make timeouts and sleeps more robust

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

rclcpp/CHANGELOG.rst

@@ -2,120 +2,6 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-23.2.0 (2023-10-09)
--------------------
-* add clients & services count (`#2072 <https://github.com/ros2/rclcpp/issues/2072>`_)
-* remove invalid sized allocation test for SerializedMessage. (`#2330 <https://github.com/ros2/rclcpp/issues/2330>`_)
-* Adding API to copy all parameters from one node to another (`#2304 <https://github.com/ros2/rclcpp/issues/2304>`_)
-* Contributors: Minju, Lee, Steve Macenski, Tomoya Fujita
-
-23.1.0 (2023-10-04)
--------------------
-* Add locking to protect the TimeSource::NodeState::node_base\_ (`#2320 <https://github.com/ros2/rclcpp/issues/2320>`_)
-* Update SignalHandler get_global_signal_handler to avoid complex types in static memory (`#2316 <https://github.com/ros2/rclcpp/issues/2316>`_)
-* Removing Old Connext Tests (`#2313 <https://github.com/ros2/rclcpp/issues/2313>`_)
-* Documentation for list_parameters  (`#2315 <https://github.com/ros2/rclcpp/issues/2315>`_)
-* Decouple rosout publisher init from node init. (`#2174 <https://github.com/ros2/rclcpp/issues/2174>`_)
-* fix the depth to relative in list_parameters (`#2300 <https://github.com/ros2/rclcpp/issues/2300>`_)
-* Contributors: Chris Lalancette, Lucas Wendland, Minju, Lee, Tomoya Fujita, Tully Foote
-
-23.0.0 (2023-09-08)
--------------------
-* Fix the return type of Rate::period. (`#2301 <https://github.com/ros2/rclcpp/issues/2301>`_)
-* Update API docs links in package READMEs (`#2302 <https://github.com/ros2/rclcpp/issues/2302>`_)
-* Cleanup flaky timers_manager tests. (`#2299 <https://github.com/ros2/rclcpp/issues/2299>`_)
-* Contributors: Chris Lalancette, Christophe Bedard
-
-22.2.0 (2023-09-07)
--------------------
-* 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
-
-22.1.0 (2023-08-21)
--------------------
-* 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
-
-22.0.0 (2023-07-11)
--------------------
-* 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
-
-21.3.0 (2023-06-12)
--------------------
-* 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
-
-21.2.0 (2023-06-07)
--------------------
-* 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
-
-21.1.1 (2023-05-11)
--------------------
-* 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
-
-21.1.0 (2023-04-27)
--------------------
-
-21.0.0 (2023-04-18)
--------------------
-* Add support for logging service. (`#2122 <https://github.com/ros2/rclcpp/issues/2122>`_)
-* Picking ABI-incompatible executor changes (`#2170 <https://github.com/ros2/rclcpp/issues/2170>`_)
-* add events-executor and timers-manager in rclcpp (`#2155 <https://github.com/ros2/rclcpp/issues/2155>`_)
-* Create common structures for executors to use (`#2143 <https://github.com/ros2/rclcpp/issues/2143>`_)
-* Implement deliver message kind (`#2168 <https://github.com/ros2/rclcpp/issues/2168>`_)
-* Contributors: Alberto Soragna, Lei Liu, Michael Carroll, methylDragon
-
-20.0.0 (2023-04-13)
--------------------
-* applied tracepoints for ring_buffer (`#2091 <https://github.com/ros2/rclcpp/issues/2091>`_)
-* Dynamic Subscription (REP-2011 Subset): Stubs for rclcpp (`#2165 <https://github.com/ros2/rclcpp/issues/2165>`_)
-* Add type_hash to cpp TopicEndpointInfo (`#2137 <https://github.com/ros2/rclcpp/issues/2137>`_)
-* Trigger the intraprocess guard condition with data (`#2164 <https://github.com/ros2/rclcpp/issues/2164>`_)
-* Minor grammar fix (`#2149 <https://github.com/ros2/rclcpp/issues/2149>`_)
-* Fix unnecessary allocations in executor.cpp (`#2135 <https://github.com/ros2/rclcpp/issues/2135>`_)
-* add Logger::get_effective_level(). (`#2141 <https://github.com/ros2/rclcpp/issues/2141>`_)
-* Remove deprecated header (`#2139 <https://github.com/ros2/rclcpp/issues/2139>`_)
-* Implement matched event (`#2105 <https://github.com/ros2/rclcpp/issues/2105>`_)
-* use allocator via init_options argument. (`#2129 <https://github.com/ros2/rclcpp/issues/2129>`_)
-* Fixes to silence some clang warnings. (`#2127 <https://github.com/ros2/rclcpp/issues/2127>`_)
-* Documentation improvements on the executor (`#2125 <https://github.com/ros2/rclcpp/issues/2125>`_)
-* Avoid losing waitable handles while using MultiThreadedExecutor (`#2109 <https://github.com/ros2/rclcpp/issues/2109>`_)
-* Hook up the incompatible type event inside of rclcpp (`#2069 <https://github.com/ros2/rclcpp/issues/2069>`_)
-* Update all rclcpp packages to C++17. (`#2121 <https://github.com/ros2/rclcpp/issues/2121>`_)
-* Fix clang warning: bugprone-use-after-move (`#2116 <https://github.com/ros2/rclcpp/issues/2116>`_)
-* Contributors: Barry Xu, Chris Lalancette, Christopher Wecht, Emerson Knapp, Michael Carroll, Tomoya Fujita, Yadu, mauropasse, methylDragon, ymski
-
 19.3.0 (2023-03-01)
 -------------------
 * Fix memory leak in tracetools::get_symbol() (`#2104 <https://github.com/ros2/rclcpp/issues/2104>`_)

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)
@@ -50,26 +49,19 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
   src/rclcpp/detail/utilities.cpp
   src/rclcpp/duration.cpp
-  src/rclcpp/dynamic_typesupport/dynamic_message.cpp
-  src/rclcpp/dynamic_typesupport/dynamic_message_type.cpp
-  src/rclcpp/dynamic_typesupport/dynamic_message_type_builder.cpp
-  src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp
-  src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp
   src/rclcpp/event.cpp
   src/rclcpp/exceptions/exceptions.cpp
+  src/rclcpp/experimental/executors/events_executor/events_executor_entities_collector.cpp
+  src/rclcpp/experimental/executors/events_executor/events_executor.cpp
+  src/rclcpp/experimental/timers_manager.cpp
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
-  src/rclcpp/executors/executor_entities_collection.cpp
-  src/rclcpp/executors/executor_entities_collector.cpp
-  src/rclcpp/executors/executor_notify_waitable.cpp
   src/rclcpp/executors/multi_threaded_executor.cpp
   src/rclcpp/executors/single_threaded_executor.cpp
   src/rclcpp/executors/static_executor_entities_collector.cpp
   src/rclcpp/executors/static_single_threaded_executor.cpp
   src/rclcpp/expand_topic_or_service_name.cpp
-  src/rclcpp/experimental/executors/events_executor/events_executor.cpp
-  src/rclcpp/experimental/timers_manager.cpp
   src/rclcpp/future_return_code.cpp
   src/rclcpp/generic_publisher.cpp
   src/rclcpp/generic_subscription.cpp
@@ -93,7 +85,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/node_interfaces/node_time_source.cpp
   src/rclcpp/node_interfaces/node_timers.cpp
   src/rclcpp/node_interfaces/node_topics.cpp
-  src/rclcpp/node_interfaces/node_type_descriptions.cpp
   src/rclcpp/node_interfaces/node_waitables.cpp
   src/rclcpp/node_options.cpp
   src/rclcpp/parameter.cpp
@@ -107,7 +98,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/qos.cpp
   src/rclcpp/event_handler.cpp
   src/rclcpp/qos_overriding_options.cpp
-  src/rclcpp/rate.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp
@@ -209,7 +199,6 @@ ament_target_dependencies(${PROJECT_NAME}
   "libstatistics_collector"
   "rcl"
   "rcl_interfaces"
-  "rcl_logging_interface"
   "rcl_yaml_param_parser"
   "rcpputils"
   "rcutils"

rclcpp/README.md

@@ -2,7 +2,7 @@
 
 The ROS client library in C++.
 
-The link to the latest rclcpp API documentation, which includes a complete list of its main components and features, can be found on the rclcpp package info page, at the [ROS Index](https://index.ros.org/p/rclcpp/).
+Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components and features.
 
 ## Quality Declaration
 

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/callback_group.hpp

@@ -93,54 +93,11 @@ public:
    *   determines whether a callback group is automatically added to an executor
    *   with the node with which it is associated.
    */
-  [[deprecated("Use CallbackGroup constructor with context function argument")]]
   RCLCPP_PUBLIC
   explicit CallbackGroup(
     CallbackGroupType group_type,
     bool automatically_add_to_executor_with_node = true);
 
-  /// Constructor for CallbackGroup.
-  /**
-   * Callback Groups have a type, either 'Mutually Exclusive' or 'Reentrant'
-   * and when creating one the type must be specified.
-   *
-   * Callbacks in Reentrant Callback Groups must be able to:
-   *   - run at the same time as themselves (reentrant)
-   *   - run at the same time as other callbacks in their group
-   *   - run at the same time as other callbacks in other groups
-   *
-   * Callbacks in Mutually Exclusive Callback Groups:
-   *   - will not be run multiple times simultaneously (non-reentrant)
-   *   - will not be run at the same time as other callbacks in their group
-   *   - but must run at the same time as callbacks in other groups
-   *
-   * Additionally, callback groups have a property which determines whether or
-   * not they are added to an executor with their associated node automatically.
-   * When creating a callback group the automatically_add_to_executor_with_node
-   * argument determines this behavior, and if true it will cause the newly
-   * created callback group to be added to an executor with the node when the
-   * Executor::add_node method is used.
-   * If false, this callback group will not be added automatically and would
-   * have to be added to an executor manually using the
-   * Executor::add_callback_group method.
-   *
-   * Whether the node was added to the executor before creating the callback
-   * group, or after, is irrelevant; the callback group will be automatically
-   * added to the executor in either case.
-   *
-   * \param[in] group_type The type of the callback group.
-   * \param[in] get_node_context Lambda to retrieve the node context when
-   *   checking that the creating node is valid and using the guard condition.
-   * \param[in] automatically_add_to_executor_with_node A boolean that
-   *   determines whether a callback group is automatically added to an executor
-   *   with the node with which it is associated.
-   */
-  RCLCPP_PUBLIC
-  explicit CallbackGroup(
-    CallbackGroupType group_type,
-    std::function<rclcpp::Context::SharedPtr(void)> get_node_context,
-    bool automatically_add_to_executor_with_node = true);
-
   /// Default destructor.
   RCLCPP_PUBLIC
   ~CallbackGroup();
@@ -180,13 +137,6 @@ public:
     return _find_ptrs_if_impl<rclcpp::Waitable, Function>(func, waitable_ptrs_);
   }
 
-  /// Get the total number of entities in this callback group.
-  /**
-   * \return the number of entities in the callback group.
-   */
-  RCLCPP_PUBLIC
-  size_t size() const;
-
   RCLCPP_PUBLIC
   std::atomic_bool &
   can_be_taken_from();
@@ -228,24 +178,11 @@ public:
   bool
   automatically_add_to_executor_with_node() const;
 
-  /// Retrieve the guard condition used to signal changes to this callback group.
-  /**
-   * \param[in] context_ptr context to use when creating the guard condition
-   * \return guard condition if it is valid, otherwise nullptr.
-   */
-  [[deprecated("Use get_notify_guard_condition() without arguments")]]
+  /// Defer creating the notify guard condition and return it.
   RCLCPP_PUBLIC
   rclcpp::GuardCondition::SharedPtr
   get_notify_guard_condition(const rclcpp::Context::SharedPtr context_ptr);
 
-  /// Retrieve the guard condition used to signal changes to this callback group.
-  /**
-   * \return guard condition if it is valid, otherwise nullptr.
-   */
-  RCLCPP_PUBLIC
-  rclcpp::GuardCondition::SharedPtr
-  get_notify_guard_condition();
-
   /// Trigger the notify guard condition.
   RCLCPP_PUBLIC
   void
@@ -297,8 +234,6 @@ protected:
   std::shared_ptr<rclcpp::GuardCondition> notify_guard_condition_ = nullptr;
   std::recursive_mutex notify_guard_condition_mutex_;
 
-  std::function<rclcpp::Context::SharedPtr(void)> get_context_;
-
 private:
   template<typename TypeT, typename Function>
   typename TypeT::SharedPtr _find_ptrs_if_impl(

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>

rclcpp/include/rclcpp/context.hpp

@@ -26,7 +26,6 @@
 #include <unordered_set>
 #include <utility>
 #include <vector>
-#include <stdexcept>
 
 #include "rcl/context.h"
 #include "rcl/guard_condition.h"

rclcpp/include/rclcpp/copy_all_parameter_values.hpp

@@ -1,82 +0,0 @@
-// Copyright 2023 Open Navigation LLC
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
-#define RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
-
-#include <string>
-#include <vector>
-
-#include "rcl_interfaces/srv/list_parameters.hpp"
-#include "rcl_interfaces/msg/parameter_descriptor.hpp"
-#include "rcl_interfaces/msg/set_parameters_result.hpp"
-
-#include "rclcpp/parameter.hpp"
-#include "rclcpp/logger.hpp"
-#include "rclcpp/logging.hpp"
-
-namespace rclcpp
-{
-
-/**
- * Copy all parameters from one source node to another destination node.
- * May throw exceptions if parameters from source are uninitialized or undeclared.
- * \param source Node to copy parameters from
- * \param destination Node to copy parameters to
- * \param override_existing_params Default false. Whether to override existing destination params
- * if both the source and destination contain the same parameter.
- */
-template<typename NodeT1, typename NodeT2>
-void
-copy_all_parameter_values(
-  const NodeT1 & source, const NodeT2 & destination, const bool override_existing_params = false)
-{
-  using Parameters = std::vector<rclcpp::Parameter>;
-  using Descriptions = std::vector<rcl_interfaces::msg::ParameterDescriptor>;
-  auto source_params = source->get_node_parameters_interface();
-  auto dest_params = destination->get_node_parameters_interface();
-  rclcpp::Logger logger = destination->get_node_logging_interface()->get_logger();
-
-  std::vector<std::string> param_names = source_params->list_parameters({}, 0).names;
-  Parameters params = source_params->get_parameters(param_names);
-  Descriptions descriptions = source_params->describe_parameters(param_names);
-
-  for (unsigned int idx = 0; idx != params.size(); idx++) {
-    if (!dest_params->has_parameter(params[idx].get_name())) {
-      dest_params->declare_parameter(
-        params[idx].get_name(), params[idx].get_parameter_value(), descriptions[idx]);
-    } else if (override_existing_params) {
-      try {
-        rcl_interfaces::msg::SetParametersResult result =
-          dest_params->set_parameters_atomically({params[idx]});
-        if (!result.successful) {
-          // Parameter update rejected or read-only
-          RCLCPP_WARN(
-            logger,
-            "Unable to set parameter (%s): %s!",
-            params[idx].get_name().c_str(), result.reason.c_str());
-        }
-      } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
-        RCLCPP_WARN(
-          logger,
-          "Unable to set parameter (%s): incompatable parameter type (%s)!",
-          params[idx].get_name().c_str(), e.what());
-      }
-    }
-  }
-}
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_

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/dynamic_typesupport/dynamic_message.hpp

@@ -1,70 +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.
-
-#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_
-#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_
-
-#include <rcl/allocator.h>
-#include <rcl/types.h>
-#include <rosidl_dynamic_typesupport/types.h>
-
-#include <memory>
-#include <string>
-
-#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace dynamic_typesupport
-{
-
-/// Utility wrapper class for rosidl_dynamic_typesupport_dynamic_data_t
-/// STUBBED OUT
-class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessage)
-
-  RCLCPP_PUBLIC
-  virtual ~DynamicMessage();
-
-protected:
-  // NOTE(methylDragon):
-  // This is just here to extend the lifetime of the serialization support
-  // It isn't actually used by the builder since the builder should compose its own support
-  //
-  // ... Though ideally it should be the exact same support as the one stored in the
-  // DynamicSerializationSupport
-  DynamicSerializationSupport::SharedPtr serialization_support_;
-
-  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data_;
-  bool is_loaned_;
-
-  // Used for returning the loaned value, and lifetime management
-  DynamicMessage::SharedPtr parent_data_;
-
-private:
-  RCLCPP_DISABLE_COPY(DynamicMessage)
-
-  RCLCPP_PUBLIC
-  DynamicMessage();
-};
-
-}  // namespace dynamic_typesupport
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type.hpp

@@ -1,64 +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.
-
-#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_
-#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_
-
-#include <rcl/allocator.h>
-#include <rosidl_dynamic_typesupport/types.h>
-
-#include <memory>
-#include <string>
-
-#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace dynamic_typesupport
-{
-
-/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_t`
-/// STUBBED OUT
-class DynamicMessageType : public std::enable_shared_from_this<DynamicMessageType>
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageType)
-
-  RCLCPP_PUBLIC
-  virtual ~DynamicMessageType();
-
-protected:
-  // NOTE(methylDragon):
-  // This is just here to extend the lifetime of the serialization support
-  // It isn't actually used by the builder since the builder should compose its own support
-  //
-  // ... Though ideally it should be the exact same support as the one stored in the
-  // `DynamicSerializationSupport`
-  DynamicSerializationSupport::SharedPtr serialization_support_;
-
-  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type_;
-
-private:
-  RCLCPP_DISABLE_COPY(DynamicMessageType)
-
-  RCLCPP_PUBLIC
-  DynamicMessageType();
-};
-
-}  // namespace dynamic_typesupport
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp

@@ -1,65 +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.
-
-#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
-#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
-
-#include <rcl/allocator.h>
-#include <rosidl_dynamic_typesupport/types.h>
-
-#include <memory>
-#include <string>
-
-#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace dynamic_typesupport
-{
-
-/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_builder_t *`
-/// STUBBED OUT
-class DynamicMessageTypeBuilder : public std::enable_shared_from_this<DynamicMessageTypeBuilder>
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeBuilder)
-
-  RCLCPP_PUBLIC
-  virtual ~DynamicMessageTypeBuilder();
-
-protected:
-  // NOTE(methylDragon):
-  // This is just here to extend the lifetime of the serialization support
-  // It isn't actually used by the builder since the builder should compose its own support
-  //
-  // ... Though ideally it should be the exact same support as the one stored in the
-  // `DynamicSerializationSupport`
-  DynamicSerializationSupport::SharedPtr serialization_support_;
-
-  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder_;
-
-private:
-  RCLCPP_DISABLE_COPY(DynamicMessageTypeBuilder)
-
-  RCLCPP_PUBLIC
-  DynamicMessageTypeBuilder();
-};
-
-}  // namespace dynamic_typesupport
-}  // namespace rclcpp
-
-
-#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp

@@ -1,67 +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.
-
-#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_
-#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_
-
-#include <rcl/allocator.h>
-
-#include <rosidl_dynamic_typesupport/dynamic_message_type_support_struct.h>
-#include <rosidl_dynamic_typesupport/types.h>
-#include <rosidl_runtime_c/message_type_support_struct.h>
-#include <rosidl_runtime_c/type_description/type_description__struct.h>
-
-#include <memory>
-#include <string>
-
-#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
-
-#include "rclcpp/macros.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace dynamic_typesupport
-{
-
-/// Utility wrapper class for `rosidl_message_type_support_t` containing managed
-/// STUBBED OUT
-class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMessageTypeSupport>
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeSupport)
-
-  RCLCPP_PUBLIC
-  virtual ~DynamicMessageTypeSupport();
-
-protected:
-  DynamicSerializationSupport::SharedPtr serialization_support_;
-  DynamicMessageType::SharedPtr dynamic_message_type_;
-  DynamicMessage::SharedPtr dynamic_message_;
-
-  rosidl_message_type_support_t rosidl_message_type_support_;
-
-private:
-  RCLCPP_DISABLE_COPY(DynamicMessageTypeSupport)
-
-  RCLCPP_PUBLIC
-  DynamicMessageTypeSupport();
-};
-
-}  // namespace dynamic_typesupport
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp

