
   impl_->init(enable_communication_interface);
 
@@ -479,18 +477,18 @@ LifecycleNode::get_node_topics_interface()
   return node_topics_;
 }
 
-rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
-LifecycleNode::get_node_type_descriptions_interface()
-{
-  return node_type_descriptions_;
-}
-
 rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
 LifecycleNode::get_node_services_interface()
 {
   return node_services_;
 }
 
+rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+LifecycleNode::get_node_type_descriptions_interface()
+{
+  return impl_->get_node_type_descriptions_interface();
+}
+
 rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
 LifecycleNode::get_node_parameters_interface()
 {

rclcpp_lifecycle/src/lifecycle_node_interface_impl.cpp

@@ -31,6 +31,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_type_descriptions.hpp"
 
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
@@ -51,11 +52,17 @@ namespace rclcpp_lifecycle
 
 LifecycleNode::LifecycleNodeInterfaceImpl::LifecycleNodeInterfaceImpl(
   std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_interface,
-  std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface,
-  std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface)
+  std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface,
+  std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> node_parameters_interface,
+  std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface)
 : node_base_interface_(node_base_interface),
   node_services_interface_(node_services_interface),
-  node_logging_interface_(node_logging_interface)
+  node_logging_interface_(node_logging_interface),
+  node_type_descriptions_(new rclcpp::node_interfaces::NodeTypeDescriptions(
+      node_base_interface,
+      node_logging_interface,
+      node_parameters_interface,
+      node_services_interface))
 {
 }
 
@@ -595,4 +602,10 @@ LifecycleNode::LifecycleNodeInterfaceImpl::on_deactivate() const
   }
 }
 
+rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+LifecycleNode::LifecycleNodeInterfaceImpl::get_node_type_descriptions_interface()
+{
+  return node_type_descriptions_;
+}
+
 }  // namespace rclcpp_lifecycle

rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp

@@ -53,8 +53,9 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
 public:
   LifecycleNodeInterfaceImpl(
     std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_interface,
-    std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface,
-    std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface);
+    std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface,
+    std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> node_parameters_interface,
+    std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface);
 
   ~LifecycleNodeInterfaceImpl();
 
@@ -104,6 +105,9 @@ public:
   void
   add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer);
 
+  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+  get_node_type_descriptions_interface();
+
 private:
   RCLCPP_DISABLE_COPY(LifecycleNodeInterfaceImpl)
 
@@ -176,6 +180,9 @@ private:
   // to controllable things
   std::vector<std::weak_ptr<rclcpp_lifecycle::ManagedEntityInterface>> weak_managed_entities_;
   std::vector<std::weak_ptr<rclcpp::TimerBase>> weak_timers_;
+
+  // Backported members hidden in impl
+  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
 };
 
 }  // namespace rclcpp_lifecycle

rclcpp_lifecycle/test/benchmark/benchmark_lifecycle_client.cpp

@@ -228,8 +228,7 @@ protected:
 BENCHMARK_F(BenchmarkLifecycleClient, get_state)(benchmark::State & state) {
   for (auto _ : state) {
     (void)_;
-
-    lifecycle_msgs::msg::State lifecycle_state = lifecycle_client->get_state();
+    const auto lifecycle_state = lifecycle_client->get_state();
     if (lifecycle_state.id != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED) {
       const std::string msg =
         std::string("Expected state did not match actual: ") +
@@ -269,7 +268,7 @@ BENCHMARK_F(BenchmarkLifecycleClient, get_available_states)(benchmark::State & s
   for (auto _ : state) {
     (void)_;
     constexpr size_t expected_states = 11u;
-    std::vector<lifecycle_msgs::msg::State> states = lifecycle_client->get_available_states();
+    const auto states = lifecycle_client->get_available_states();
     if (states.size() != expected_states) {
       const std::string msg =
         std::string("Expected number of states did not match actual: ") +
@@ -285,8 +284,7 @@ BENCHMARK_F(BenchmarkLifecycleClient, get_available_transitions)(benchmark::Stat
   for (auto _ : state) {
     (void)_;
     constexpr size_t expected_transitions = 2u;
-    std::vector<lifecycle_msgs::msg::TransitionDescription> transitions =
-      lifecycle_client->get_available_transitions();
+    const auto transitions = lifecycle_client->get_available_transitions();
     if (transitions.size() != expected_transitions) {
       const std::string msg =
         std::string("Expected number of transitions did not match actual: ") +
@@ -302,8 +300,7 @@ BENCHMARK_F(BenchmarkLifecycleClient, get_transition_graph)(benchmark::State & s
   for (auto _ : state) {
     (void)_;
     constexpr size_t expected_transitions = 25u;
-    std::vector<lifecycle_msgs::msg::TransitionDescription> transitions =
-      lifecycle_client->get_transition_graph();
+    const auto transitions = lifecycle_client->get_transition_graph();
     if (transitions.size() != expected_transitions) {
       const std::string msg =
         std::string("Expected number of transitions did not match actual: ") +

rclcpp_lifecycle/test/benchmark/benchmark_lifecycle_node.cpp

@@ -97,15 +97,13 @@ protected:
 BENCHMARK_F(BenchmarkLifecycleNode, get_current_state)(benchmark::State & state) {
   for (auto _ : state) {
     (void)_;
-    const rclcpp_lifecycle::State & lifecycle_state = node->get_current_state();
+    const auto & lifecycle_state = node->get_current_state();
     if (lifecycle_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED) {
       const std::string message =
         std::string("Node's current state is: ") + std::to_string(lifecycle_state.id());
       state.SkipWithError(message.c_str());
     }
-    // Google benchmark 1.8.2 warns that the constref DoNotOptimize signature may be optimized away
-    // by the compiler.  Cast const away to ensure we don't get that problem (and warning).
-    benchmark::DoNotOptimize(const_cast<rclcpp_lifecycle::State &>(lifecycle_state));
+    benchmark::DoNotOptimize(lifecycle_state);
     benchmark::ClobberMemory();
   }
 }
@@ -114,7 +112,7 @@ BENCHMARK_F(BenchmarkLifecycleNode, get_available_states)(benchmark::State & sta
   for (auto _ : state) {
     (void)_;
     constexpr size_t expected_states = 11u;
-    std::vector<rclcpp_lifecycle::State> lifecycle_states = node->get_available_states();
+    const auto lifecycle_states = node->get_available_states();
     if (lifecycle_states.size() != expected_states) {
       const std::string msg = std::to_string(lifecycle_states.size());
       state.SkipWithError(msg.c_str());
@@ -128,7 +126,7 @@ BENCHMARK_F(BenchmarkLifecycleNode, get_available_transitions)(benchmark::State
   for (auto _ : state) {
     (void)_;
     constexpr size_t expected_transitions = 2u;
-    std::vector<rclcpp_lifecycle::Transition> transitions = node->get_available_transitions();
+    const auto & transitions = node->get_available_transitions();
     if (transitions.size() != expected_transitions) {
       const std::string msg = std::to_string(transitions.size());
       state.SkipWithError(msg.c_str());
@@ -142,7 +140,7 @@ BENCHMARK_F(BenchmarkLifecycleNode, get_transition_graph)(benchmark::State & sta
   for (auto _ : state) {
     (void)_;
     constexpr size_t expected_transitions = 25u;
-    std::vector<rclcpp_lifecycle::Transition> transitions = node->get_transition_graph();
+    const auto & transitions = node->get_transition_graph();
     if (transitions.size() != expected_transitions) {
       const std::string msg =
         std::string("Expected number of transitions did not match actual: ") +
@@ -164,20 +162,18 @@ BENCHMARK_F(BenchmarkLifecycleNode, transition_valid_state)(benchmark::State & s
   reset_heap_counters();
   for (auto _ : state) {
     (void)_;
-    const rclcpp_lifecycle::State & active =
+    const auto & active =
       node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
     if (active.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) {
       state.SkipWithError("Transition to active state failed");
     }
-    const rclcpp_lifecycle::State & inactive =
+    const auto & inactive =
       node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE);
     if (inactive.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
       state.SkipWithError("Transition to inactive state failed");
     }
-    // Google benchmark 1.8.2 warns that the constref DoNotOptimize signature may be optimized away
-    // by the compiler.  Cast const away to ensure we don't get that problem (and warning).
-    benchmark::DoNotOptimize(const_cast<rclcpp_lifecycle::State &>(active));
-    benchmark::DoNotOptimize(const_cast<rclcpp_lifecycle::State &>(inactive));
+    benchmark::DoNotOptimize(active);
+    benchmark::DoNotOptimize(inactive);
     benchmark::ClobberMemory();
   }
 }

rclcpp_lifecycle/test/test_lifecycle_publisher.cpp

@@ -55,12 +55,6 @@ public:
   explicit EmptyLifecycleNode(const std::string & node_name, const TimerType & timer_type)
   : rclcpp_lifecycle::LifecycleNode(node_name)
   {
-    rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
-    publisher_ =
-      std::make_shared<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>>(
-      get_node_base_interface().get(), std::string("topic"), rclcpp::QoS(10), options);
-    add_managed_entity(publisher_);
-
     // For coverage this is being added here
     switch (timer_type) {
       case TimerType::WALL_TIMER:
@@ -77,14 +71,6 @@ public:
         }
     }
   }
-
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher()
-  {
-    return publisher_;
-  }
-
-private:
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher_;
 };
 
 class TestLifecyclePublisher : public ::testing::TestWithParam<TimerType>
@@ -93,95 +79,103 @@ public:
   void SetUp()
   {
     rclcpp::init(0, nullptr);
-    node_ = std::make_shared<EmptyLifecycleNode>("node", GetParam());
   }
 
   void TearDown()
   {
     rclcpp::shutdown();
   }
-
-protected:
-  std::shared_ptr<EmptyLifecycleNode> node_;
 };
 