@@ -1,60 +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.
-
-#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_
-#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_
-
-#include <rcl/allocator.h>
-#include <rosidl_dynamic_typesupport/api/serialization_support.h>
-#include <rosidl_dynamic_typesupport/types.h>
-
-#include <memory>
-#include <string>
-
-#include "rclcpp/macros.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace dynamic_typesupport
-{
-
-/// Utility wrapper class for rosidl_dynamic_typesupport_serialization_support_t
-class DynamicSerializationSupport : public std::enable_shared_from_this<DynamicSerializationSupport>
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicSerializationSupport)
-
-  RCLCPP_PUBLIC
-  explicit DynamicSerializationSupport(rcl_allocator_t allocator = rcl_get_default_allocator());
-
-  RCLCPP_PUBLIC
-  DynamicSerializationSupport(
-    const std::string & serialization_library_name,
-    rcl_allocator_t allocator = rcl_get_default_allocator());
-
-  RCLCPP_PUBLIC
-  virtual ~DynamicSerializationSupport();
-
-protected:
-  rosidl_dynamic_typesupport_serialization_support_t rosidl_serialization_support_;
-
-private:
-  RCLCPP_DISABLE_COPY(DynamicSerializationSupport)
-};
-
-}  // namespace dynamic_typesupport
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_

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

@@ -51,7 +51,6 @@ typedef std::map<rclcpp::CallbackGroup::WeakPtr,
 
 // Forward declaration is used in convenience method signature.
 class Node;
-class ExecutorImplementation;
 
 /// Coordinate the order and timing of available communication tasks.
 /**
@@ -297,21 +296,6 @@ 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
@@ -653,9 +637,8 @@ protected:
   std::atomic_bool spinning;
 
   /// Guard condition for signaling the rmw layer to wake up for special events.
-  std::shared_ptr<rclcpp::GuardCondition> interrupt_guard_condition_;
+  rclcpp::GuardCondition interrupt_guard_condition_;
 
-  /// Guard condition for signaling the rmw layer to wake up for system shutdown.
   std::shared_ptr<rclcpp::GuardCondition> shutdown_guard_condition_;
 
   /// Wait set for managing entities that the rmw layer waits on.
@@ -713,9 +696,6 @@ protected:
 
   /// shutdown callback handle registered to Context
   rclcpp::OnShutdownCallbackHandle shutdown_callback_handle_;
-
-  /// Pointer to implementation
-  std::unique_ptr<ExecutorImplementation> impl_;
 };
 
 }  // namespace rclcpp

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

rclcpp/include/rclcpp/executors/executor_entities_collection.hpp

@@ -1,213 +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.
-
-#ifndef RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTION_HPP_
-#define RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTION_HPP_
-
-#include <deque>
-#include <functional>
-#include <unordered_map>
-#include <vector>
-
-#include <rclcpp/any_executable.hpp>
-#include <rclcpp/node_interfaces/node_base.hpp>
-#include <rclcpp/callback_group.hpp>
-#include <rclcpp/executors/executor_notify_waitable.hpp>
-#include <rclcpp/visibility_control.hpp>
-#include <rclcpp/wait_result.hpp>
-#include <rclcpp/wait_set.hpp>
-
-namespace rclcpp
-{
-namespace executors
-{
-
-/// Structure to represent a single entity's entry in a collection
-template<typename EntityValueType>
-struct CollectionEntry
-{
-  /// Weak pointer to entity type
-  using EntityWeakPtr = typename EntityValueType::WeakPtr;
-  /// Shared pointer to entity type
-  using EntitySharedPtr = typename EntityValueType::SharedPtr;
-
-  /// The entity
-  EntityWeakPtr entity;
-
-  /// If relevant, the entity's corresponding callback_group
-  rclcpp::CallbackGroup::WeakPtr callback_group;
-};
-
-/// Update a collection based on another collection
-/*
- * Iterates update_from and update_to to see which entities have been added/removed between
- * the two collections.
- *
- * For each new entry (in update_from, but not in update_to),
- *   add the entity and fire the on_added callback
- * For each removed entry (in update_to, but not in update_from),
- *   remove the entity and fire the on_removed callback.
- *
- *  \param[in] update_from The collection representing the next iteration's state
- *  \param[inout] update_to The collection representing the current iteration's state
- *  \param[in] on_added Callback fired when a new entity is detected
- *  \param[in] on_removed Callback fired when an entity is removed
- */
-template<typename CollectionType>
-void update_entities(
-  const CollectionType & update_from,
-  CollectionType & update_to,
-  std::function<void(const typename CollectionType::EntitySharedPtr &)> on_added,
-  std::function<void(const typename CollectionType::EntitySharedPtr &)> on_removed
-)
-{
-  for (auto it = update_to.begin(); it != update_to.end(); ) {
-    if (update_from.count(it->first) == 0) {
-      auto entity = it->second.entity.lock();
-      if (entity) {
-        on_removed(entity);
-      }
-      it = update_to.erase(it);
-    } else {
-      ++it;
-    }
-  }
-  for (auto it = update_from.begin(); it != update_from.end(); ++it) {
-    if (update_to.count(it->first) == 0) {
-      auto entity = it->second.entity.lock();
-      if (entity) {
-        on_added(entity);
-      }
-      update_to.insert(*it);
-    }
-  }
-}
-
-/// A collection of entities, indexed by their corresponding handles
-template<typename EntityKeyType, typename EntityValueType>
-class EntityCollection
-  : public std::unordered_map<const EntityKeyType *, CollectionEntry<EntityValueType>>
-{
-public:
-  /// Key type of the map
-  using Key = const EntityKeyType *;
-
-  /// Weak pointer to entity type
-  using EntityWeakPtr = typename EntityValueType::WeakPtr;
-
-  /// Shared pointer to entity type
-  using EntitySharedPtr = typename EntityValueType::SharedPtr;
-
-  /// Update this collection based on the contents of another collection
-  /**
-   * Update the internal state of this collection, firing callbacks when entities have been
-   * added or removed.
-   *
-   * \param[in] other Collection to compare to
-   * \param[in] on_added Callback for when entities have been added
-   * \param[in] on_removed Callback for when entities have been removed
-   */
-  void update(
-    const EntityCollection<EntityKeyType, EntityValueType> & other,
-    std::function<void(const EntitySharedPtr &)> on_added,
-    std::function<void(const EntitySharedPtr &)> on_removed)
-  {
-    update_entities(other, *this, on_added, on_removed);
-  }
-};
-
-/// Represent the total set of entities for a single executor
-/**
- * This allows the entities to be stored from ExecutorEntitiesCollector.
- * The structure also makes in convenient to re-evaluate when entities have been added or removed.
- */
-struct ExecutorEntitiesCollection
-{
-  /// Collection type for timer entities
-  using TimerCollection = EntityCollection<rcl_timer_t, rclcpp::TimerBase>;
-
-  /// Collection type for subscription entities
-  using SubscriptionCollection = EntityCollection<rcl_subscription_t, rclcpp::SubscriptionBase>;
-
-  /// Collection type for client entities
-  using ClientCollection = EntityCollection<rcl_client_t, rclcpp::ClientBase>;
-
-  /// Collection type for service entities
-  using ServiceCollection = EntityCollection<rcl_service_t, rclcpp::ServiceBase>;
-
-  /// Collection type for waitable entities
-  using WaitableCollection = EntityCollection<rclcpp::Waitable, rclcpp::Waitable>;
-
-  /// Collection type for guard condition entities
-  using GuardConditionCollection = EntityCollection<rcl_guard_condition_t, rclcpp::GuardCondition>;
-
-  /// Collection of timers currently in use by the executor.
-  TimerCollection timers;
-
-  /// Collection of subscriptions currently in use by the executor.
-  SubscriptionCollection subscriptions;
-
-  /// Collection of clients currently in use by the executor.
-  ClientCollection clients;
-
-  /// Collection of services currently in use by the executor.
-  ServiceCollection services;
-
-  /// Collection of guard conditions currently in use by the executor.
-  GuardConditionCollection guard_conditions;
-
-  /// Collection of waitables currently in use by the executor.
-  WaitableCollection waitables;
-
-  /// Check if the entities collection is empty
-  /**
-   * \return true if all member collections are empty, false otherwise
-  */
-  bool empty() const;
-
-  /// Clear the entities collection
-  void clear();
-};
-
-/// Build an entities collection from callback groups
-/**
- * Iterates a list of callback groups and adds entities from each valid group
- *
- * \param[in] callback_groups List of callback groups to check for entities
- * \param[inout] colletion Entities collection to populate with found entities
- */
-void
-build_entities_collection(
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> & callback_groups,
-  ExecutorEntitiesCollection & collection);
-
-/// Build a queue of executables ready to be executed
-/**
- * Iterates a list of entities and adds them to a queue if they are ready.
- *
- * \param[in] collection Collection of entities corresponding to the current wait set.
- * \param[in] wait_result Result of rclcpp::WaitSet::wait corresponding to the collection.
- * \param[inout] queue of executables to append new ready executables to
- * \return number of new ready executables
- */
-size_t
-ready_executables(
-  const ExecutorEntitiesCollection & collection,
-  rclcpp::WaitResult<rclcpp::WaitSet> & wait_result,
-  std::deque<rclcpp::AnyExecutable> & executables
-);
-}  // namespace executors
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTION_HPP_

rclcpp/include/rclcpp/executors/executor_entities_collector.hpp

@@ -1,270 +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.
-
-#ifndef RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTOR_HPP_
-#define RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTOR_HPP_
-
-#include <map>
-#include <memory>
-#include <mutex>
-#include <set>
-#include <vector>
-
-#include "rcpputils/thread_safety_annotations.hpp"
-
-#include <rclcpp/any_executable.hpp>
-#include <rclcpp/node_interfaces/node_base.hpp>
-#include <rclcpp/callback_group.hpp>
-#include <rclcpp/executors/executor_notify_waitable.hpp>
-#include <rclcpp/visibility_control.hpp>
-#include <rclcpp/wait_set.hpp>
-#include <rclcpp/wait_result.hpp>
-
-namespace rclcpp
-{
-namespace executors
-{
-
-/// Class to monitor a set of nodes and callback groups for changes in entity membership
-/**
- * This is to be used with an executor to track the membership of various nodes, groups,
- * and entities (timers, subscriptions, clients, services, etc) and report status to the
- * executor.
- *
- * In general, users will add either nodes or callback groups to an executor.
- * Each node may have callback groups that are automatically associated with executors,
- * or callback groups that must be manually associated with an executor.
- *
- * This object tracks both types of callback groups as well as nodes that have been
- * previously added to the executor.
- * When a new callback group is added/removed or new entities are added/removed, the
- * corresponding node or callback group will signal this to the executor so that the
- * entity collection may be rebuilt according to that executor's implementation.
- *
- */
-class ExecutorEntitiesCollector
-{
-public:
-  /// Constructor
-  /**
-   * \param[in] notify_waitable Waitable that is used to signal to the executor
-   *   when nodes or callback groups have been added or removed.
-   */
-  RCLCPP_PUBLIC
-  explicit ExecutorEntitiesCollector(
-    std::shared_ptr<ExecutorNotifyWaitable> notify_waitable);
-
-  /// Destructor
-  RCLCPP_PUBLIC
-  ~ExecutorEntitiesCollector();
-
-  /// Indicate if the entities collector has pending additions or removals.
-  /**
-   * \return true if there are pending additions or removals
-   */
-  bool has_pending() const;
-
-  /// Add a node to the entity collector
-  /**
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \throw std::runtime_error if the node is associated with an executor
-   */
-  RCLCPP_PUBLIC
-  void
-  add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  /// Remove a node from the entity collector
-  /**
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \throw std::runtime_error if the node is associated with an executor
-   * \throw std::runtime_error if the node is associated with this executor
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  /// Add a callback group to the entity collector
-  /**
-   * \param[in] group_ptr a shared pointer that points to a callback group
-   * \throw std::runtime_error if the callback_group is associated with an executor
-   */
-  RCLCPP_PUBLIC
-  void
-  add_callback_group(rclcpp::CallbackGroup::SharedPtr group_ptr);
-
-  /// Remove a callback group from the entity collector
-  /**
-   * \param[in] group_ptr a shared pointer that points to a callback group
-   * \throw std::runtime_error if the callback_group is not associated with an executor
-   * \throw std::runtime_error if the callback_group is not associated with this executor
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_callback_group(rclcpp::CallbackGroup::SharedPtr group_ptr);
-
-  /// Get all callback groups known to this entity collector
-  /**
-   * This will include manually added and automatically added (node associated) groups
-   * \return vector of all callback groups
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups() const;
-
-  /// Get manually-added callback groups known to this entity collector
-  /**
-   * This will include callback groups that have been added via add_callback_group
-   * \return vector of manually-added callback groups
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups() const;
-
-  /// Get automatically-added callback groups known to this entity collector
-  /**
-   * This will include callback groups that are associated with nodes added via add_node
-   * \return vector of automatically-added callback groups
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups() const;
-
-  /// Update the underlying collections
-  /**
-   * This will prune nodes and callback groups that are no longer valid as well
-   * as add new callback groups from any associated nodes.
-   */
-  RCLCPP_PUBLIC
-  void
-  update_collections();
-
-protected:
-  using NodeCollection = std::set<
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>;
-
-  using CallbackGroupCollection = std::set<
-    rclcpp::CallbackGroup::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
-
-  using WeakNodesToGuardConditionsMap = std::map<
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    rclcpp::GuardCondition::WeakPtr,
-    std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>;
-
-  using WeakGroupsToGuardConditionsMap = std::map<
-    rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::GuardCondition::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
-
-  /// Implementation of removing a node from the collector.
-  /**
-   * This will disassociate the node from the collector and remove any
-   * automatically-added callback groups
-   *
-   * This takes and returns an iterator so it may be used as:
-   *
-   * it = remove_weak_node(it);
-   *
-   * \param[in] weak_node iterator to the weak node to be removed
-   * \return Valid updated iterator in the same collection
-   */
-  RCLCPP_PUBLIC
-  NodeCollection::iterator
-  remove_weak_node(NodeCollection::iterator weak_node) RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// Implementation of removing a callback group from the collector.
-  /**
-   * This will disassociate the callback group from the collector
-   *
-   * This takes and returns an iterator so it may be used as:
-   *
-   * it = remove_weak_callback_group(it);
-   *
-   * \param[in] weak_group_it iterator to the weak group to be removed
-   * \param[in] collection the collection to remove the group from
-   *   (manually or automatically added)
-   * \return Valid updated iterator in the same collection
-   */
-  RCLCPP_PUBLIC
-  CallbackGroupCollection::iterator
-  remove_weak_callback_group(
-    CallbackGroupCollection::iterator weak_group_it,
-    CallbackGroupCollection & collection) RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// Implementation of adding a callback group
-  /**
-   * \param[in] group_ptr the group to add
-   * \param[in] collection the collection to add the group to
-   */
-  RCLCPP_PUBLIC
-  void
-  add_callback_group_to_collection(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    CallbackGroupCollection & collection)  RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// Iterate over queued added/remove nodes and callback_groups
-  RCLCPP_PUBLIC
-  void
-  process_queues() RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// Check a collection of nodes and add any new callback_groups that
-  /// are set to be automatically associated via the node.
-  RCLCPP_PUBLIC
-  void
-  add_automatically_associated_callback_groups(
-    const NodeCollection & nodes_to_check) RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// Check all nodes and group for expired weak pointers and remove them.
-  RCLCPP_PUBLIC
-  void
-  prune_invalid_nodes_and_groups() RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// mutex to protect collections and pending queues
-  mutable std::mutex mutex_;
-
-  /// Callback groups that were added via `add_callback_group`
-  CallbackGroupCollection manually_added_groups_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// Callback groups that were added by their association with added nodes
-  CallbackGroupCollection automatically_added_groups_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// nodes that are associated with the executor
-  NodeCollection weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// Track guard conditions associated with added nodes
-  WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// Track guard conditions associated with added callback groups
-  WeakGroupsToGuardConditionsMap weak_groups_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// nodes that have been added since the last update.
-  NodeCollection pending_added_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// nodes that have been removed since the last update.
-  NodeCollection pending_removed_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// callback groups that have been added since the last update.
-  CallbackGroupCollection pending_manually_added_groups_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// callback groups that have been removed since the last update.
-  CallbackGroupCollection pending_manually_removed_groups_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// Waitable to add guard conditions to
-  std::shared_ptr<ExecutorNotifyWaitable> notify_waitable_;
-};
-}  // namespace executors
-}  // namespace rclcpp
-//
-#endif  // RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTOR_HPP_

rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp

@@ -1,158 +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.
-
-#ifndef RCLCPP__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_
-#define RCLCPP__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_
-
-#include <functional>
-#include <memory>
-#include <mutex>
-#include <set>
-
-#include "rclcpp/guard_condition.hpp"
-#include "rclcpp/waitable.hpp"
-
-namespace rclcpp
-{
-namespace executors
-{
-
-/// Maintain a collection of guard conditions from associated nodes and callback groups
-/// to signal to the executor when associated entities have changed.
-class ExecutorNotifyWaitable : public rclcpp::Waitable
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(ExecutorNotifyWaitable)
-
-  // Constructor
-  /**
-   * \param[in] on_execute_callback Callback to execute when one of the conditions
-   *   of this waitable has signaled the wait_set.
-   */
-  RCLCPP_PUBLIC
-  explicit ExecutorNotifyWaitable(std::function<void(void)> on_execute_callback = {});
-
-  // Destructor
-  RCLCPP_PUBLIC
-  ~ExecutorNotifyWaitable() override = default;
-
-  RCLCPP_PUBLIC
-  ExecutorNotifyWaitable(const ExecutorNotifyWaitable & other);
-
-
-  RCLCPP_PUBLIC
-  ExecutorNotifyWaitable & operator=(const ExecutorNotifyWaitable & other);
-
-  /// Add conditions to the wait set
-  /**
-   * \param[inout] wait_set structure that conditions will be added to
-   */
-  RCLCPP_PUBLIC
-  void
-  add_to_wait_set(rcl_wait_set_t * wait_set) override;
-
-  /// Check conditions against the wait set
-  /**
-   * \param[inout] wait_set structure that internal elements will be checked against.
-   * \return true if this waitable is ready to be executed, false otherwise.
-   */
-  RCLCPP_PUBLIC
-  bool
-  is_ready(rcl_wait_set_t * wait_set) override;
-
-  /// Perform work associated with the waitable.
-  /**
-   * This will call the callback provided in the constructor.
-   * \param[in] data Data to be use for the execute, if available, else nullptr.
-   */
-  RCLCPP_PUBLIC
-  void
-  execute(std::shared_ptr<void> & data) override;
-
-  /// Retrieve data to be used in the next execute call.
-  /**
-   * \return If available, data to be used, otherwise nullptr
-   */
-  RCLCPP_PUBLIC
-  std::shared_ptr<void>
-  take_data() override;
-
-  /// Take the data from an entity ID so that it can be consumed with `execute`.
-  /**
-   * \param[in] id ID of the entity to take data from.
-   * \return If available, data to be used, otherwise nullptr
-   * \sa rclcpp::Waitable::take_data_by_entity_id
-   */
-  RCLCPP_PUBLIC
-  std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override;
-
-  /// Set a callback to be called whenever the waitable becomes ready.
-  /**
-   * \param[in] callback callback to set
-   * \sa rclcpp::Waitable::set_on_ready_callback
-   */
-  RCLCPP_PUBLIC
-  void
-  set_on_ready_callback(std::function<void(size_t, int)> callback) override;
-
-  /// Add a guard condition to be waited on.
-  /**
-   * \param[in] guard_condition The guard condition to add.
-   */
-  RCLCPP_PUBLIC
-  void
-  add_guard_condition(rclcpp::GuardCondition::WeakPtr guard_condition);
-
-  /// Unset any callback registered via set_on_ready_callback.
-  /**
-   * \sa rclcpp::Waitable::clear_on_ready_callback
-   */
-  RCLCPP_PUBLIC
-  void
-  clear_on_ready_callback() override;
-
-  /// Remove a guard condition from being waited on.
-  /**
-   * \param[in] weak_guard_condition The guard condition to remove.
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_guard_condition(rclcpp::GuardCondition::WeakPtr weak_guard_condition);
-
-  /// Get the number of ready guard_conditions
-  /**
-   * \return The number of guard_conditions associated with the Waitable.
-   */
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_ready_guard_conditions() override;
-
-private:
-  /// Callback to run when waitable executes
-  std::function<void(void)> execute_callback_;
-
-  std::mutex guard_condition_mutex_;
-
-  std::function<void(size_t)> on_ready_callback_;
-
-  /// The collection of guard conditions to be waited on.
-  std::set<rclcpp::GuardCondition::WeakPtr,
-    std::owner_less<rclcpp::GuardCondition::WeakPtr>> notify_guard_conditions_;
-};
-
-}  // namespace executors
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_