 TEST_P(TestLifecyclePublisher, publish_managed_by_node) {
+  auto node = std::make_shared<EmptyLifecycleNode>("node", GetParam());
+
+  rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher =
+    node->create_publisher<test_msgs::msg::Empty>(std::string("topic"), rclcpp::QoS(10), options);
+
   // transition via LifecycleNode
   auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
   auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
   auto ret = reset_key;
 
-  EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, node_->get_current_state().id());
-  node_->trigger_transition(
+  EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, node->get_current_state().id());
+  node->trigger_transition(
     rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE), ret);
   ASSERT_EQ(success, ret);
   ret = reset_key;
-  node_->trigger_transition(
+  node->trigger_transition(
     rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE), ret);
   ASSERT_EQ(success, ret);
   ret = reset_key;
-  EXPECT_TRUE(node_->publisher()->is_activated());
+  EXPECT_TRUE(publisher->is_activated());
   {
     auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
-    EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
+    EXPECT_NO_THROW(publisher->publish(*msg_ptr));
   }
   {
     auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
-    EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
+    EXPECT_NO_THROW(publisher->publish(std::move(msg_ptr)));
   }
   {
-    auto loaned_msg = node_->publisher()->borrow_loaned_message();
-    EXPECT_NO_THROW(node_->publisher()->publish(std::move(loaned_msg)));
+    auto loaned_msg = publisher->borrow_loaned_message();
+    EXPECT_NO_THROW(publisher->publish(std::move(loaned_msg)));
   }
-  node_->trigger_transition(
+  node->trigger_transition(
     rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE), ret);
   ASSERT_EQ(success, ret);
   ret = reset_key;
   (void)ret;  // Just to make clang happy
-  EXPECT_FALSE(node_->publisher()->is_activated());
+  EXPECT_FALSE(publisher->is_activated());
   {
     auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
-    EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
+    EXPECT_NO_THROW(publisher->publish(*msg_ptr));
   }
   {
     auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
-    EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
+    EXPECT_NO_THROW(publisher->publish(std::move(msg_ptr)));
   }
   {
-    auto loaned_msg = node_->publisher()->borrow_loaned_message();
-    EXPECT_NO_THROW(node_->publisher()->publish(std::move(loaned_msg)));
+    auto loaned_msg = publisher->borrow_loaned_message();
+    EXPECT_NO_THROW(publisher->publish(std::move(loaned_msg)));
   }
 }
 
 TEST_P(TestLifecyclePublisher, publish) {
+  auto node = std::make_shared<EmptyLifecycleNode>("node", GetParam());
+
+  rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher =
+    node->create_publisher<test_msgs::msg::Empty>(std::string("topic"), rclcpp::QoS(10), options);
+
   // transition via LifecyclePublisher
-  node_->publisher()->on_deactivate();
-  EXPECT_FALSE(node_->publisher()->is_activated());
+  publisher->on_deactivate();
+  EXPECT_FALSE(publisher->is_activated());
   {
     auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
-    EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
+    EXPECT_NO_THROW(publisher->publish(*msg_ptr));
   }
   {
     auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
-    EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
+    EXPECT_NO_THROW(publisher->publish(std::move(msg_ptr)));
   }
   {
-    auto loaned_msg = node_->publisher()->borrow_loaned_message();
-    EXPECT_NO_THROW(node_->publisher()->publish(std::move(loaned_msg)));
+    auto loaned_msg = publisher->borrow_loaned_message();
+    EXPECT_NO_THROW(publisher->publish(std::move(loaned_msg)));
   }
-  node_->publisher()->on_activate();
-  EXPECT_TRUE(node_->publisher()->is_activated());
+  publisher->on_activate();
+  EXPECT_TRUE(publisher->is_activated());
   {
     auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
-    EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
+    EXPECT_NO_THROW(publisher->publish(*msg_ptr));
   }
   {
     auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
-    EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
+    EXPECT_NO_THROW(publisher->publish(std::move(msg_ptr)));
   }
   {
-    auto loaned_msg = node_->publisher()->borrow_loaned_message();
-    EXPECT_NO_THROW(node_->publisher()->publish(std::move(loaned_msg)));
+    auto loaned_msg = publisher->borrow_loaned_message();
+    EXPECT_NO_THROW(publisher->publish(std::move(loaned_msg)));
   }
 }