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

@@ -24,7 +24,6 @@
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/experimental/buffers/buffer_implementation_base.hpp"
 #include "rclcpp/macros.hpp"
-#include "tracetools/tracetools.h"
 
 namespace rclcpp
 {
@@ -44,7 +43,6 @@ public:
 
   virtual bool has_data() const = 0;
   virtual bool use_take_shared_method() const = 0;
-  virtual size_t available_capacity() const = 0;
 };
 
 template<
@@ -96,10 +94,6 @@ public:
 
     buffer_ = std::move(buffer_impl);
 
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_buffer_to_ipb,
-      static_cast<const void *>(buffer_.get()),
-      static_cast<const void *>(this));
     if (!allocator) {
       message_allocator_ = std::make_shared<MessageAlloc>();
     } else {
@@ -144,11 +138,6 @@ 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

@@ -25,7 +25,6 @@
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "tracetools/tracetools.h"
 
 namespace rclcpp
 {
@@ -52,10 +51,6 @@ 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_);
   }
 
   virtual ~RingBufferImplementation() {}
@@ -72,12 +67,6 @@ public:
 
     write_index_ = next_(write_index_);
     ring_buffer_[write_index_] = std::move(request);
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_ring_buffer_enqueue,
-      static_cast<const void *>(this),
-      write_index_,
-      size_ + 1,
-      is_full_());
 
     if (is_full_()) {
       read_index_ = next_(read_index_);
@@ -101,11 +90,6 @@ public:
     }
 
     auto request = std::move(ring_buffer_[read_index_]);
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_ring_buffer_dequeue,
-      static_cast<const void *>(this),
-      read_index_,
-      size_ - 1);
     read_index_ = next_(read_index_);
 
     size_--;
@@ -151,22 +135,7 @@ 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));
-  }
+  void clear() {}
 
 private:
   /// Get the next index value for the ring buffer
@@ -204,17 +173,6 @@ 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/event_waitable.hpp

@@ -0,0 +1,70 @@
+// Copyright 2023 iRobot Corporation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENT_WAITABLE_HPP_
+#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENT_WAITABLE_HPP_
+
+#include "rclcpp/waitable.hpp"
+
+namespace rclcpp
+{
+namespace experimental
+{
+namespace executors
+{
+
+/**
+ * @brief This class provides a wrapper around the waitable object, that is
+ * meant to be used with the EventsExecutor.
+ * The waitset related methods are stubbed out as they should not be called.
+ * This class is abstract as the execute method of rclcpp::Waitable is not implemented.
+ * Nodes who want to implement a custom EventWaitable, can derive from this class and override
+ * the execute method.
+ */
+class EventWaitable : public rclcpp::Waitable
+{
+public:
+  // Constructor
+  RCLCPP_PUBLIC
+  EventWaitable() = default;
+
+  // Destructor
+  RCLCPP_PUBLIC
+  virtual ~EventWaitable() = default;
+
+  // Stub API: not used by EventsExecutor
+  RCLCPP_PUBLIC
+  bool
+  is_ready(rcl_wait_set_t * wait_set) final
+  {
+    (void)wait_set;
+    throw std::runtime_error("EventWaitable can't be checked if it's ready");
+    return false;
+  }
+
+  // Stub API: not used by EventsExecutor
+  RCLCPP_PUBLIC
+  void
+  add_to_wait_set(rcl_wait_set_t * wait_set) final
+  {
+    (void)wait_set;
+    throw std::runtime_error("EventWaitable can't be added to a wait_set");
+  }
+};
+
+}  // namespace executors
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENT_WAITABLE_HPP_

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

@@ -15,15 +15,15 @@
 #ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_
 #define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_
 
-#include <atomic>
 #include <chrono>
 #include <memory>
+#include <queue>
 #include <vector>
 
 #include "rclcpp/executor.hpp"
-#include "rclcpp/executors/executor_entities_collection.hpp"
-#include "rclcpp/executors/executor_entities_collector.hpp"
+#include "rclcpp/experimental/executors/events_executor/events_executor_entities_collector.hpp"
 #include "rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp"
+#include "rclcpp/experimental/executors/events_executor/events_executor_notify_waitable.hpp"
 #include "rclcpp/experimental/executors/events_executor/events_queue.hpp"
 #include "rclcpp/experimental/executors/events_executor/simple_events_queue.hpp"
 #include "rclcpp/experimental/timers_manager.hpp"
@@ -40,9 +40,7 @@ namespace executors
 /**
  * This executor uses an events queue and a timers manager to execute entities from its
  * associated nodes and callback groups.
- * ROS 2 entities allow to set callback functions that are invoked when the entity is triggered
- * or has work to do. The events-executor sets these callbacks such that they push an
- * event into its queue.
+ * The RMW listener APIs are used to collect new events.
  *
  * This executor tries to reduce as much as possible the amount of maintenance operations.
  * This allows to use customized `EventsQueue` classes to achieve different goals such
@@ -185,10 +183,6 @@ public:
     rclcpp::CallbackGroup::SharedPtr group_ptr,
     bool notify = true) override;
 
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_all_callback_groups()
-   */
   RCLCPP_PUBLIC
   std::vector<rclcpp::CallbackGroup::WeakPtr>
   get_all_callback_groups() override;
@@ -210,12 +204,10 @@ public:
   get_automatically_added_callback_groups_from_nodes() override;
 
 protected:
-  /// Internal implementation of spin_once
   RCLCPP_PUBLIC
   void
   spin_once_impl(std::chrono::nanoseconds timeout) override;
 
-  /// Internal implementation of spin_some
   RCLCPP_PUBLIC
   void
   spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
@@ -223,67 +215,18 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(EventsExecutor)
 
-  /// Execute a provided executor event if its associated entities are available
+  // Execute a single event
+  RCLCPP_PUBLIC
   void
   execute_event(const ExecutorEvent & event);
 
-  /// Collect entities from callback groups and refresh the current collection with them
-  void
-  refresh_current_collection_from_callback_groups();
-
-  /// Refresh the current collection using the provided new_collection
-  void
-  refresh_current_collection(const rclcpp::executors::ExecutorEntitiesCollection & new_collection);
-
-  /// Create a listener callback function for the provided entity
-  std::function<void(size_t)>
-  create_entity_callback(void * entity_key, ExecutorEventType type);
-
-  /// Create a listener callback function for the provided waitable entity
-  std::function<void(size_t, int)>
-  create_waitable_callback(const rclcpp::Waitable * waitable_id);
-
-  /// Utility to add the notify waitable to an entities collection
-  void
-  add_notify_waitable_to_collection(
-    rclcpp::executors::ExecutorEntitiesCollection::WaitableCollection & collection);
-
-  /// Searches for the provided entity_id in the collection and returns the entity if valid
-  template<typename CollectionType>
-  typename CollectionType::EntitySharedPtr
-  retrieve_entity(typename CollectionType::Key entity_id, CollectionType & collection)
-  {
-    // Check if the entity_id is in the collection
-    auto it = collection.find(entity_id);
-    if (it == collection.end()) {
-      return nullptr;
-    }
-
-    // Check if the entity associated with the entity_id is valid
-    // and remove it from the collection if it isn't
-    auto entity = it->second.entity.lock();
-    if (!entity) {
-      collection.erase(it);
-    }
-
-    // Return the retrieved entity (this can be a nullptr if the entity was not valid)
-    return entity;
-  }
-
-  /// Queue where entities can push events
+  // Queue where entities can push events
   rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue_;
 
-  std::shared_ptr<rclcpp::executors::ExecutorEntitiesCollector> entities_collector_;
-  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> notify_waitable_;
+  EventsExecutorEntitiesCollector::SharedPtr entities_collector_;
+  EventsExecutorNotifyWaitable::SharedPtr executor_notifier_;
 
-  /// Mutex to protect the current_entities_collection_
-  std::recursive_mutex collection_mutex_;
-  std::shared_ptr<rclcpp::executors::ExecutorEntitiesCollection> current_entities_collection_;
-
-  /// Flag used to reduce the number of unnecessary waitable events
-  std::atomic<bool> notify_waitable_event_pushed_ {false};
-
-  /// Timers manager used to track and/or execute associated timers
+  // Timers manager
   std::shared_ptr<rclcpp::experimental::TimersManager> timers_manager_;
 };
 

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

@@ -0,0 +1,348 @@
+// Copyright 2023 iRobot Corporation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_ENTITIES_COLLECTOR_HPP_
+#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_ENTITIES_COLLECTOR_HPP_
+
+#include <chrono>
+#include <list>
+#include <map>
+#include <memory>
+#include <unordered_map>
+#include <vector>
+
+#include "rcl/guard_condition.h"
+#include "rcl/wait.h"
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp"
+#include "rclcpp/experimental/timers_manager.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "rclcpp/waitable.hpp"
+
+namespace rclcpp
+{
+namespace experimental
+{
+namespace executors
+{
+// forward declaration of EventsExecutor to avoid circular dependency
+class EventsExecutor;
+
+typedef std::map<rclcpp::CallbackGroup::WeakPtr,
+    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
+    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
+
+/**
+ * @brief This class provides a waitable object that is used for managing the
+ * entities (i.e. nodes and their subscriptions, timers, services, etc)
+ * added to an EventsExecutor.
+ * The add/remove node APIs are used when a node is added/removed from
+ * the associated EventsExecutor and result in setting/unsetting the
+ * events callbacks and adding timers to the timers manager.
+ *
+ * Being this class derived from Waitable, it can be used to wake up an
+ * executor thread while it's spinning.
+ * When this occurs, the execute API takes care of handling changes
+ * in the entities currently used by the executor.
+ */
+class EventsExecutorEntitiesCollector final
+  : public rclcpp::Waitable,
+  public std::enable_shared_from_this<EventsExecutorEntitiesCollector>
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(EventsExecutorEntitiesCollector)
+
+  // Constructor
+  RCLCPP_PUBLIC
+  EventsExecutorEntitiesCollector(
+    EventsExecutor * executor);
+
+  // Destructor
+  RCLCPP_PUBLIC
+  ~EventsExecutorEntitiesCollector() override;
+
+  // Initialize entities collector
+  RCLCPP_PUBLIC
+  void init();
+
+  /// Execute the waitable.
+  RCLCPP_PUBLIC
+  void
+  execute(std::shared_ptr<void> & data) override;
+
+  /// Function to add_handles_to_wait_set and wait for work and
+  /**
+   * block until the wait set is ready or until the timeout has been exceeded.
+   * \throws std::runtime_error if wait set couldn't be cleared or filled.
+   * \throws any rcl errors from rcl_wait, \see rclcpp::exceptions::throw_from_rcl_error()
+   */
+  RCLCPP_PUBLIC
+  void
+  refresh_wait_set(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
+
+  /**
+   * \throws std::runtime_error if it couldn't add guard condition to wait set
+   */
+  RCLCPP_PUBLIC
+  void
+  add_to_wait_set(rcl_wait_set_t * wait_set) override;
+
+  /// Complete all available queued work without blocking.
+  /**
+   * This function checks if after the guard condition was triggered
+   * (or a spurious wakeup happened) we are really ready to execute
+   * i.e. re-collect entities
+   */
+  RCLCPP_PUBLIC
+  bool
+  is_ready(rcl_wait_set_t * wait_set) override;
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<void>
+  take_data() override;
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<void>
+  take_data_by_entity_id(size_t id) override;
+
+  /// Add a callback group to an executor.
+  /**
+   * \see rclcpp::Executor::add_callback_group
+   */
+  RCLCPP_PUBLIC
+  bool
+  add_callback_group(
+    rclcpp::CallbackGroup::SharedPtr group_ptr,
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+
+  /// Add a callback group to an executor.
+  /**
+   * \see rclcpp::Executor::add_callback_group
+   * \return boolean whether the node from the callback group is new
+   */
+  RCLCPP_PUBLIC
+  bool
+  add_callback_group(
+    rclcpp::CallbackGroup::SharedPtr group_ptr,
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+
+  /// Remove a callback group from the executor.
+  /**
+   * \see rclcpp::Executor::remove_callback_group
+   */
+  RCLCPP_PUBLIC
+  bool
+  remove_callback_group(
+    rclcpp::CallbackGroup::SharedPtr group_ptr);
+
+  /// Remove a callback group from the executor.
+  /**
+   * \see rclcpp::Executor::remove_callback_group_from_map
+   */
+  RCLCPP_PUBLIC
+  bool
+  remove_callback_group_from_map(
+    rclcpp::CallbackGroup::SharedPtr group_ptr,
+    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+
+  /**
+   * \see rclcpp::Executor::add_node()
+   * \throw std::runtime_error if node was already added
+   */
+  RCLCPP_PUBLIC
+  bool
+  add_node(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+
+  /**
+   * \see rclcpp::Executor::remove_node()
+   * \throw std::runtime_error if no guard condition is associated with node.
+   */
+  RCLCPP_PUBLIC
+  bool
+  remove_node(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::CallbackGroup::WeakPtr>
+  get_all_callback_groups();
+
+  /// Get callback groups that belong to executor.
+  /**
+   * \see rclcpp::Executor::get_manually_added_callback_groups()
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::CallbackGroup::WeakPtr>
+  get_manually_added_callback_groups();
+
+  /// Get callback groups that belong to executor.
+  /**
+   * \see rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::CallbackGroup::WeakPtr>
+  get_automatically_added_callback_groups_from_nodes();
+
+  ///
+  /**
+   * Get the subscription shared pointer corresponding
+   * to a subscription identifier
+   */
+  RCLCPP_PUBLIC
+  rclcpp::SubscriptionBase::SharedPtr
+  get_subscription(const void * subscription_id);
+
+  ///
+  /**
+   * Get the client shared pointer corresponding
+   * to a client identifier
+   */
+  RCLCPP_PUBLIC
+  rclcpp::ClientBase::SharedPtr
+  get_client(const void * client_id);
+
+  ///
+  /**
+   * Get the service shared pointer corresponding
+   * to a service identifier
+   */
+  RCLCPP_PUBLIC
+  rclcpp::ServiceBase::SharedPtr
+  get_service(const void * service_id);
+
+  ///
+  /**
+   * Get the waitable shared pointer corresponding
+   * to a waitable identifier
+   */
+  RCLCPP_PUBLIC
+  rclcpp::Waitable::SharedPtr
+  get_waitable(const void * waitable_id);
+
+  ///
+  /**
+   * Add a weak pointer to a waitable
+   */
+  RCLCPP_PUBLIC
+  void
+  add_waitable(rclcpp::Waitable::SharedPtr waitable);
+
+private:
+  /// Return true if the node belongs to the collector
+  /**
+   * \param[in] node_ptr a node base interface shared pointer
+   * \param[in] weak_groups_to_nodes map to nodes to lookup
+   * \return boolean whether a node belongs the collector
+   */
+  bool
+  has_node(
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
+
+  /// Add all callback groups that can be automatically added by any executor
+  /// and is not already associated with an executor from nodes
+  /// that are associated with executor
+  /**
+   * \see rclcpp::Executor::add_callback_groups_from_nodes_associated_to_executor()
+   */
+  void
+  add_callback_groups_from_nodes_associated_to_executor();
+
+  void
+  callback_group_added_impl(
+    rclcpp::CallbackGroup::SharedPtr group);
+
+  void
+  node_added_impl(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node);
+
+  void
+  callback_group_removed_impl(
+    rclcpp::CallbackGroup::SharedPtr group);
+
+  void
+  node_removed_impl(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node);
+
+  void
+  set_entities_event_callbacks_from_map(
+    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+
+  void
+  set_callback_group_entities_callbacks(rclcpp::CallbackGroup::SharedPtr group);
+
+  void
+  unset_callback_group_entities_callbacks(rclcpp::CallbackGroup::SharedPtr group);
+
+  void
+  set_guard_condition_callback(rclcpp::GuardCondition * guard_condition);
+
+  void
+  unset_guard_condition_callback(rclcpp::GuardCondition * guard_condition);
+
+  std::function<void(size_t)>
+  create_entity_callback(void * exec_entity_id, ExecutorEventType type);
+
+  std::function<void(size_t, int)>
+  create_waitable_callback(void * waitable_id);
+
+  typedef std::map<rclcpp::CallbackGroup::WeakPtr,
+      rclcpp::GuardCondition *,
+      std::owner_less<rclcpp::CallbackGroup::WeakPtr>>
+    WeakCallbackGroupsToGuardConditionsMap;
+
+  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
+      const rclcpp::GuardCondition *,
+      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
+    WeakNodesToGuardConditionsMap;
+
+  /// maps callback groups to guard conditions
+  WeakCallbackGroupsToGuardConditionsMap weak_groups_to_guard_conditions_;
+
+  WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_;
+
+  // maps callback groups to nodes.
+  WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_;
+  // maps callback groups to nodes.
+  WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_;
+
+  /// List of weak nodes registered in the static executor
+  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
+
+  // Maps: entity identifiers to weak pointers from the entities registered in the executor
+  // so in the case of an event providing and ID, we can retrieve and own the corresponding
+  // entity while it performs work
+  std::unordered_map<const void *, rclcpp::SubscriptionBase::WeakPtr> weak_subscriptions_map_;
+  std::unordered_map<const void *, rclcpp::ServiceBase::WeakPtr> weak_services_map_;
+  std::unordered_map<const void *, rclcpp::ClientBase::WeakPtr> weak_clients_map_;
+  std::unordered_map<const void *, rclcpp::Waitable::WeakPtr> weak_waitables_map_;
+
+  /// Executor using this entities collector object
+  EventsExecutor * associated_executor_ = nullptr;
+  /// Instance of the timers manager used by the associated executor
+  rclcpp::experimental::TimersManager::SharedPtr timers_manager_;
+
+  // Mutex to protect vector of new nodes.
+  std::recursive_mutex reentrant_mutex_;
+};
+
+}  // namespace executors
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_ENTITIES_COLLECTOR_HPP_

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

@@ -33,8 +33,8 @@ enum ExecutorEventType
 
 struct ExecutorEvent
 {
-  const void * entity_key;
-  int waitable_data;
+  const void * exec_entity_id;
+  int gen_entity_id;
   ExecutorEventType type;
   size_t num_events;
 };

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

@@ -0,0 +1,103 @@
+// Copyright 2023 iRobot Corporation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_NOTIFY_WAITABLE_HPP_
+#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_NOTIFY_WAITABLE_HPP_
+
+#include <list>
+#include <memory>
+
+#include "rcl/guard_condition.h"
+#include "rclcpp/experimental/executors/events_executor/event_waitable.hpp"
+
+namespace rclcpp
+{
+namespace experimental
+{
+namespace executors
+{
+
+/**
+ * @brief This class provides an EventWaitable that allows to
+ * wake up an EventsExecutor when a guard condition is notified.
+ */
+class EventsExecutorNotifyWaitable final : public EventWaitable
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(EventsExecutorNotifyWaitable)
+
+  // Constructor
+  RCLCPP_PUBLIC
+  EventsExecutorNotifyWaitable() = default;
+
+  // Destructor
+  RCLCPP_PUBLIC
+  virtual ~EventsExecutorNotifyWaitable() = default;
+
+  // The function is a no-op, since we only care of waking up the executor
+  RCLCPP_PUBLIC
+  void
+  execute(std::shared_ptr<void> & data) override
+  {
+    (void)data;
+  }
+
+  RCLCPP_PUBLIC
+  void
+  add_guard_condition(rclcpp::GuardCondition * guard_condition)
+  {
+    notify_guard_conditions_.push_back(guard_condition);
+  }
+
+  RCLCPP_PUBLIC
+  void
+  set_on_ready_callback(std::function<void(size_t, int)> callback) override
+  {
+    // The second argument of the callback should identify which guard condition
+    // triggered the event. However it's not relevant here as we only
+    // care about waking up the executor, so we pass a 0.
+    auto gc_callback = [callback](size_t count) {
+        callback(count, 0);
+      };
+
+    for (auto gc : notify_guard_conditions_) {
+      gc->set_on_trigger_callback(gc_callback);
+    }
+  }
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<void>
+  take_data() override
+  {
+    // This waitable doesn't handle any data
+    return nullptr;
+  }
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<void>
+  take_data_by_entity_id(size_t id) override
+  {
+    (void) id;
+    return take_data();
+  }
+
+private:
+  std::list<rclcpp::GuardCondition *> notify_guard_conditions_;
+};
+
+}  // namespace executors
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_NOTIFY_WAITABLE_HPP_

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

@@ -121,7 +121,7 @@ public:
 private:
   // The underlying queue implementation
   std::queue<rclcpp::experimental::executors::ExecutorEvent> event_queue_;
-  // Mutex to protect read/write access to the queue
+  // Mutex to protect the insertion/extraction of events in the queue
   mutable std::mutex mutex_;
   // Variable used to notify when an event is added to the queue
   std::condition_variable events_queue_cv_;

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
   {
@@ -486,13 +481,13 @@ private:
                 "subscription use different allocator types, which is not supported");
       }
 
-      if constexpr (rclcpp::TypeAdapter<MessageT, ROSMessageType>::is_specialized::value) {
+      if constexpr (rclcpp::TypeAdapter<MessageT>::is_specialized::value) {
         ROSMessageTypeAllocator ros_message_alloc(allocator);
-        auto ptr = ROSMessageTypeAllocatorTraits::allocate(ros_message_alloc, 1);
-        ROSMessageTypeAllocatorTraits::construct(ros_message_alloc, ptr);
+        auto ptr = ros_message_alloc.allocate(1);
+        ros_message_alloc.construct(ptr);
         ROSMessageTypeDeleter deleter;
         allocator::set_allocator_for_deleter(&deleter, &allocator);
-        rclcpp::TypeAdapter<MessageT, ROSMessageType>::convert_to_ros_message(*message, *ptr);
+        rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*message, *ptr);
         auto ros_msg = std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>(ptr, deleter);
         ros_message_subscription->provide_intra_process_message(std::move(ros_msg));
       } else {

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_));
@@ -118,13 +118,6 @@ public:
         return nullptr;
       }
     }
-
-    if (this->buffer_->has_data()) {
-      // If there is data still to be processed, indicate to the
-      // executor or waitset by triggering the guard condition.
-      this->trigger_guard_condition();
-    }
-
     return std::static_pointer_cast<void>(
       std::make_shared<std::pair<ConstMessageSharedPtr, MessageUniquePtr>>(
         std::pair<ConstMessageSharedPtr, MessageUniquePtr>(

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

@@ -31,8 +31,6 @@
 #include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
 
-#include "tracetools/tracetools.h"
-
 namespace rclcpp
 {
 namespace experimental
@@ -93,10 +91,6 @@ public:
       buffer_type,
       qos_profile,
       std::make_shared<Alloc>(subscribed_type_allocator_));
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_ipb_to_subscription,
-      static_cast<const void *>(buffer_.get()),
-      static_cast<const void *>(this));
   }
 
   bool
@@ -169,11 +163,6 @@ 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/experimental/timers_manager.hpp

@@ -49,13 +49,10 @@ namespace experimental
  * Because of this, they have a not-negligible impact on the performance.
  *
  * Timers execution
- * The most efficient use of this class consists in letting a TimersManager object
- * to spawn a thread where timers are monitored and optionally executed.
- * This can be controlled via the `start` and `stop` methods.
- * Ready timers can either be executed or an on_ready_callback can be used to notify
- * other entities that they are ready and need to be executed.
- * Other APIs allow to directly execute a given timer.
- *
+ * The most efficient implementation consists in letting a TimersManager object
+ * to spawn a thread where timers are monitored and periodically executed.
+ * Besides this, other APIs allow to either execute a single timer or all the
+ * currently ready ones.
  * This class assumes that the `execute_callback()` API of the stored timers is never
  * called by other entities, but it can only be called from here.
  * If this assumption is not respected, the heap property may be invalidated,
@@ -72,21 +69,13 @@ public:
    *
    * @param context custom context to be used.
    * Shared ownership of the context is held until destruction.
-   * @param on_ready_callback The timers on ready callback. The presence of this function
-   * indicates what to do when the TimersManager is running and a timer becomes ready.
-   * The TimersManager is considered "running" when the `start` method has been called.
-   * If it's callable, it will be invoked instead of the timer callback.
-   * If it's not callable, then the TimersManager will
-   * directly execute timers when they are ready.
-   * All the methods that execute a given timer (e.g. `execute_head_timer`
-   * or `execute_ready_timer`) without the TimersManager being `running`, i.e.
-   * without actually explicitly waiting for the timer to become ready, will ignore this
-   * callback.
+   * @param on_ready_callback The timers on ready callback. if not callable,
+   * this object will directly execute timers when they are ready.
    */
   RCLCPP_PUBLIC
   TimersManager(
     std::shared_ptr<rclcpp::Context> context,
-    std::function<void(const rclcpp::TimerBase *)> on_ready_callback = nullptr);
+    std::function<void(void *)> on_ready_callback = nullptr);
 
   /**
    * @brief Destruct the TimersManager object making sure to stop thread and release memory.
@@ -135,6 +124,15 @@ public:
   RCLCPP_PUBLIC
   void stop();
 
+  /**
+   * @brief Executes all the timers currently ready when the function was invoked.
+   * This function will lock all the stored timers throughout its duration.
+   * This function is thread safe.
+   * @throws std::runtime_error if the timers thread was already running.
+   */
+  RCLCPP_PUBLIC
+  void execute_ready_timers();
+
   /**
    * @brief Get the number of timers that are currently ready.
    * This function is thread safe.
@@ -148,8 +146,6 @@ public:
   /**
    * @brief Executes head timer if ready.
    * This function is thread safe.
-   * This function will try to execute the timer callback regardless of whether
-   * the TimersManager on_ready_callback was passed during construction.
    *
    * @return true if head timer was ready.
    * @throws std::runtime_error if the timers thread was already running.
@@ -160,13 +156,11 @@ public:
   /**
    * @brief Executes timer identified by its ID.
    * This function is thread safe.
-   * This function will try to execute the timer callback regardless of whether
-   * the TimersManager on_ready_callback was passed during construction.
    *
    * @param timer_id the timer ID of the timer to execute
    */
   RCLCPP_PUBLIC
-  void execute_ready_timer(const rclcpp::TimerBase * timer_id);
+  void execute_ready_timer(const void * timer_id);
 
   /**
    * @brief Get the amount of time before the next timer triggers.
@@ -239,12 +233,7 @@ public:
       return removed;
     }
 
-    /**
-     * @brief Retrieve the timer identified by the key
-     * @param timer_id The ID of the timer to retrieve.
-     * @return TimerPtr if there's a timer associated with the ID, nullptr otherwise
-     */
-    TimerPtr get_timer(const rclcpp::TimerBase * timer_id)
+    TimerPtr get_timer(const void * timer_id)
     {
       for (auto & weak_timer : weak_heap_) {
         auto timer = weak_timer.lock();
@@ -466,10 +455,7 @@ public:
       std::make_heap(owned_heap_.begin(), owned_heap_.end(), timer_greater);
     }
 
-    /**
-     * @brief Helper function to clear the "on_reset_callback" on all associated timers.
-     */
-    void clear_timers_on_reset_callbacks()
+    void clear_callbacks()
     {
       for (TimerPtr & t : owned_heap_) {
         t->clear_on_reset_callback();
@@ -495,7 +481,7 @@ private:
      */
     static bool timer_greater(TimerPtr a, TimerPtr b)
     {
-      // TODO(alsora): this can cause an error if timers are using different clocks
+      // FIXME!
       return a->time_until_trigger() > b->time_until_trigger();
     }
 
@@ -527,7 +513,7 @@ private:
   void execute_ready_timers_unsafe();
 
   // Callback to be called when timer is ready
-  std::function<void(const rclcpp::TimerBase *)> on_ready_callback_;
+  std::function<void(void *)> on_ready_callback_ = nullptr;
 
   // Thread used to run the timers execution task
   std::thread timers_thread_;

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -84,7 +84,7 @@ public:
       options.to_rcl_subscription_options(qos),
       options.event_callbacks,
       options.use_default_callbacks,
-      DeliveredMessageKind::SERIALIZED_MESSAGE),
+      true),
     callback_(callback),
     ts_lib_(ts_lib)
   {}
@@ -123,31 +123,6 @@ public:
   RCLCPP_PUBLIC
   void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
 
-
-  // DYNAMIC TYPE ==================================================================================
-  RCLCPP_PUBLIC
-  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr get_shared_dynamic_message_type()
-  override;
-
-  RCLCPP_PUBLIC
-  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr get_shared_dynamic_message() override;
-
-  RCLCPP_PUBLIC
-  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
-  get_shared_dynamic_serialization_support() override;
-
-  RCLCPP_PUBLIC
-  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr create_dynamic_message() override;
-
-  RCLCPP_PUBLIC
-  void return_dynamic_message(
-    rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) override;
-
-  RCLCPP_PUBLIC
-  void handle_dynamic_message(
-    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
-    const rclcpp::MessageInfo & message_info) override;
-
 private:
   RCLCPP_DISABLE_COPY(GenericSubscription)
 

rclcpp/include/rclcpp/logger.hpp

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

rclcpp/include/rclcpp/node.hpp

@@ -56,7 +56,6 @@
 #include "rclcpp/node_interfaces/node_time_source_interface.hpp"
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp"
 #include "rclcpp/node_interfaces/node_waitables_interface.hpp"
 #include "rclcpp/node_options.hpp"
 #include "rclcpp/parameter.hpp"
@@ -233,15 +232,13 @@ 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.
   /**
@@ -972,16 +969,7 @@ public:
 
   /// Return a list of parameters with any of the given prefixes, up to the given depth.
   /**
-   * Parameters are separated into a hierarchy using the "." (dot) character.
-   * The "prefixes" argument is a way to select only particular parts of the hierarchy.
-   *
-   * \param[in] prefixes The list of prefixes that should be searched for within the
-   * current parameters. If this vector of prefixes is empty, then list_parameters
-   * will return all parameters.
-   * \param[in] depth An unsigned integer that represents the recursive depth to search.
-   * If this depth = 0, then all parameters that fit the prefixes will be returned.
-   * \returns A ListParametersResult message which contains both an array of unique prefixes
-   * and an array of names that were matched to the prefixes given.
+   * \todo: properly document and test this method.
    */
   RCLCPP_PUBLIC
   rcl_interfaces::msg::ListParametersResult
@@ -1314,26 +1302,6 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const;
 
-  /// Return the number of clients created for a given service.
-  /**
-   * \param[in] service_name the actual service name used; it will not be automatically remapped.
-   * \return number of clients that have been created for the given service.
-   * \throws std::runtime_error if clients could not be counted
-   */
-  RCLCPP_PUBLIC
-  size_t
-  count_clients(const std::string & service_name) const;
-
-  /// Return the number of services created for a given service.
-  /**
-   * \param[in] service_name the actual service name used; it will not be automatically remapped.
-   * \return number of services that have been created for the given service.
-   * \throws std::runtime_error if services could not be counted
-   */
-  RCLCPP_PUBLIC
-  size_t
-  count_services(const std::string & service_name) const;
-
   /// Return the topic endpoint information about publishers on a given topic.
   /**
    * The returned parameter is a list of topic endpoint information, where each item will contain
@@ -1486,11 +1454,6 @@ public:
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
   get_node_time_source_interface();
 
-  /// Return the Node's internal NodeTypeDescriptionsInterface implementation.
-  RCLCPP_PUBLIC
-  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
-  get_node_type_descriptions_interface();
-
   /// Return the sub-namespace, if this is a sub-node, otherwise an empty string.
   /**
    * The returned sub-namespace is either the accumulated sub-namespaces which
@@ -1623,18 +1586,11 @@ 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};
 };
 
 }  // 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_interfaces/node_base.hpp

@@ -121,19 +121,10 @@ public:
   std::atomic_bool &
   get_associated_with_executor_atomic() override;
 
-  [[deprecated("Use get_shared_notify_guard_condition or trigger_notify_guard_condition instead")]]
   RCLCPP_PUBLIC
   rclcpp::GuardCondition &
   get_notify_guard_condition() override;
 
-  RCLCPP_PUBLIC
-  rclcpp::GuardCondition::SharedPtr
-  get_shared_notify_guard_condition() override;
-
-  RCLCPP_PUBLIC
-  void
-  trigger_notify_guard_condition() override;
-
   RCLCPP_PUBLIC
   bool
   get_use_intra_process_default() const override;
@@ -162,7 +153,7 @@ private:
 
   /// Guard condition for notifying the Executor of changes to this node.
   mutable std::recursive_mutex notify_guard_condition_mutex_;
-  std::shared_ptr<rclcpp::GuardCondition> notify_guard_condition_;
+  rclcpp::GuardCondition notify_guard_condition_;
   bool notify_guard_condition_is_valid_;
 };
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -148,33 +148,13 @@ public:
   /**
    * For example, this should be notified when a publisher is added or removed.
    *
-   * \return the GuardCondition if it is valid, else throw runtime error
+   * \return the GuardCondition if it is valid, else thow runtime error
    */
   RCLCPP_PUBLIC
   virtual
   rclcpp::GuardCondition &
   get_notify_guard_condition() = 0;
 
-  /// Return a guard condition that should be notified when the internal node state changes.
-  /**
-   * For example, this should be notified when a publisher is added or removed.
-   *
-   * \return the GuardCondition if it is valid, else nullptr
-   */
-  RCLCPP_PUBLIC
-  virtual
-  rclcpp::GuardCondition::SharedPtr
-  get_shared_notify_guard_condition() = 0;
-
-  /// Trigger the guard condition that notifies of internal node state changes.
-  /**
-   * For example, this should be notified when a publisher is added or removed.
-   */
-  RCLCPP_PUBLIC
-  virtual
-  void
-  trigger_notify_guard_condition() = 0;
-
   /// Return the default preference for using intra process communication.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -113,14 +113,6 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const override;
 
-  RCLCPP_PUBLIC
-  size_t
-  count_clients(const std::string & service_name) const override;
-
-  RCLCPP_PUBLIC
-  size_t
-  count_services(const std::string & service_name) const override;
-
   RCLCPP_PUBLIC
   const rcl_guard_condition_t *
   get_graph_guard_condition() const override;

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -57,8 +57,7 @@ public:
     node_namespace_(info.node_namespace),
     topic_type_(info.topic_type),
     endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
-    qos_profile_({info.qos_profile.history, info.qos_profile.depth}, info.qos_profile),
-    topic_type_hash_(info.topic_type_hash)
+    qos_profile_({info.qos_profile.history, info.qos_profile.depth}, info.qos_profile)
   {
     std::copy(info.endpoint_gid, info.endpoint_gid + RMW_GID_STORAGE_SIZE, endpoint_gid_.begin());
   }
@@ -123,16 +122,6 @@ public:
   const rclcpp::QoS &
   qos_profile() const;
 
-  /// Get a mutable reference to the type hash of the topic endpoint.
-  RCLCPP_PUBLIC
-  rosidl_type_hash_t &
-  topic_type_hash();
-
-  /// Get a const reference to the type hash of the topic endpoint.
-  RCLCPP_PUBLIC
-  const rosidl_type_hash_t &
-  topic_type_hash() const;
-
 private:
   std::string node_name_;
   std::string node_namespace_;
@@ -140,7 +129,6 @@ private:
   rclcpp::EndpointType endpoint_type_;
   std::array<uint8_t, RMW_GID_STORAGE_SIZE> endpoint_gid_;
   rclcpp::QoS qos_profile_;
-  rosidl_type_hash_t topic_type_hash_;
 };
 
 namespace node_interfaces
@@ -305,24 +293,6 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const = 0;
 
-  /// Return the number of clients created for a given service.
-  /*
-   * \param[in] service_name the actual service name used; it will not be automatically remapped.
-   */
-  RCLCPP_PUBLIC
-  virtual
-  size_t
-  count_clients(const std::string & service_name) const = 0;
-
-  /// Return the number of services created for a given service.
-  /*
-   * \param[in] service_name the actual service name used; it will not be automatically remapped.
-   */
-  RCLCPP_PUBLIC
-  virtual
-  size_t
-  count_services(const std::string & service_name) const = 0;
-
   /// Return the rcl guard condition which is triggered when the ROS graph changes.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp

@@ -30,7 +30,6 @@
   rclcpp::node_interfaces::NodeTimeSourceInterface, \
   rclcpp::node_interfaces::NodeTimersInterface, \
   rclcpp::node_interfaces::NodeTopicsInterface, \
-  rclcpp::node_interfaces::NodeTypeDescriptionsInterface, \
   rclcpp::node_interfaces::NodeWaitablesInterface
 
 
@@ -119,7 +118,6 @@ public:
    *   - rclcpp::node_interfaces::NodeTimeSourceInterface
    *   - rclcpp::node_interfaces::NodeTimersInterface
    *   - rclcpp::node_interfaces::NodeTopicsInterface
-   *   - rclcpp::node_interfaces::NodeTypeDescriptionsInterface
    *   - rclcpp::node_interfaces::NodeWaitablesInterface
    *
    * Or you use custom interfaces as long as you make a template specialization

rclcpp/include/rclcpp/node_interfaces/node_logging.hpp

@@ -23,9 +23,6 @@
 #include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-#include "rcl_interfaces/srv/get_logger_levels.hpp"
-#include "rcl_interfaces/srv/set_logger_levels.hpp"
-
 namespace rclcpp
 {
 namespace node_interfaces
@@ -38,7 +35,7 @@ public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeLoggingInterface)
 
   RCLCPP_PUBLIC
-  explicit NodeLogging(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base);
+  explicit NodeLogging(rclcpp::node_interfaces::NodeBaseInterface * node_base);
 
   RCLCPP_PUBLIC
   virtual
@@ -52,21 +49,13 @@ public:
   const char *
   get_logger_name() const override;
 
-  RCLCPP_PUBLIC
-  void
-  create_logger_services(
-    node_interfaces::NodeServicesInterface::SharedPtr node_services) override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeLogging)
 
   /// Handle to the NodeBaseInterface given in the constructor.
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
+  rclcpp::node_interfaces::NodeBaseInterface * node_base_;
 
   rclcpp::Logger logger_;
-
-  rclcpp::Service<rcl_interfaces::srv::GetLoggerLevels>::SharedPtr get_loggers_service_;
-  rclcpp::Service<rcl_interfaces::srv::SetLoggerLevels>::SharedPtr set_loggers_service_;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp

@@ -19,7 +19,6 @@
 
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/node_services_interface.hpp"
 #include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -55,13 +54,6 @@ public:
   virtual
   const char *
   get_logger_name() const = 0;
-
-  /// create logger services
-  RCLCPP_PUBLIC
-  virtual
-  void
-  create_logger_services(
-    node_interfaces::NodeServicesInterface::SharedPtr node_services) = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_type_descriptions.hpp

@@ -1,63 +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.
-
-#ifndef RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_
-#define RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_
-
-#include <memory>
-
-#include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_logging_interface.hpp"
-#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
-#include "rclcpp/node_interfaces/node_services_interface.hpp"
-#include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace node_interfaces
-{
-
-/// Implementation of the NodeTypeDescriptions part of the Node API.
-class NodeTypeDescriptions : public NodeTypeDescriptionsInterface
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTypeDescriptions)
-
-  RCLCPP_PUBLIC
-  explicit NodeTypeDescriptions(
-    NodeBaseInterface::SharedPtr node_base,
-    NodeLoggingInterface::SharedPtr node_logging,
-    NodeParametersInterface::SharedPtr node_parameters,
-    NodeServicesInterface::SharedPtr node_services);
-
-  RCLCPP_PUBLIC
-  virtual
-  ~NodeTypeDescriptions();
-
-private:
-  RCLCPP_DISABLE_COPY(NodeTypeDescriptions)
-
-  // Pimpl hides helper types and functions used for wrapping a C service, which would be
-  // awkward to expose in this header.
-  class NodeTypeDescriptionsImpl;
-  std::unique_ptr<NodeTypeDescriptionsImpl> impl_;
-};
-
-}  // namespace node_interfaces
-}  // namespace rclcpp
-
-#endif  // RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_

rclcpp/include/rclcpp/node_interfaces/node_type_descriptions_interface.hpp

@@ -1,44 +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.
-
-#ifndef RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_
-#define RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_
-
-#include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace node_interfaces
-{
-
-/// Pure virtual interface class for the NodeTypeDescriptions part of the Node API.
-class NodeTypeDescriptionsInterface
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTypeDescriptionsInterface)
-
-  RCLCPP_PUBLIC
-  virtual
-  ~NodeTypeDescriptionsInterface() = default;
-};
-
-}  // namespace node_interfaces
-}  // namespace rclcpp
-
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(
-  rclcpp::node_interfaces::NodeTypeDescriptionsInterface, type_descriptions)
-
-#endif  // RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_options.hpp

@@ -50,7 +50,6 @@ public:
    *   - clock_type = RCL_ROS_TIME
    *   - clock_qos = rclcpp::ClockQoS()
    *   - use_clock_thread = true
-   *   - enable_logger_service = false
    *   - rosout_qos = rclcpp::RosoutQoS()
    *   - parameter_event_qos = rclcpp::ParameterEventQoS
    *     - with history setting and depth from rmw_qos_profile_parameter_events
@@ -233,24 +232,6 @@ public:
   NodeOptions &
   start_parameter_services(bool start_parameter_services);
 
-  /// Return the enable_logger_service flag.
-  RCLCPP_PUBLIC
-  bool
-  enable_logger_service() const;
-
-  /// Set the enable_logger_service flag, return this for logger idiom.
-  /**
-   * If true, ROS services are created to allow external nodes to get
-   * and set logger levels of this node.
-   *
-   * If false, loggers will still be configured and set logger levels locally,
-   * but logger levels cannot be changed remotely .
-   *
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  enable_logger_service(bool enable_log_service);
-
   /// Return the start_parameter_event_publisher flag.
   RCLCPP_PUBLIC
   bool
@@ -440,8 +421,6 @@ private:
 
   bool use_clock_thread_ {true};
 
-  bool enable_logger_service_ {false};
-
   rclcpp::QoS parameter_event_qos_ = rclcpp::ParameterEventsQoS(
     rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
   );

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) {
@@ -485,10 +484,6 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_intra_publish,
-      static_cast<const void *>(publisher_handle_.get()),
-      msg.get());
 
     ipm->template do_intra_process_publish<PublishedType, ROSMessageType, AllocatorT>(
       intra_process_publisher_id_,
@@ -507,10 +502,6 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_intra_publish,
-      static_cast<const void *>(publisher_handle_.get()),
-      msg.get());
 
     ipm->template do_intra_process_publish<ROSMessageType, ROSMessageType, AllocatorT>(
       intra_process_publisher_id_,
@@ -530,10 +521,6 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_intra_publish,
-      static_cast<const void *>(publisher_handle_.get()),
-      msg.get());
 
     return ipm->template do_intra_process_publish_and_return_shared<ROSMessageType, ROSMessageType,
              AllocatorT>(

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
-  std::chrono::nanoseconds
-  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/rclcpp.hpp

@@ -54,7 +54,6 @@
  *   - rclcpp::ParameterValue
  *   - rclcpp::AsyncParametersClient
  *   - rclcpp::SyncParametersClient
- *   - rclcpp::copy_all_parameter_values()
  *   - rclcpp/parameter.hpp
  *   - rclcpp/parameter_value.hpp
  *   - rclcpp/parameter_client.hpp
@@ -96,9 +95,6 @@
  * - Get the number of publishers or subscribers on a topic:
  *   - rclcpp::Node::count_publishers()
  *   - rclcpp::Node::count_subscribers()
- * - Get the number of clients or servers on a service:
- *   - rclcpp::Node::count_clients()
- *   - rclcpp::Node::count_services()
  *
  * And components related to logging:
  *
@@ -121,18 +117,6 @@
  * - Allocator related items:
  *   - rclcpp/allocator/allocator_common.hpp
  *   - rclcpp/allocator/allocator_deleter.hpp
- * - Dynamic typesupport wrappers
- *   - rclcpp::dynamic_typesupport::DynamicMessage
- *   - rclcpp::dynamic_typesupport::DynamicMessageType
- *   - rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder
- *   - rclcpp::dynamic_typesupport::DynamicSerializationSupport
- *   - rclcpp/dynamic_typesupport/dynamic_message.hpp
- *   - rclcpp/dynamic_typesupport/dynamic_message_type.hpp
- *   - rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp
- *   - rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp
- * - Dynamic typesupport
- *   - rclcpp::dynamic_typesupport::DynamicMessageTypeSupport
- *   - rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp
  * - Generic publisher
  *   - rclcpp::Node::create_generic_publisher()
  *   - rclcpp::GenericPublisher
@@ -168,7 +152,6 @@
 #include <csignal>
 #include <memory>
 
-#include "rclcpp/copy_all_parameter_values.hpp"
 #include "rclcpp/executors.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/logging.hpp"

rclcpp/include/rclcpp/scope_exit.hpp

@@ -0,0 +1,56 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Based on: http://the-witness.net/news/2012/11/scopeexit-in-c11/
+// But I changed the lambda to include by reference rather than value, see:
+// http://the-witness.net/news/2012/11/scopeexit-in-c11/comment-page-1/#comment-86873
+
+#ifndef RCLCPP__SCOPE_EXIT_HPP_
+#define RCLCPP__SCOPE_EXIT_HPP_
+
+// TODO(christophebedard) remove this header completely in I-turtle
+
+#warning rclcpp/scope_exit.hpp has been deprecated, please use rcpputils/scope_exit.hpp instead
+
+#include <functional>
+
+#include "rclcpp/macros.hpp"
+
+namespace rclcpp
+{
+
+template<typename Callable>
+struct ScopeExit
+{
+  explicit ScopeExit(Callable callable)
+  : callable_(callable) {}
+  ~ScopeExit() {callable_();}
+
+private:
+  Callable callable_;
+};
+
+template<typename Callable>
+ScopeExit<Callable>
+make_scope_exit(Callable callable)
+{
+  return ScopeExit<Callable>(callable);
+}
+
+}  // namespace rclcpp
+
+#define RCLCPP_SCOPE_EXIT(code) \
+  auto RCLCPP_STRING_JOIN(scope_exit_, __LINE__) = rclcpp::make_scope_exit([&]() {code;})
+
+#endif  // RCLCPP__SCOPE_EXIT_HPP_

rclcpp/include/rclcpp/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_));
@@ -486,14 +482,6 @@ public:
   {
     rcl_ret_t ret = rcl_send_response(get_service_handle().get(), &req_id, &response);
 
-    if (ret == RCL_RET_TIMEOUT) {
-      RCLCPP_WARN(
-        node_logger_.get_child("rclcpp"),
-        "failed to send response to %s (timeout): %s",
-        this->get_service_name(), rcl_get_error_string().str);
-      rcl_reset_error();
-      return;
-    }
     if (ret != RCL_RET_OK) {
       rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
     }

rclcpp/include/rclcpp/subscription.hpp

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

rclcpp/include/rclcpp/subscription_base.hpp

@@ -31,9 +31,6 @@
 
 #include "rclcpp/any_subscription_callback.hpp"
 #include "rclcpp/detail/cpp_callback_trampoline.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/macros.hpp"
@@ -63,27 +60,6 @@ namespace experimental
 class IntraProcessManager;
 }  // namespace experimental
 
-/// The kind of message that the subscription delivers in its callback, used by the executor
-/**
- * This enum needs to exist because the callback handle is not accessible to the executor's scope.
- *
- * "Kind" is used since what is being delivered is a category of messages, for example, there are
- * different ROS message types that can be delivered, but they're all ROS messages.
- *
- * As a concrete example, all of the following callbacks will be considered ROS_MESSAGE for
- * DeliveredMessageKind:
- *   - void callback(const std_msgs::msg::String &)
- *   - void callback(const std::string &)  // type adaption
- *   - void callback(std::unique_ptr<std_msgs::msg::String>)
- */
-enum class DeliveredMessageKind : uint8_t
-{
-  INVALID = 0,
-  ROS_MESSAGE = 1,  // The subscription delivers a ROS message to its callback
-  SERIALIZED_MESSAGE = 2,  // The subscription delivers a serialized message to its callback
-  DYNAMIC_MESSAGE = 3,  // The subscription delivers a dynamic message to its callback
-};
-
 /// Virtual base class for subscriptions. This pattern allows us to iterate over different template
 /// specializations of Subscription, among other things.
 class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
@@ -100,8 +76,7 @@ public:
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] subscription_options Options for the subscription.
-   * \param[in] delivered_message_kind Enum flag to change how the message will be received and
-   *            delivered
+   * \param[in] is_serialized is true if the message will be delivered still serialized
    */
   RCLCPP_PUBLIC
   SubscriptionBase(
@@ -111,7 +86,7 @@ public:
     const rcl_subscription_options_t & subscription_options,
     const SubscriptionEventCallbacks & event_callbacks,
     bool use_default_callbacks,
-    DeliveredMessageKind delivered_message_kind = DeliveredMessageKind::ROS_MESSAGE);
+    bool is_serialized = false);
 
   /// Destructor.
   RCLCPP_PUBLIC
@@ -260,14 +235,6 @@ public:
   bool
   is_serialized() const;
 
-  /// Return the delivered message kind.
-  /**
-   * \return `DeliveredMessageKind`, which adjusts how messages are received and delivered.
-   */
-  RCLCPP_PUBLIC
-  DeliveredMessageKind
-  get_delivered_message_kind() const;
-
   /// Get matching publisher count.
   /** \return The number of publishers on this topic. */
   RCLCPP_PUBLIC
@@ -568,49 +535,6 @@ public:
   rclcpp::ContentFilterOptions
   get_content_filter() const;
 
-  // DYNAMIC TYPE ==================================================================================
-  // TODO(methylDragon): Reorder later
-  RCLCPP_PUBLIC
-  virtual
-  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
-  get_shared_dynamic_message_type() = 0;
-
-  RCLCPP_PUBLIC
-  virtual
-  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
-  get_shared_dynamic_message() = 0;
-
-  RCLCPP_PUBLIC
-  virtual
-  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
-  get_shared_dynamic_serialization_support() = 0;
-
-  /// Borrow a new serialized message (this clones!)
-  /** \return Shared pointer to a rclcpp::dynamic_typesupport::DynamicMessage. */
-  RCLCPP_PUBLIC
-  virtual
-  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
-  create_dynamic_message() = 0;
-
-  RCLCPP_PUBLIC
-  virtual
-  void
-  return_dynamic_message(rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) = 0;
-
-  RCLCPP_PUBLIC
-  virtual
-  void
-  handle_dynamic_message(
-    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
-    const rclcpp::MessageInfo & message_info) = 0;
-
-  RCLCPP_PUBLIC
-  bool
-  take_dynamic_message(
-    rclcpp::dynamic_typesupport::DynamicMessage & message_out,
-    rclcpp::MessageInfo & message_info_out);
-  // ===============================================================================================
-
 protected:
   template<typename EventCallbackT>
   void
@@ -645,14 +569,6 @@ 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_;
@@ -671,12 +587,15 @@ private:
   RCLCPP_DISABLE_COPY(SubscriptionBase)
 
   rosidl_message_type_support_t type_support_;
-  DeliveredMessageKind delivered_message_kind_;
+  bool is_serialized_;
 
   std::atomic<bool> subscription_in_use_by_wait_set_{false};
   std::atomic<bool> intra_process_subscription_waitable_in_use_by_wait_set_{false};
   std::unordered_map<rclcpp::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>23.2.0</version>
+  <version>19.3.0</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
@@ -35,12 +35,10 @@
 
   <depend>libstatistics_collector</depend>
   <depend>rcl</depend>
-  <depend>rcl_logging_interface</depend>
   <depend>rcl_yaml_param_parser</depend>
   <depend>rcpputils</depend>
   <depend>rcutils</depend>
   <depend>rmw</depend>
-  <depend>rosidl_dynamic_typesupport</depend>
   <depend>statistics_msgs</depend>
   <depend>tracetools</depend>
 

rclcpp/src/rclcpp/callback_group.cpp

@@ -31,12 +31,10 @@ using rclcpp::CallbackGroupType;
 
 CallbackGroup::CallbackGroup(
   CallbackGroupType group_type,
-  std::function<rclcpp::Context::SharedPtr(void)> get_context,
   bool automatically_add_to_executor_with_node)
 : type_(group_type), associated_with_executor_(false),
   can_be_taken_from_(true),
-  automatically_add_to_executor_with_node_(automatically_add_to_executor_with_node),
-  get_context_(get_context)
+  automatically_add_to_executor_with_node_(automatically_add_to_executor_with_node)
 {}
 
 CallbackGroup::~CallbackGroup()
@@ -56,16 +54,6 @@ CallbackGroup::type() const
   return type_;
 }
 
-size_t
-CallbackGroup::size() const
-{
-  return
-    subscription_ptrs_.size() +
-    service_ptrs_.size() +
-    client_ptrs_.size() +
-    timer_ptrs_.size() +
-    waitable_ptrs_.size();
-}
 void CallbackGroup::collect_all_ptrs(
   std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> sub_func,
   std::function<void(const rclcpp::ServiceBase::SharedPtr &)> service_func,
@@ -123,7 +111,6 @@ CallbackGroup::automatically_add_to_executor_with_node() const
   return automatically_add_to_executor_with_node_;
 }
 
-// \TODO(mjcarroll) Deprecated, remove on tock
 rclcpp::GuardCondition::SharedPtr
 CallbackGroup::get_notify_guard_condition(const rclcpp::Context::SharedPtr context_ptr)
 {
@@ -142,29 +129,6 @@ CallbackGroup::get_notify_guard_condition(const rclcpp::Context::SharedPtr conte
   return notify_guard_condition_;
 }
 
-rclcpp::GuardCondition::SharedPtr
-CallbackGroup::get_notify_guard_condition()
-{
-  std::lock_guard<std::recursive_mutex> lock(notify_guard_condition_mutex_);
-  if (!this->get_context_) {
-    throw std::runtime_error("Callback group was created without context and not passed context");
-  }
-  auto context_ptr = this->get_context_();
-  if (context_ptr && context_ptr->is_valid()) {
-    if (notify_guard_condition_ && context_ptr != notify_guard_condition_->get_context()) {
-      if (associated_with_executor_) {
-        trigger_notify_guard_condition();
-      }
-      notify_guard_condition_ = nullptr;
-    }
-    if (!notify_guard_condition_) {
-      notify_guard_condition_ = std::make_shared<rclcpp::GuardCondition>(context_ptr);
-    }
-    return notify_guard_condition_;
-  }
-  return nullptr;
-}
-
 void
 CallbackGroup::trigger_notify_guard_condition()
 {

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/dynamic_typesupport/dynamic_message.cpp

@@ -1,40 +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 <rosidl_dynamic_typesupport/api/dynamic_type.h>
-#include <rosidl_dynamic_typesupport/api/dynamic_data.h>
-#include <rosidl_dynamic_typesupport/api/serialization_support.h>
-#include <rosidl_dynamic_typesupport/types.h>
-
-#include <memory>
-#include <string>
-
-#include "rcl/allocator.h"
-#include "rcl/types.h"
-#include "rcutils/logging_macros.h"
-
-#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
-#include "rclcpp/exceptions.hpp"
-
-
-using rclcpp::dynamic_typesupport::DynamicMessage;
-using rclcpp::dynamic_typesupport::DynamicMessageType;
-using rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder;
-using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
-
-DynamicMessage::~DynamicMessage()
-{}  // STUBBED

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type.cpp

@@ -1,38 +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 <rosidl_dynamic_typesupport/api/dynamic_data.h>
-#include <rosidl_dynamic_typesupport/api/dynamic_type.h>
-#include <rosidl_dynamic_typesupport/api/serialization_support.h>
-#include <rosidl_dynamic_typesupport/types.h>
-
-#include <memory>
-#include <string>
-
-#include "rcutils/logging_macros.h"
-
-#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
-#include "rclcpp/exceptions.hpp"
-
-
-using rclcpp::dynamic_typesupport::DynamicMessage;
-using rclcpp::dynamic_typesupport::DynamicMessageType;
-using rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder;
-using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
-
-DynamicMessageType::~DynamicMessageType()
-{}  // STUBBED

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_builder.cpp

@@ -1,37 +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 <rosidl_dynamic_typesupport/api/dynamic_data.h>
-#include <rosidl_dynamic_typesupport/api/dynamic_type.h>
-#include <rosidl_dynamic_typesupport/api/serialization_support.h>
-#include <rosidl_dynamic_typesupport/types.h>
-
-#include <memory>
-#include <string>
-
-#include "rcutils/logging_macros.h"
-
-#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
-#include "rclcpp/exceptions.hpp"
-
-using rclcpp::dynamic_typesupport::DynamicMessage;
-using rclcpp::dynamic_typesupport::DynamicMessageType;
-using rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder;
-using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
-
-DynamicMessageTypeBuilder::~DynamicMessageTypeBuilder()
-{}  // STUBBED

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp

@@ -1,49 +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 <rosidl_dynamic_typesupport/identifier.h>
-#include <rosidl_dynamic_typesupport/types.h>
-#include <rosidl_runtime_c/message_type_support_struct.h>
-#include <rosidl_runtime_c/type_description_utils.h>
-#include <rosidl_runtime_c/type_description/type_description__functions.h>
-#include <rosidl_runtime_c/type_description/type_description__struct.h>
-#include <rosidl_runtime_c/type_description/type_source__functions.h>
-#include <rosidl_runtime_c/type_description/type_source__struct.h>
-
-#include <memory>
-#include <string>
-
-#include "rcl/allocator.h"
-#include "rcl/dynamic_message_type_support.h"
-#include "rcl/type_hash.h"
-#include "rcl/types.h"
-#include "rcutils/logging_macros.h"
-#include "rcutils/types/rcutils_ret.h"
-#include "rmw/dynamic_message_type_support.h"
-
-#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp"
-#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
-#include "rclcpp/exceptions.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-using rclcpp::dynamic_typesupport::DynamicMessage;
-using rclcpp::dynamic_typesupport::DynamicMessageType;
-using rclcpp::dynamic_typesupport::DynamicMessageTypeSupport;
-using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
-
-DynamicMessageTypeSupport::~DynamicMessageTypeSupport()
-{}  // STUBBED

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp

@@ -1,46 +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 <rcl/allocator.h>
-#include <rcutils/logging_macros.h>
-#include <rmw/dynamic_message_type_support.h>
-#include <rmw/ret_types.h>
-#include <rosidl_dynamic_typesupport/api/serialization_support.h>
-
-#include <memory>
-#include <string>
-
-#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
-#include "rclcpp/exceptions.hpp"
-
-using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
-
-// CONSTRUCTION ====================================================================================
-DynamicSerializationSupport::DynamicSerializationSupport(rcl_allocator_t allocator)
-: DynamicSerializationSupport::DynamicSerializationSupport("", allocator)
-{
-  throw std::runtime_error("Unimplemented");
-}
-
-DynamicSerializationSupport::DynamicSerializationSupport(
-  const std::string & /*serialization_library_name*/,
-  rcl_allocator_t /*allocator*/)
-: rosidl_serialization_support_(
-    rosidl_dynamic_typesupport_get_zero_initialized_serialization_support())
-{
-  throw std::runtime_error("Unimplemented");
-}
-
-DynamicSerializationSupport::~DynamicSerializationSupport()
-{}  // STUBBED

rclcpp/src/rclcpp/executor.cpp

@@ -24,7 +24,6 @@
 #include "rcl/error_handling.h"
 #include "rcpputils/scope_exit.hpp"
 
-#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/executor.hpp"
 #include "rclcpp/guard_condition.hpp"
@@ -39,16 +38,16 @@
 using namespace std::chrono_literals;
 
 using rclcpp::exceptions::throw_from_rcl_error;
+using rclcpp::AnyExecutable;
 using rclcpp::Executor;
-
-class rclcpp::ExecutorImplementation {};
+using rclcpp::ExecutorOptions;
+using rclcpp::FutureReturnCode;
 
 Executor::Executor(const rclcpp::ExecutorOptions & options)
 : spinning(false),
-  interrupt_guard_condition_(std::make_shared<rclcpp::GuardCondition>(options.context)),
+  interrupt_guard_condition_(options.context),
   shutdown_guard_condition_(std::make_shared<rclcpp::GuardCondition>(options.context)),
-  memory_strategy_(options.memory_strategy),
-  impl_(std::make_unique<rclcpp::ExecutorImplementation>())
+  memory_strategy_(options.memory_strategy)
 {
   // Store the context for later use.
   context_ = options.context;
@@ -66,7 +65,7 @@ Executor::Executor(const rclcpp::ExecutorOptions & options)
   memory_strategy_->add_guard_condition(*shutdown_guard_condition_.get());
 
   // Put the executor's guard condition in
-  memory_strategy_->add_guard_condition(*interrupt_guard_condition_.get());
+  memory_strategy_->add_guard_condition(interrupt_guard_condition_);
   rcl_allocator_t allocator = memory_strategy_->get_allocator();
 
   rcl_ret_t ret = rcl_wait_set_init(
@@ -128,7 +127,7 @@ Executor::~Executor()
   }
   // Remove and release the sigint guard condition
   memory_strategy_->remove_guard_condition(shutdown_guard_condition_.get());
-  memory_strategy_->remove_guard_condition(interrupt_guard_condition_.get());
+  memory_strategy_->remove_guard_condition(&interrupt_guard_condition_);
 
   // Remove shutdown callback handle registered to Context
   if (!context_->remove_on_shutdown_callback(shutdown_callback_handle_)) {
@@ -223,7 +222,8 @@ Executor::add_callback_group_to_map(
   weak_groups_to_nodes_.insert(std::make_pair(weak_group_ptr, node_ptr));
 
   if (node_ptr->get_context()->is_valid()) {
-    auto callback_group_guard_condition = group_ptr->get_notify_guard_condition();
+    auto callback_group_guard_condition =
+      group_ptr->get_notify_guard_condition(node_ptr->get_context());
     weak_groups_to_guard_conditions_[weak_group_ptr] = callback_group_guard_condition.get();
     // Add the callback_group's notify condition to the guard condition handles
     memory_strategy_->add_guard_condition(*callback_group_guard_condition);
@@ -232,7 +232,7 @@ Executor::add_callback_group_to_map(
   if (notify) {
     // Interrupt waiting to handle new node
     try {
-      interrupt_guard_condition_->trigger();
+      interrupt_guard_condition_.trigger();
     } catch (const rclcpp::exceptions::RCLError & ex) {
       throw std::runtime_error(
               std::string(
@@ -280,10 +280,10 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
       }
     });
 
-  const auto gc = node_ptr->get_shared_notify_guard_condition();
-  weak_nodes_to_guard_conditions_[node_ptr] = gc.get();
+  const auto & gc = node_ptr->get_notify_guard_condition();
+  weak_nodes_to_guard_conditions_[node_ptr] = &gc;
   // Add the node's notify condition to the guard condition handles
-  memory_strategy_->add_guard_condition(*gc);
+  memory_strategy_->add_guard_condition(gc);
   weak_nodes_.push_back(node_ptr);
 }
 
@@ -320,7 +320,7 @@ Executor::remove_callback_group_from_map(
 
     if (notify) {
       try {
-        interrupt_guard_condition_->trigger();
+        interrupt_guard_condition_.trigger();
       } catch (const rclcpp::exceptions::RCLError & ex) {
         throw std::runtime_error(
                 std::string(
@@ -388,7 +388,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
     }
   }
 
-  memory_strategy_->remove_guard_condition(node_ptr->get_shared_notify_guard_condition().get());
+  memory_strategy_->remove_guard_condition(&node_ptr->get_notify_guard_condition());
   weak_nodes_to_guard_conditions_.erase(node_ptr);
 
   std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
@@ -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) {
@@ -517,7 +501,7 @@ Executor::cancel()
 {
   spinning.store(false);
   try {
-    interrupt_guard_condition_->trigger();
+    interrupt_guard_condition_.trigger();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
             std::string("Failed to trigger guard condition in cancel: ") + ex.what());
@@ -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);
@@ -566,7 +550,7 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
   // Wake the wait, because it may need to be recalculated or work that
   // was previously blocked is now available.
   try {
-    interrupt_guard_condition_->trigger();
+    interrupt_guard_condition_.trigger();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
             std::string(
@@ -574,14 +558,13 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
   }
 }
 
-template<typename Taker, typename Handler>
 static
 void
 take_and_do_error_handling(
   const char * action_description,
   const char * topic_or_service_name,
-  Taker take_action,
-  Handler handle_action)
+  std::function<bool()> take_action,
+  std::function<void()> handle_action)
 {
   bool taken = false;
   try {
@@ -614,98 +597,70 @@ take_and_do_error_handling(
 void
 Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
 {
-  using rclcpp::dynamic_typesupport::DynamicMessage;
-
   rclcpp::MessageInfo message_info;
   message_info.get_rmw_message_info().from_intra_process = false;
 
-  switch (subscription->get_delivered_message_kind()) {
-    // Deliver ROS message
-    case rclcpp::DeliveredMessageKind::ROS_MESSAGE:
+  if (subscription->is_serialized()) {
+    // This is the case where a copy of the serialized message is taken from
+    // the middleware via inter-process communication.
+    std::shared_ptr<SerializedMessage> serialized_msg = subscription->create_serialized_message();
+    take_and_do_error_handling(
+      "taking a serialized message from topic",
+      subscription->get_topic_name(),
+      [&]() {return subscription->take_serialized(*serialized_msg.get(), message_info);},
+      [&]()
       {
-        if (subscription->can_loan_messages()) {
-          // This is the case where a loaned message is taken from the middleware via
-          // inter-process communication, given to the user for their callback,
-          // and then returned.
-          void * loaned_msg = nullptr;
-          // TODO(wjwwood): refactor this into methods on subscription when LoanedMessage
-          //   is extened to support subscriptions as well.
-          take_and_do_error_handling(
-            "taking a loaned message from topic",
-            subscription->get_topic_name(),
-            [&]()
-            {
-              rcl_ret_t ret = rcl_take_loaned_message(
-                subscription->get_subscription_handle().get(),
-                &loaned_msg,
-                &message_info.get_rmw_message_info(),
-                nullptr);
-              if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
-                return false;
-              } else if (RCL_RET_OK != ret) {
-                rclcpp::exceptions::throw_from_rcl_error(ret);
-              }
-              return true;
-            },
-            [&]() {subscription->handle_loaned_message(loaned_msg, message_info);});
-          if (nullptr != loaned_msg) {
-            rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
-              subscription->get_subscription_handle().get(), loaned_msg);
-            if (RCL_RET_OK != ret) {
-              RCLCPP_ERROR(
-                rclcpp::get_logger("rclcpp"),
-                "rcl_return_loaned_message_from_subscription() failed for subscription on topic "
-                "'%s': %s",
-                subscription->get_topic_name(), rcl_get_error_string().str);
-            }
-            loaned_msg = nullptr;
-          }
-        } else {
-          // This case is taking a copy of the message data from the middleware via
-          // inter-process communication.
-          std::shared_ptr<void> message = subscription->create_message();
-          take_and_do_error_handling(
-            "taking a message from topic",
-            subscription->get_topic_name(),
-            [&]() {return subscription->take_type_erased(message.get(), message_info);},
-            [&]() {subscription->handle_message(message, message_info);});
-          subscription->return_message(message);
+        subscription->handle_serialized_message(serialized_msg, message_info);
+      });
+    subscription->return_serialized_message(serialized_msg);
+  } else if (subscription->can_loan_messages()) {
+    // This is the case where a loaned message is taken from the middleware via
+    // inter-process communication, given to the user for their callback,
+    // and then returned.
+    void * loaned_msg = nullptr;
+    // TODO(wjwwood): refactor this into methods on subscription when LoanedMessage
+    //   is extened to support subscriptions as well.
+    take_and_do_error_handling(
+      "taking a loaned message from topic",
+      subscription->get_topic_name(),
+      [&]()
+      {
+        rcl_ret_t ret = rcl_take_loaned_message(
+          subscription->get_subscription_handle().get(),
+          &loaned_msg,
+          &message_info.get_rmw_message_info(),
+          nullptr);
+        if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
+          return false;
+        } else if (RCL_RET_OK != ret) {
+          rclcpp::exceptions::throw_from_rcl_error(ret);
         }
-        break;
-      }
-
-    // Deliver serialized message
-    case rclcpp::DeliveredMessageKind::SERIALIZED_MESSAGE:
-      {
-        // This is the case where a copy of the serialized message is taken from
-        // the middleware via inter-process communication.
-        std::shared_ptr<SerializedMessage> serialized_msg =
-          subscription->create_serialized_message();
-        take_and_do_error_handling(
-          "taking a serialized message from topic",
-          subscription->get_topic_name(),
-          [&]() {return subscription->take_serialized(*serialized_msg.get(), message_info);},
-          [&]()
-          {
-            subscription->handle_serialized_message(serialized_msg, message_info);
-          });
-        subscription->return_serialized_message(serialized_msg);
-        break;
-      }
-
-    // DYNAMIC SUBSCRIPTION ========================================================================
-    // Deliver dynamic message
-    case rclcpp::DeliveredMessageKind::DYNAMIC_MESSAGE:
-      {
-        throw std::runtime_error("Unimplemented");
-      }
-
-    default:
-      {
-        throw std::runtime_error("Delivered message kind is not supported");
+        return true;
+      },
+      [&]() {subscription->handle_loaned_message(loaned_msg, message_info);});
+    if (nullptr != loaned_msg) {
+      rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
+        subscription->get_subscription_handle().get(),
+        loaned_msg);
+      if (RCL_RET_OK != ret) {
+        RCLCPP_ERROR(
+          rclcpp::get_logger("rclcpp"),
+          "rcl_return_loaned_message_from_subscription() failed for subscription on topic '%s': %s",
+          subscription->get_topic_name(), rcl_get_error_string().str);
       }
+      loaned_msg = nullptr;
+    }
+  } else {
+    // This case is taking a copy of the message data from the middleware via
+    // inter-process communication.
+    std::shared_ptr<void> message = subscription->create_message();
+    take_and_do_error_handling(
+      "taking a message from topic",
+      subscription->get_topic_name(),
+      [&]() {return subscription->take_type_erased(message.get(), message_info);},
+      [&]() {subscription->handle_message(message, message_info);});
+    subscription->return_message(message);
   }
-  return;
 }
 
 void
@@ -742,7 +697,7 @@ 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 +853,7 @@ 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

@@ -14,21 +14,6 @@
 
 #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/src/rclcpp/executors/executor_entities_collection.cpp

@@ -1,230 +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/executors/executor_entities_collection.hpp"
-
-namespace rclcpp
-{
-namespace executors
-{
-bool ExecutorEntitiesCollection::empty() const
-{
-  return
-    subscriptions.empty() &&
-    timers.empty() &&
-    guard_conditions.empty() &&
-    clients.empty() &&
-    services.empty() &&
-    waitables.empty();
-}
-
-void ExecutorEntitiesCollection::clear()
-{
-  subscriptions.clear();
-  timers.clear();
-  guard_conditions.clear();
-  clients.clear();
-  services.clear();
-  waitables.clear();
-}
-
-void
-build_entities_collection(
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> & callback_groups,
-  ExecutorEntitiesCollection & collection)
-{
-  collection.clear();
-
-  for (auto weak_group_ptr : callback_groups) {
-    auto group_ptr = weak_group_ptr.lock();
-    if (!group_ptr) {
-      continue;
-    }
-
-    if (group_ptr->can_be_taken_from().load()) {
-      group_ptr->collect_all_ptrs(
-        [&collection, weak_group_ptr](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
-          collection.subscriptions.insert(
-            {
-              subscription->get_subscription_handle().get(),
-              {subscription, weak_group_ptr}
-            });
-        },
-        [&collection, weak_group_ptr](const rclcpp::ServiceBase::SharedPtr & service) {
-          collection.services.insert(
-            {
-              service->get_service_handle().get(),
-              {service, weak_group_ptr}
-            });
-        },
-        [&collection, weak_group_ptr](const rclcpp::ClientBase::SharedPtr & client) {
-          collection.clients.insert(
-            {
-              client->get_client_handle().get(),
-              {client, weak_group_ptr}
-            });
-        },
-        [&collection, weak_group_ptr](const rclcpp::TimerBase::SharedPtr & timer) {
-          collection.timers.insert(
-            {
-              timer->get_timer_handle().get(),
-              {timer, weak_group_ptr}
-            });
-        },
-        [&collection, weak_group_ptr](const rclcpp::Waitable::SharedPtr & waitable) {
-          collection.waitables.insert(
-            {
-              waitable.get(),
-              {waitable, weak_group_ptr}
-            });
-        }
-      );
-    }
-  }
-}
-
-size_t
-ready_executables(
-  const ExecutorEntitiesCollection & collection,
-  rclcpp::WaitResult<rclcpp::WaitSet> & wait_result,
-  std::deque<rclcpp::AnyExecutable> & executables
-)
-{
-  size_t added = 0;
-  if (wait_result.kind() != rclcpp::WaitResultKind::Ready) {
-    return added;
-  }
-  auto rcl_wait_set = wait_result.get_wait_set().get_rcl_wait_set();
-
-  // Cache shared pointers to groups to avoid extra work re-locking them
-  std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::CallbackGroup::SharedPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> group_map;
-
-  auto group_cache = [&group_map](const rclcpp::CallbackGroup::WeakPtr & weak_cbg_ptr)
-    {
-      if (group_map.count(weak_cbg_ptr) == 0) {
-        group_map.insert({weak_cbg_ptr, weak_cbg_ptr.lock()});
-      }
-      return group_map.find(weak_cbg_ptr)->second;
-    };
-
-  for (size_t ii = 0; ii < rcl_wait_set.size_of_timers; ++ii) {
-    if (nullptr == rcl_wait_set.timers[ii]) {continue;}
-    auto entity_iter = collection.timers.find(rcl_wait_set.timers[ii]);
-    if (entity_iter != collection.timers.end()) {
-      auto entity = entity_iter->second.entity.lock();
-      if (!entity) {
-        continue;
-      }
-      auto group_info = group_cache(entity_iter->second.callback_group);
-      if (group_info && !group_info->can_be_taken_from().load()) {
-        continue;
-      }
-      if (!entity->call()) {
-        continue;
-      }
-      rclcpp::AnyExecutable exec;
-      exec.timer = entity;
-      exec.callback_group = group_info;
-      executables.push_back(exec);
-      added++;
-    }
-  }
-
-  for (size_t ii = 0; ii < rcl_wait_set.size_of_subscriptions; ++ii) {
-    if (nullptr == rcl_wait_set.subscriptions[ii]) {continue;}
-    auto entity_iter = collection.subscriptions.find(rcl_wait_set.subscriptions[ii]);
-    if (entity_iter != collection.subscriptions.end()) {
-      auto entity = entity_iter->second.entity.lock();
-      if (!entity) {
-        continue;
-      }
-      auto group_info = group_cache(entity_iter->second.callback_group);
-      if (group_info && !group_info->can_be_taken_from().load()) {
-        continue;
-      }
-      rclcpp::AnyExecutable exec;
-      exec.subscription = entity;
-      exec.callback_group = group_info;
-      executables.push_back(exec);
-      added++;
-    }
-  }
-
-  for (size_t ii = 0; ii < rcl_wait_set.size_of_services; ++ii) {
-    if (nullptr == rcl_wait_set.services[ii]) {continue;}
-    auto entity_iter = collection.services.find(rcl_wait_set.services[ii]);
-    if (entity_iter != collection.services.end()) {
-      auto entity = entity_iter->second.entity.lock();
-      if (!entity) {
-        continue;
-      }
-      auto group_info = group_cache(entity_iter->second.callback_group);
-      if (group_info && !group_info->can_be_taken_from().load()) {
-        continue;
-      }
-      rclcpp::AnyExecutable exec;
-      exec.service = entity;
-      exec.callback_group = group_info;
-      executables.push_back(exec);
-      added++;
-    }
-  }
-
-  for (size_t ii = 0; ii < rcl_wait_set.size_of_clients; ++ii) {
-    if (nullptr == rcl_wait_set.clients[ii]) {continue;}
-    auto entity_iter = collection.clients.find(rcl_wait_set.clients[ii]);
-    if (entity_iter != collection.clients.end()) {
-      auto entity = entity_iter->second.entity.lock();
-      if (!entity) {
-        continue;
-      }
-      auto group_info = group_cache(entity_iter->second.callback_group);
-      if (group_info && !group_info->can_be_taken_from().load()) {
-        continue;
-      }
-      rclcpp::AnyExecutable exec;
-      exec.client = entity;
-      exec.callback_group = group_info;
-      executables.push_back(exec);
-      added++;
-    }
-  }
-
-  for (auto & [handle, entry] : collection.waitables) {
-    auto waitable = entry.entity.lock();
-    if (!waitable) {
-      continue;
-    }
-    if (!waitable->is_ready(&rcl_wait_set)) {
-      continue;
-    }
-    auto group_info = group_cache(entry.callback_group);
-    if (group_info && !group_info->can_be_taken_from().load()) {
-      continue;
-    }
-    rclcpp::AnyExecutable exec;
-    exec.waitable = waitable;
-    exec.callback_group = group_info;
-    exec.data = waitable->take_data();
-    executables.push_back(exec);
-    added++;
-  }
-
-  return added;
-}
-
-}  // namespace executors
-}  // namespace rclcpp

rclcpp/src/rclcpp/executors/executor_entities_collector.cpp

@@ -1,416 +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 <set>
-
-#include "rclcpp/executors/executor_entities_collector.hpp"
-#include "rclcpp/executors/executor_notify_waitable.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-
-namespace rclcpp
-{
-namespace executors
-{
-
-ExecutorEntitiesCollector::ExecutorEntitiesCollector(
-  std::shared_ptr<ExecutorNotifyWaitable> notify_waitable)
-: notify_waitable_(notify_waitable)
-{
-}
-
-ExecutorEntitiesCollector::~ExecutorEntitiesCollector()
-{
-  for (auto weak_node_it = weak_nodes_.begin(); weak_node_it != weak_nodes_.end(); ) {
-    weak_node_it = remove_weak_node(weak_node_it);
-  }
-
-  for (auto weak_group_it = automatically_added_groups_.begin();
-    weak_group_it != automatically_added_groups_.end(); )
-  {
-    weak_group_it = remove_weak_callback_group(weak_group_it, automatically_added_groups_);
-  }
-
-  for (auto weak_group_it = manually_added_groups_.begin();
-    weak_group_it != manually_added_groups_.end(); )
-  {
-    weak_group_it = remove_weak_callback_group(weak_group_it, manually_added_groups_);
-  }
-
-  for (auto weak_node_ptr : pending_added_nodes_) {
-    auto node_ptr = weak_node_ptr.lock();
-    if (node_ptr) {
-      node_ptr->get_associated_with_executor_atomic().store(false);
-    }
-  }
-  pending_added_nodes_.clear();
-  pending_removed_nodes_.clear();
-
-  for (auto weak_group_ptr : pending_manually_added_groups_) {
-    auto group_ptr = weak_group_ptr.lock();
-    if (group_ptr) {
-      group_ptr->get_associated_with_executor_atomic().store(false);
-    }
-  }
-  pending_manually_added_groups_.clear();
-  pending_manually_removed_groups_.clear();
-}
-
-bool
-ExecutorEntitiesCollector::has_pending() const
-{
-  std::lock_guard<std::mutex> lock(mutex_);
-  return pending_manually_added_groups_.size() != 0 ||
-         pending_manually_removed_groups_.size() != 0 ||
-         pending_added_nodes_.size() != 0 ||
-         pending_removed_nodes_.size() != 0;
-}
-
-void
-ExecutorEntitiesCollector::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
-{
-  // If the node already has an executor
-  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error(
-            std::string("Node '") + node_ptr->get_fully_qualified_name() +
-            "' has already been added to an executor.");
-  }
-
-  std::lock_guard<std::mutex> lock(mutex_);
-  bool associated = weak_nodes_.count(node_ptr) != 0;
-  bool add_queued = pending_added_nodes_.count(node_ptr) != 0;
-  bool remove_queued = pending_removed_nodes_.count(node_ptr) != 0;
-
-  if ((associated || add_queued) && !remove_queued) {
-    throw std::runtime_error(
-            std::string("Node '") + node_ptr->get_fully_qualified_name() +
-            "' has already been added to this executor.");
-  }
-
-  this->pending_added_nodes_.insert(node_ptr);
-}
-
-void
-ExecutorEntitiesCollector::remove_node(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
-{
-  if (!node_ptr->get_associated_with_executor_atomic().load()) {
-    throw std::runtime_error(
-            std::string("Node '") + node_ptr->get_fully_qualified_name() +
-            "' needs to be associated with an executor.");
-  }
-
-  std::lock_guard<std::mutex> lock(mutex_);
-  bool associated = weak_nodes_.count(node_ptr) != 0;
-  bool add_queued = pending_added_nodes_.count(node_ptr) != 0;
-  bool remove_queued = pending_removed_nodes_.count(node_ptr) != 0;
-
-  if (!(associated || add_queued) || remove_queued) {
-    throw std::runtime_error(
-            std::string("Node '") + node_ptr->get_fully_qualified_name() +
-            "' needs to be associated with this executor.");
-  }
-
-  this->pending_removed_nodes_.insert(node_ptr);
-}
-
-void
-ExecutorEntitiesCollector::add_callback_group(rclcpp::CallbackGroup::SharedPtr group_ptr)
-{
-  std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Callback group has already been added to an executor.");
-  }
-
-  std::lock_guard<std::mutex> lock(mutex_);
-  bool associated = manually_added_groups_.count(group_ptr) != 0;
-  bool add_queued = pending_manually_added_groups_.count(group_ptr) != 0;
-  bool remove_queued = pending_manually_removed_groups_.count(group_ptr) != 0;
-
-  if ((associated || add_queued) && !remove_queued) {
-    throw std::runtime_error("Callback group has already been added to this executor.");
-  }
-
-  this->pending_manually_added_groups_.insert(group_ptr);
-}
-
-void
-ExecutorEntitiesCollector::remove_callback_group(rclcpp::CallbackGroup::SharedPtr group_ptr)
-{
-  if (!group_ptr->get_associated_with_executor_atomic().load()) {
-    throw std::runtime_error("Callback group needs to be associated with an executor.");
-  }
-  /**
-   * TODO(mjcarroll): The callback groups, being created by a node, should never outlive
-   * the node. Since we haven't historically enforced this, turning this on may cause
-   * previously-functional code to fail.
-   * Consider re-enablng this check (along with corresponding CallbackGroup::has_valid_node),
-   * when we can guarantee node/group lifetimes.
-  if (!group_ptr->has_valid_node()) {
-    throw std::runtime_error("Node must not be deleted before its callback group(s).");
-  }
-  */
-
-  auto weak_group_ptr = rclcpp::CallbackGroup::WeakPtr(group_ptr);
-  std::lock_guard<std::mutex> lock(mutex_);
-  bool associated = manually_added_groups_.count(group_ptr) != 0;
-  bool add_queued = pending_manually_added_groups_.count(group_ptr) != 0;
-  bool remove_queued = pending_manually_removed_groups_.count(group_ptr) != 0;
-
-  if (!(associated || add_queued) || remove_queued) {
-    throw std::runtime_error("Callback group needs to be associated with this executor.");
-  }
-
-  this->pending_manually_removed_groups_.insert(group_ptr);
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-ExecutorEntitiesCollector::get_all_callback_groups() const
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  std::lock_guard<std::mutex> lock(mutex_);
-  for (const auto & group_ptr : manually_added_groups_) {
-    groups.push_back(group_ptr);
-  }
-  for (auto const & group_ptr : automatically_added_groups_) {
-    groups.push_back(group_ptr);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-ExecutorEntitiesCollector::get_manually_added_callback_groups() const
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  std::lock_guard<std::mutex> lock(mutex_);
-  for (const auto & group_ptr : manually_added_groups_) {
-    groups.push_back(group_ptr);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-ExecutorEntitiesCollector::get_automatically_added_callback_groups() const
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  std::lock_guard<std::mutex> lock(mutex_);
-  for (auto const & group_ptr : automatically_added_groups_) {
-    groups.push_back(group_ptr);
-  }
-  return groups;
-}
-
-void
-ExecutorEntitiesCollector::update_collections()
-{
-  std::lock_guard<std::mutex> lock(mutex_);
-  this->process_queues();
-  this->add_automatically_associated_callback_groups(this->weak_nodes_);
-  this->prune_invalid_nodes_and_groups();
-}
-
-ExecutorEntitiesCollector::NodeCollection::iterator
-ExecutorEntitiesCollector::remove_weak_node(NodeCollection::iterator weak_node)
-{
-  // Disassociate the guard condition from the executor notify waitable
-  auto guard_condition_it = weak_nodes_to_guard_conditions_.find(*weak_node);
-  if (guard_condition_it != weak_nodes_to_guard_conditions_.end()) {
-    this->notify_waitable_->remove_guard_condition(guard_condition_it->second);
-    weak_nodes_to_guard_conditions_.erase(guard_condition_it);
-  }
-
-  // Mark the node as disassociated (if the node is still valid)
-  auto node_ptr = weak_node->lock();
-  if (node_ptr) {
-    std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
-    has_executor.store(false);
-  }
-
-  // Remove the node from tracked nodes
-  return weak_nodes_.erase(weak_node);
-}
-
-ExecutorEntitiesCollector::CallbackGroupCollection::iterator
-ExecutorEntitiesCollector::remove_weak_callback_group(
-  CallbackGroupCollection::iterator weak_group_it,
-  CallbackGroupCollection & collection
-)
-{
-  // Disassociate the guard condition from the executor notify waitable
-  auto guard_condition_it = weak_groups_to_guard_conditions_.find(*weak_group_it);
-  if (guard_condition_it != weak_groups_to_guard_conditions_.end()) {
-    this->notify_waitable_->remove_guard_condition(guard_condition_it->second);
-    weak_groups_to_guard_conditions_.erase(guard_condition_it);
-  }
-
-  // Mark the node as disassociated (if the group is still valid)
-  auto group_ptr = weak_group_it->lock();
-  if (group_ptr) {
-    /**
-     * TODO(mjcarroll): The callback groups, being created by a node, should never outlive
-     * the node. Since we haven't historically enforced this, turning this on may cause
-     * previously-functional code to fail.
-     * Consider re-enablng this check (along with corresponding CallbackGroup::has_valid_node),
-     * when we can guarantee node/group lifetimes.
-    if (!group_ptr->has_valid_node()) {
-      throw std::runtime_error("Node must not be deleted before its callback group(s).");
-    }
-    */
-    std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-    has_executor.store(false);
-  }
-
-  // Remove the node from tracked nodes
-  return collection.erase(weak_group_it);
-}
-
-void
-ExecutorEntitiesCollector::add_callback_group_to_collection(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  CallbackGroupCollection & collection)
-{
-  auto iter = collection.insert(group_ptr);
-  if (iter.second == false) {
-    throw std::runtime_error("Callback group has already been added to this executor.");
-  }
-
-  // Store node guard condition in map and add it to the notify waitable
-  auto group_guard_condition = group_ptr->get_notify_guard_condition();
-  weak_groups_to_guard_conditions_.insert({group_ptr, group_guard_condition});
-  this->notify_waitable_->add_guard_condition(group_guard_condition);
-}
-
-void
-ExecutorEntitiesCollector::process_queues()
-{
-  for (auto weak_node_ptr : pending_added_nodes_) {
-    auto node_ptr = weak_node_ptr.lock();
-    if (!node_ptr) {
-      continue;
-    }
-    weak_nodes_.insert(weak_node_ptr);
-    this->add_automatically_associated_callback_groups({weak_node_ptr});
-
-    // Store node guard condition in map and add it to the notify waitable
-    auto node_guard_condition = node_ptr->get_shared_notify_guard_condition();
-    weak_nodes_to_guard_conditions_.insert({weak_node_ptr, node_guard_condition});
-    this->notify_waitable_->add_guard_condition(node_guard_condition);
-  }
-  pending_added_nodes_.clear();
-
-  for (auto weak_node_ptr : pending_removed_nodes_) {
-    auto node_it = weak_nodes_.find(weak_node_ptr);
-    if (node_it != weak_nodes_.end()) {
-      remove_weak_node(node_it);
-    } else {
-      throw std::runtime_error("Node needs to be associated with this executor.");
-    }
-
-    auto node_ptr = weak_node_ptr.lock();
-    if (node_ptr) {
-      for (auto group_it = automatically_added_groups_.begin();
-        group_it != automatically_added_groups_.end(); )
-      {
-        auto group_ptr = group_it->lock();
-        if (node_ptr->callback_group_in_node(group_ptr)) {
-          group_it = remove_weak_callback_group(group_it, automatically_added_groups_);
-        } else {
-          ++group_it;
-        }
-      }
-    }
-  }
-  pending_removed_nodes_.clear();
-
-  for (auto weak_group_ptr : pending_manually_added_groups_) {
-    auto group_ptr = weak_group_ptr.lock();
-    if (group_ptr) {
-      this->add_callback_group_to_collection(group_ptr, manually_added_groups_);
-    }
-  }
-  pending_manually_added_groups_.clear();
-
-  for (auto weak_group_ptr : pending_manually_removed_groups_) {
-    auto group_ptr = weak_group_ptr.lock();
-    if (group_ptr) {
-      auto group_it = manually_added_groups_.find(group_ptr);
-      if (group_it != manually_added_groups_.end()) {
-        remove_weak_callback_group(group_it, manually_added_groups_);
-      } else {
-        throw std::runtime_error(
-                "Attempting to remove a callback group not added to this executor.");
-      }
-    }
-  }
-  pending_manually_removed_groups_.clear();
-}
-
-void
-ExecutorEntitiesCollector::add_automatically_associated_callback_groups(
-  const NodeCollection & nodes_to_check)
-{
-  for (auto & weak_node : nodes_to_check) {
-    auto node = weak_node.lock();
-    if (node) {
-      node->for_each_callback_group(
-        [this, node](rclcpp::CallbackGroup::SharedPtr group_ptr)
-        {
-          if (!group_ptr->get_associated_with_executor_atomic().load() &&
-          group_ptr->automatically_add_to_executor_with_node())
-          {
-            std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-            if (has_executor.exchange(true)) {
-              throw std::runtime_error("Callback group has already been added to an executor.");
-            }
-            this->add_callback_group_to_collection(group_ptr, this->automatically_added_groups_);
-          }
-        });
-    }
-  }
-}
-
-void
-ExecutorEntitiesCollector::prune_invalid_nodes_and_groups()
-{
-  for (auto node_it = weak_nodes_.begin();
-    node_it != weak_nodes_.end(); )
-  {
-    if (node_it->expired()) {
-      node_it = remove_weak_node(node_it);
-    } else {
-      node_it++;
-    }
-  }
-  for (auto group_it = automatically_added_groups_.begin();
-    group_it != automatically_added_groups_.end(); )
-  {
-    if (group_it->expired()) {
-      group_it = remove_weak_callback_group(group_it, automatically_added_groups_);
-    } else {
-      group_it++;
-    }
-  }
-  for (auto group_it = manually_added_groups_.begin();
-    group_it != manually_added_groups_.end(); )
-  {
-    if (group_it->expired()) {
-      group_it = remove_weak_callback_group(group_it, manually_added_groups_);
-    } else {
-      group_it++;
-    }
-  }
-}
-
-}  // namespace executors
-}  // namespace rclcpp

rclcpp/src/rclcpp/executors/executor_notify_waitable.cpp

@@ -1,183 +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 <iostream>
-
-#include "rclcpp/exceptions.hpp"
-#include "rclcpp/executors/executor_notify_waitable.hpp"
-
-namespace rclcpp
-{
-namespace executors
-{
-
-ExecutorNotifyWaitable::ExecutorNotifyWaitable(std::function<void(void)> on_execute_callback)
-: execute_callback_(on_execute_callback)
-{
-}
-
-ExecutorNotifyWaitable::ExecutorNotifyWaitable(const ExecutorNotifyWaitable & other)
-: ExecutorNotifyWaitable(other.execute_callback_)
-{
-  this->notify_guard_conditions_ = other.notify_guard_conditions_;
-}
-
-ExecutorNotifyWaitable & ExecutorNotifyWaitable::operator=(const ExecutorNotifyWaitable & other)
-{
-  if (this != &other) {
-    this->execute_callback_ = other.execute_callback_;
-    this->notify_guard_conditions_ = other.notify_guard_conditions_;
-  }
-  return *this;
-}
-
-void
-ExecutorNotifyWaitable::add_to_wait_set(rcl_wait_set_t * wait_set)
-{
-  std::lock_guard<std::mutex> lock(guard_condition_mutex_);
-
-  for (auto weak_guard_condition : this->notify_guard_conditions_) {
-    auto guard_condition = weak_guard_condition.lock();
-    if (guard_condition) {
-      auto rcl_guard_condition = &guard_condition->get_rcl_guard_condition();
-
-      rcl_ret_t ret = rcl_wait_set_add_guard_condition(
-        wait_set,
-        rcl_guard_condition, NULL);
-
-      if (RCL_RET_OK != ret) {
-        rclcpp::exceptions::throw_from_rcl_error(
-          ret, "failed to add guard condition to wait set");
-      }
-    }
-  }
-}
-
-bool
-ExecutorNotifyWaitable::is_ready(rcl_wait_set_t * wait_set)
-{
-  std::lock_guard<std::mutex> lock(guard_condition_mutex_);
-
-  bool any_ready = false;
-  for (size_t ii = 0; ii < wait_set->size_of_guard_conditions; ++ii) {
-    auto rcl_guard_condition = wait_set->guard_conditions[ii];
-
-    if (nullptr == rcl_guard_condition) {
-      continue;
-    }
-    for (auto weak_guard_condition : this->notify_guard_conditions_) {
-      auto guard_condition = weak_guard_condition.lock();
-      if (guard_condition && &guard_condition->get_rcl_guard_condition() == rcl_guard_condition) {
-        any_ready = true;
-      }
-    }
-  }
-  return any_ready;
-}
-
-void
-ExecutorNotifyWaitable::execute(std::shared_ptr<void> & data)
-{
-  (void) data;
-  this->execute_callback_();
-}
-
-std::shared_ptr<void>
-ExecutorNotifyWaitable::take_data()
-{
-  return nullptr;
-}
-
-std::shared_ptr<void>
-ExecutorNotifyWaitable::take_data_by_entity_id(size_t id)
-{
-  (void) id;
-  return nullptr;
-}
-
-void
-ExecutorNotifyWaitable::set_on_ready_callback(std::function<void(size_t, int)> callback)
-{
-  // The second argument of the callback could be used to identify which guard condition
-  // triggered the event.
-  // We could indicate which of the guard conditions was triggered, but the executor
-  // is already going to check that.
-  auto gc_callback = [callback](size_t count) {
-      callback(count, 0);
-    };
-
-  std::lock_guard<std::mutex> lock(guard_condition_mutex_);
-
-  on_ready_callback_ = gc_callback;
-  for (auto weak_gc : notify_guard_conditions_) {
-    auto gc = weak_gc.lock();
-    if (!gc) {
-      continue;
-    }
-    gc->set_on_trigger_callback(on_ready_callback_);
-  }
-}
-
-RCLCPP_PUBLIC
-void
-ExecutorNotifyWaitable::clear_on_ready_callback()
-{
-  std::lock_guard<std::mutex> lock(guard_condition_mutex_);
-
-  on_ready_callback_ = nullptr;
-  for (auto weak_gc : notify_guard_conditions_) {
-    auto gc = weak_gc.lock();
-    if (!gc) {
-      continue;
-    }
-    gc->set_on_trigger_callback(nullptr);
-  }
-}
-
-void
-ExecutorNotifyWaitable::add_guard_condition(rclcpp::GuardCondition::WeakPtr weak_guard_condition)
-{
-  std::lock_guard<std::mutex> lock(guard_condition_mutex_);
-  auto guard_condition = weak_guard_condition.lock();
-  if (guard_condition && notify_guard_conditions_.count(weak_guard_condition) == 0) {
-    notify_guard_conditions_.insert(weak_guard_condition);
-    if (on_ready_callback_) {
-      guard_condition->set_on_trigger_callback(on_ready_callback_);
-    }
-  }
-}
-
-void
-ExecutorNotifyWaitable::remove_guard_condition(rclcpp::GuardCondition::WeakPtr weak_guard_condition)
-{
-  std::lock_guard<std::mutex> lock(guard_condition_mutex_);
-  if (notify_guard_conditions_.count(weak_guard_condition) != 0) {
-    notify_guard_conditions_.erase(weak_guard_condition);
-    auto guard_condition = weak_guard_condition.lock();
-    // If this notify waitable doesn't have an on_ready_callback, then there's nothing to unset
-    if (guard_condition && on_ready_callback_) {
-      guard_condition->set_on_trigger_callback(nullptr);
-    }
-  }
-}
-
-size_t
-ExecutorNotifyWaitable::get_number_of_ready_guard_conditions()
-{
-  std::lock_guard<std::mutex> lock(guard_condition_mutex_);
-  return notify_guard_conditions_.size();
-}
-
-}  // namespace executors
-}  // namespace rclcpp

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

@@ -109,8 +109,8 @@ StaticExecutorEntitiesCollector::execute(std::shared_ptr<void> & data)
   std::lock_guard<std::mutex> guard{new_nodes_mutex_};
   for (const auto & weak_node : new_nodes_) {
     if (auto node_ptr = weak_node.lock()) {
-      weak_nodes_to_guard_conditions_[node_ptr] =
-        node_ptr->get_shared_notify_guard_condition().get();
+      const auto & gc = node_ptr->get_notify_guard_condition();
+      weak_nodes_to_guard_conditions_[node_ptr] = &gc;
     }
   }
   new_nodes_.clear();

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -139,7 +139,7 @@ StaticSingleThreadedExecutor::add_callback_group(
   bool is_new_node = entities_collector_->add_callback_group(group_ptr, node_ptr);
   if (is_new_node && notify) {
     // Interrupt waiting to handle new node
-    interrupt_guard_condition_->trigger();
+    interrupt_guard_condition_.trigger();
   }
 }
 
@@ -150,7 +150,7 @@ StaticSingleThreadedExecutor::add_node(
   bool is_new_node = entities_collector_->add_node(node_ptr);
   if (is_new_node && notify) {
     // Interrupt waiting to handle new node
-    interrupt_guard_condition_->trigger();
+    interrupt_guard_condition_.trigger();
   }
 }
 
@@ -167,7 +167,7 @@ StaticSingleThreadedExecutor::remove_callback_group(
   bool node_removed = entities_collector_->remove_callback_group(group_ptr);
   // If the node was matched and removed, interrupt waiting
   if (node_removed && notify) {
-    interrupt_guard_condition_->trigger();
+    interrupt_guard_condition_.trigger();
   }
 }
 
@@ -181,7 +181,7 @@ StaticSingleThreadedExecutor::remove_node(
   }
   // If the node was matched and removed, interrupt waiting
   if (notify) {
-    interrupt_guard_condition_->trigger();
+    interrupt_guard_condition_.trigger();
   }
 }
 

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

@@ -15,11 +15,15 @@
 #include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 
 #include <memory>
+#include <queue>
+#include <string>
 #include <utility>
 #include <vector>
 
 #include "rcpputils/scope_exit.hpp"
 
+#include "rclcpp/exceptions/exceptions.hpp"
+
 using namespace std::chrono_literals;
 
 using rclcpp::experimental::executors::EventsExecutor;
@@ -37,12 +41,9 @@ EventsExecutor::EventsExecutor(
   events_queue_ = std::move(events_queue);
 
   // Create timers manager
-  // The timers manager can be used either to only track timers (in this case an expired
-  // timer will generate an executor event and then it will be executed by the executor thread)
-  // or it can also take care of executing expired timers in its dedicated thread.
-  std::function<void(const rclcpp::TimerBase *)> timer_on_ready_cb = nullptr;
-  if (!execute_timers_separate_thread) {
-    timer_on_ready_cb = [this](const rclcpp::TimerBase * timer_id) {
+  std::function<void(void *)> timer_on_ready_cb = nullptr;
+  if (execute_timers_separate_thread) {
+    timer_on_ready_cb = [this](const void * timer_id) {
         ExecutorEvent event = {timer_id, -1, ExecutorEventType::TIMER_EVENT, 1};
         this->events_queue_->enqueue(event);
       };
@@ -50,57 +51,22 @@ EventsExecutor::EventsExecutor(
   timers_manager_ =
     std::make_shared<rclcpp::experimental::TimersManager>(context_, timer_on_ready_cb);
 
-  this->current_entities_collection_ =
-    std::make_shared<rclcpp::executors::ExecutorEntitiesCollection>();
+  // Create entities collector
+  entities_collector_ = std::make_shared<EventsExecutorEntitiesCollector>(this);
+  entities_collector_->init();
 
-  notify_waitable_ = std::make_shared<rclcpp::executors::ExecutorNotifyWaitable>(
-    [this]() {
-      // This callback is invoked when:
-      // - the interrupt or shutdown guard condition is triggered:
-      //    ---> we need to wake up the executor so that it can terminate
-      // - a node or callback group guard condition is triggered:
-      //    ---> the entities collection is changed, we need to update callbacks
-      notify_waitable_event_pushed_ = false;
-      this->refresh_current_collection_from_callback_groups();
-    });
+  // Setup the executor notifier to wake up the executor when some guard conditions are tiggered.
+  // The added guard conditions are guaranteed to not go out of scope before the executor itself.
+  executor_notifier_ = std::make_shared<EventsExecutorNotifyWaitable>();
+  executor_notifier_->add_guard_condition(shutdown_guard_condition_.get());
+  executor_notifier_->add_guard_condition(&interrupt_guard_condition_);
 
-  // Make sure that the notify waitable is immediately added to the collection
-  // to avoid missing events
-  this->add_notify_waitable_to_collection(current_entities_collection_->waitables);
-
-  notify_waitable_->add_guard_condition(interrupt_guard_condition_);
-  notify_waitable_->add_guard_condition(shutdown_guard_condition_);
-
-  notify_waitable_->set_on_ready_callback(
-    this->create_waitable_callback(notify_waitable_.get()));
-
-  auto notify_waitable_entity_id = notify_waitable_.get();
-  notify_waitable_->set_on_ready_callback(
-    [this, notify_waitable_entity_id](size_t num_events, int waitable_data) {
-      // The notify waitable has a special callback.
-      // We don't care about how many events as when we wake up the executor we are going to
-      // process everything regardless.
-      // For the same reason, if an event of this type has already been pushed but it has not been
-      // processed yet, we avoid pushing additional events.
-      (void)num_events;
-      if (notify_waitable_event_pushed_.exchange(true)) {
-        return;
-      }
-
-      ExecutorEvent event =
-      {notify_waitable_entity_id, waitable_data, ExecutorEventType::WAITABLE_EVENT, 1};
-      this->events_queue_->enqueue(event);
-    });
-
-  this->entities_collector_ =
-    std::make_shared<rclcpp::executors::ExecutorEntitiesCollector>(notify_waitable_);
+  entities_collector_->add_waitable(executor_notifier_);
 }
 
 EventsExecutor::~EventsExecutor()
 {
   spinning.store(false);
-  notify_waitable_->clear_on_ready_callback();
-  this->refresh_current_collection({});
 }
 
 void
@@ -234,9 +200,7 @@ EventsExecutor::add_node(
   (void) notify;
 
   // Add node to entities collector
-  this->entities_collector_->add_node(node_ptr);
-
-  this->refresh_current_collection_from_callback_groups();
+  entities_collector_->add_node(node_ptr);
 }
 
 void
@@ -256,9 +220,7 @@ EventsExecutor::remove_node(
   // This will result in un-setting all the event callbacks from its entities.
   // After this function returns, this executor will not receive any more events associated
   // to these entities.
-  this->entities_collector_->remove_node(node_ptr);
-
-  this->refresh_current_collection_from_callback_groups();
+  entities_collector_->remove_node(node_ptr);
 }
 
 void
@@ -273,30 +235,19 @@ 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 = entities_collector_->get_client(event.exec_entity_id);
+
         if (client) {
           for (size_t i = 0; i < event.num_events; i++) {
             execute_client(client);
           }
         }
-
         break;
       }
     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 = entities_collector_->get_subscription(event.exec_entity_id);
+
         if (subscription) {
           for (size_t i = 0; i < event.num_events; i++) {
             execute_subscription(subscription);
@@ -306,39 +257,27 @@ 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 = entities_collector_->get_service(event.exec_entity_id);
+
         if (service) {
           for (size_t i = 0; i < event.num_events; i++) {
             execute_service(service);
           }
         }
-
         break;
       }
     case ExecutorEventType::TIMER_EVENT:
       {
-        timers_manager_->execute_ready_timer(
-          static_cast<const rclcpp::TimerBase *>(event.entity_key));
+        timers_manager_->execute_ready_timer(event.exec_entity_id);
         break;
       }
     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 = entities_collector_->get_waitable(event.exec_entity_id);
+
         if (waitable) {
           for (size_t i = 0; i < event.num_events; i++) {
-            auto data = waitable->take_data_by_entity_id(event.waitable_data);
+            auto data = waitable->take_data_by_entity_id(event.gen_entity_id);
             waitable->execute(data);
           }
         }
@@ -356,11 +295,7 @@ EventsExecutor::add_callback_group(
   // This field is unused because we don't have to wake up
   // the executor when a callback group is added.
   (void)notify;
-  (void)node_ptr;
-
-  this->entities_collector_->add_callback_group(group_ptr);
-
-  this->refresh_current_collection_from_callback_groups();
+  entities_collector_->add_callback_group(group_ptr, node_ptr);
 }
 
 void
@@ -370,147 +305,23 @@ EventsExecutor::remove_callback_group(
   // This field is unused because we don't have to wake up
   // the executor when a callback group is removed.
   (void)notify;
-
-  this->entities_collector_->remove_callback_group(group_ptr);
-
-  this->refresh_current_collection_from_callback_groups();
+  entities_collector_->remove_callback_group(group_ptr);
 }
 
 std::vector<rclcpp::CallbackGroup::WeakPtr>
 EventsExecutor::get_all_callback_groups()
 {
-  this->entities_collector_->update_collections();
-  return this->entities_collector_->get_all_callback_groups();
+  return entities_collector_->get_all_callback_groups();
 }
 
 std::vector<rclcpp::CallbackGroup::WeakPtr>
 EventsExecutor::get_manually_added_callback_groups()
 {
-  this->entities_collector_->update_collections();
-  return this->entities_collector_->get_manually_added_callback_groups();
+  return entities_collector_->get_manually_added_callback_groups();
 }
 
 std::vector<rclcpp::CallbackGroup::WeakPtr>
 EventsExecutor::get_automatically_added_callback_groups_from_nodes()
 {
-  this->entities_collector_->update_collections();
-  return this->entities_collector_->get_automatically_added_callback_groups();
-}
-
-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;
-  rclcpp::executors::build_entities_collection(callback_groups, new_collection);
-
-  // TODO(alsora): this may be implemented in a better way.
-  // We need the notify waitable to be included in the executor "current_collection"
-  // because we need to be able to retrieve events for it.
-  // We could explicitly check for the notify waitable ID when we receive a waitable event
-  // but I think that it's better if the waitable was in the collection and it could be
-  // retrieved in the "standard" way.
-  // 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);
-}
-
-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);},
-    [this](rclcpp::TimerBase::SharedPtr timer) {timers_manager_->remove_timer(timer);});
-
-  current_entities_collection_->subscriptions.update(
-    new_collection.subscriptions,
-    [this](auto subscription) {
-      subscription->set_on_new_message_callback(
-        this->create_entity_callback(
-          subscription->get_subscription_handle().get(), ExecutorEventType::SUBSCRIPTION_EVENT));
-    },
-    [](auto subscription) {subscription->clear_on_new_message_callback();});
-
-  current_entities_collection_->clients.update(
-    new_collection.clients,
-    [this](auto client) {
-      client->set_on_new_response_callback(
-        this->create_entity_callback(
-          client->get_client_handle().get(), ExecutorEventType::CLIENT_EVENT));
-    },
-    [](auto client) {client->clear_on_new_response_callback();});
-
-  current_entities_collection_->services.update(
-    new_collection.services,
-    [this](auto service) {
-      service->set_on_new_request_callback(
-        this->create_entity_callback(
-          service->get_service_handle().get(), ExecutorEventType::SERVICE_EVENT));
-    },
-    [](auto service) {service->clear_on_new_request_callback();});
-
-  // DO WE NEED THIS? WE ARE NOT DOING ANYTHING WITH GUARD CONDITIONS
-  /*
-  current_entities_collection_->guard_conditions.update(new_collection.guard_conditions,
-    [](auto guard_condition) {(void)guard_condition;},
-    [](auto guard_condition) {guard_condition->set_on_trigger_callback(nullptr);});
-  */
-
-  current_entities_collection_->waitables.update(
-    new_collection.waitables,
-    [this](auto waitable) {
-      waitable->set_on_ready_callback(
-        this->create_waitable_callback(waitable.get()));
-    },
-    [](auto waitable) {waitable->clear_on_ready_callback();});
-}
-
-std::function<void(size_t)>
-EventsExecutor::create_entity_callback(
-  void * entity_key, ExecutorEventType event_type)
-{
-  std::function<void(size_t)>
-  callback = [this, entity_key, event_type](size_t num_events) {
-      ExecutorEvent event = {entity_key, -1, event_type, num_events};
-      this->events_queue_->enqueue(event);
-    };
-  return callback;
-}
-
-std::function<void(size_t, int)>
-EventsExecutor::create_waitable_callback(const rclcpp::Waitable * entity_key)
-{
-  std::function<void(size_t, int)>
-  callback = [this, entity_key](size_t num_events, int waitable_data) {
-      ExecutorEvent event =
-      {entity_key, waitable_data, ExecutorEventType::WAITABLE_EVENT, num_events};
-      this->events_queue_->enqueue(event);
-    };
-  return callback;
-}
-
-void
-EventsExecutor::add_notify_waitable_to_collection(
-  rclcpp::executors::ExecutorEntitiesCollection::WaitableCollection & collection)
-{
-  // The notify waitable is not associated to any group, so use an invalid one
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr;
-  collection.insert(
-  {
-    this->notify_waitable_.get(),
-    {this->notify_waitable_, weak_group_ptr}
-  });
+  return entities_collector_->get_automatically_added_callback_groups_from_nodes();
 }

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

@@ -0,0 +1,699 @@
+// Copyright 2023 iRobot Corporation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/experimental/executors/events_executor/events_executor_entities_collector.hpp"
+
+#include <algorithm>
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "rclcpp/memory_strategy.hpp"
+#include "rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp"
+#include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
+
+using rclcpp::experimental::executors::ExecutorEvent;
+using rclcpp::experimental::executors::ExecutorEventType;
+using rclcpp::experimental::executors::EventsExecutorEntitiesCollector;
+
+EventsExecutorEntitiesCollector::EventsExecutorEntitiesCollector(
+  rclcpp::experimental::executors::EventsExecutor * executor)
+{
+  if (executor == nullptr) {
+    throw std::runtime_error("Received nullptr executor in EventsExecutorEntitiesCollector.");
+  }
+
+  associated_executor_ = executor;
+  timers_manager_ = associated_executor_->timers_manager_;
+}
+
+void
+EventsExecutorEntitiesCollector::init()
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+  // Add the EventsExecutorEntitiesCollector shared_ptr to waitables map
+  weak_waitables_map_.emplace(this, this->shared_from_this());
+}
+
+EventsExecutorEntitiesCollector::~EventsExecutorEntitiesCollector()
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+
+  // Disassociate all callback groups and thus nodes.
+  for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
+    auto group = pair.first.lock();
+    if (group) {
+      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
+      has_executor.store(false);
+      callback_group_removed_impl(group);
+    }
+  }
+  for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
+    auto group = pair.first.lock();
+    if (group) {
+      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
+      has_executor.store(false);
+      callback_group_removed_impl(group);
+    }
+  }
+  // Disassociate all nodes
+  for (const auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node) {
+      std::atomic_bool & has_executor = node->get_associated_with_executor_atomic();
+      has_executor.store(false);
+      node_removed_impl(node);
+    }
+  }
+
+  // Unset callback group notify guard condition executor callback
+  for (const auto & pair : weak_groups_to_guard_conditions_) {
+    auto group = pair.first.lock();
+    if (group) {
+      auto & group_gc = pair.second;
+      unset_guard_condition_callback(group_gc);
+    }
+  }
+
+  weak_clients_map_.clear();
+  weak_services_map_.clear();
+  weak_waitables_map_.clear();
+  weak_subscriptions_map_.clear();
+  weak_nodes_to_guard_conditions_.clear();
+  weak_groups_to_guard_conditions_.clear();
+
+  weak_groups_associated_with_executor_to_nodes_.clear();
+  weak_groups_to_nodes_associated_with_executor_.clear();
+  weak_nodes_.clear();
+}
+
+void
+EventsExecutorEntitiesCollector::execute(std::shared_ptr<void> & data)
+{
+  // This function is called when the associated executor is notified that something changed.
+  // We do not know if an entity has been added or removed so we have to rebuild everything.
+  (void)data;
+
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+  timers_manager_->clear();
+
+  // If a registered node has a new callback group, register the group.
+  add_callback_groups_from_nodes_associated_to_executor();
+
+  // For all groups registered in the executor, set their event callbacks.
+  set_entities_event_callbacks_from_map(weak_groups_associated_with_executor_to_nodes_);
+  set_entities_event_callbacks_from_map(weak_groups_to_nodes_associated_with_executor_);
+}
+
+std::shared_ptr<void>
+EventsExecutorEntitiesCollector::take_data()
+{
+  return nullptr;
+}
+
+std::shared_ptr<void>
+EventsExecutorEntitiesCollector::take_data_by_entity_id(size_t id)
+{
+  (void)id;
+  return nullptr;
+}
+
+void
+EventsExecutorEntitiesCollector::add_to_wait_set(rcl_wait_set_t * wait_set)
+{
+  (void)wait_set;
+}
+
+bool
+EventsExecutorEntitiesCollector::is_ready(rcl_wait_set_t * p_wait_set)
+{
+  (void)p_wait_set;
+  return false;
+}
+
+bool
+EventsExecutorEntitiesCollector::add_node(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
+{
+  bool is_new_node = false;
+  // If the node already has an executor
+  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
+  if (has_executor.exchange(true)) {
+    throw std::runtime_error("Node has already been added to an executor.");
+  }
+  node_ptr->for_each_callback_group(
+    [this, node_ptr, &is_new_node](rclcpp::CallbackGroup::SharedPtr group_ptr)
+    {
+      if (
+        !group_ptr->get_associated_with_executor_atomic().load() &&
+        group_ptr->automatically_add_to_executor_with_node())
+      {
+        is_new_node = (add_callback_group(
+          group_ptr,
+          node_ptr,
+          weak_groups_to_nodes_associated_with_executor_) ||
+        is_new_node);
+      }
+    });
+  weak_nodes_.push_back(node_ptr);
+  return is_new_node;
+}
+
+bool
+EventsExecutorEntitiesCollector::add_callback_group(
+  rclcpp::CallbackGroup::SharedPtr group_ptr,
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+{
+  // If the callback_group already has an executor
+  std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
+  if (has_executor.exchange(true)) {
+    throw std::runtime_error("Callback group has already been added to an executor.");
+  }
+  bool is_new_node = !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_) &&
+    !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_);
+  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
+  auto insert_info = weak_groups_to_nodes.insert(
+    std::make_pair(weak_group_ptr, node_ptr));
+  bool was_inserted = insert_info.second;
+  if (!was_inserted) {
+    throw std::runtime_error("Callback group was already added to executor.");
+  }
+
+  if (is_new_node) {
+    node_added_impl(node_ptr);
+  }
+
+  if (node_ptr->get_context()->is_valid()) {
+    auto callback_group_guard_condition =
+      group_ptr->get_notify_guard_condition(node_ptr->get_context());
+
+    rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
+    weak_groups_to_guard_conditions_[weak_group_ptr] = callback_group_guard_condition.get();
+  }
+
+  callback_group_added_impl(group_ptr);
+
+  return is_new_node;
+}
+
+bool
+EventsExecutorEntitiesCollector::add_callback_group(
+  rclcpp::CallbackGroup::SharedPtr group_ptr,
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
+{
+  return add_callback_group(group_ptr, node_ptr, weak_groups_associated_with_executor_to_nodes_);
+}
+
+bool
+EventsExecutorEntitiesCollector::remove_callback_group(
+  rclcpp::CallbackGroup::SharedPtr group_ptr)
+{
+  return this->remove_callback_group_from_map(
+    group_ptr,
+    weak_groups_associated_with_executor_to_nodes_);
+}
+
+bool
+EventsExecutorEntitiesCollector::remove_callback_group_from_map(
+  rclcpp::CallbackGroup::SharedPtr group_ptr,
+  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+{
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr;
+  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
+  auto iter = weak_groups_to_nodes.find(weak_group_ptr);
+  if (iter != weak_groups_to_nodes.end()) {
+    node_ptr = iter->second.lock();
+    if (node_ptr == nullptr) {
+      throw std::runtime_error("Node must not be deleted before its callback group(s).");
+    }
+    weak_groups_to_nodes.erase(iter);
+    callback_group_removed_impl(group_ptr);
+  } else {
+    throw std::runtime_error("Callback group needs to be associated with executor.");
+  }
+  // If the node was matched and removed, interrupt waiting.
+  bool node_removed = false;
+  if (!has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_) &&
+    !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_))
+  {
+    node_removed_impl(node_ptr);
+    node_removed = true;
+  }
+
+  weak_groups_to_guard_conditions_.erase(weak_group_ptr);
+
+  return node_removed;
+}
+
+bool
+EventsExecutorEntitiesCollector::remove_node(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
+{
+  if (!node_ptr->get_associated_with_executor_atomic().load()) {
+    return false;
+  }
+  bool node_found = false;
+  auto node_it = weak_nodes_.begin();
+  while (node_it != weak_nodes_.end()) {
+    bool matched = (node_it->lock() == node_ptr);
+    if (matched) {
+      weak_nodes_.erase(node_it);
+      node_found = true;
+      break;
+    }
+    ++node_it;
+  }
+  if (!node_found) {
+    return false;
+  }
+  std::vector<rclcpp::CallbackGroup::SharedPtr> found_group_ptrs;
+  std::for_each(
+    weak_groups_to_nodes_associated_with_executor_.begin(),
+    weak_groups_to_nodes_associated_with_executor_.end(),
+    [&found_group_ptrs, node_ptr](std::pair<rclcpp::CallbackGroup::WeakPtr,
+    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> key_value_pair) {
+      auto & weak_node_ptr = key_value_pair.second;
+      auto shared_node_ptr = weak_node_ptr.lock();
+      auto group_ptr = key_value_pair.first.lock();
+      if (shared_node_ptr == node_ptr) {
+        found_group_ptrs.push_back(group_ptr);
+      }
+    });
+  std::for_each(
+    found_group_ptrs.begin(), found_group_ptrs.end(), [this]
+      (rclcpp::CallbackGroup::SharedPtr group_ptr) {
+      this->remove_callback_group_from_map(
+        group_ptr,
+        weak_groups_to_nodes_associated_with_executor_);
+    });
+  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
+  has_executor.store(false);
+  return true;
+}
+
+// Returns true iff the weak_groups_to_nodes map has node_ptr as the value in any of its entry.
+bool
+EventsExecutorEntitiesCollector::has_node(
+  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
+  weak_groups_to_nodes) const
+{
+  return std::find_if(
+    weak_groups_to_nodes.begin(),
+    weak_groups_to_nodes.end(),
+    [&](const WeakCallbackGroupsToNodesMap::value_type & other) -> bool {
+      auto other_ptr = other.second.lock();
+      return other_ptr == node_ptr;
+    }) != weak_groups_to_nodes.end();
+}
+
+void
+EventsExecutorEntitiesCollector::add_callback_groups_from_nodes_associated_to_executor()
+{
+  for (const auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node) {
+      node->for_each_callback_group(
+        [this, node](rclcpp::CallbackGroup::SharedPtr shared_group_ptr)
+        {
+          if (shared_group_ptr->automatically_add_to_executor_with_node() &&
+          !shared_group_ptr->get_associated_with_executor_atomic().load())
+          {
+            add_callback_group(
+              shared_group_ptr,
+              node,
+              weak_groups_to_nodes_associated_with_executor_);
+          }
+        });
+    }
+  }
+}
+
+std::vector<rclcpp::CallbackGroup::WeakPtr>
+EventsExecutorEntitiesCollector::get_all_callback_groups()
+{
+  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
+  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
+    groups.push_back(group_node_ptr.first);
+  }
+  for (const auto & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
+    groups.push_back(group_node_ptr.first);
+  }
+  return groups;
+}
+
+std::vector<rclcpp::CallbackGroup::WeakPtr>
+EventsExecutorEntitiesCollector::get_manually_added_callback_groups()
+{
+  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
+  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
+    groups.push_back(group_node_ptr.first);
+  }
+  return groups;
+}
+
+std::vector<rclcpp::CallbackGroup::WeakPtr>
+EventsExecutorEntitiesCollector::get_automatically_added_callback_groups_from_nodes()
+{
+  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
+  for (const auto & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
+    groups.push_back(group_node_ptr.first);
+  }
+  return groups;
+}
+
+void
+EventsExecutorEntitiesCollector::callback_group_added_impl(
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+
+  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group;
+
+  auto iter = weak_groups_to_guard_conditions_.find(weak_group_ptr);
+  if (iter != weak_groups_to_guard_conditions_.end()) {
+    // Set an event callback for the group's notify guard condition, so if new entities are added
+    // or removed to this node we will receive an event.
+    set_guard_condition_callback(iter->second);
+  }
+  // For all entities in the callback group, set their event callback
+  set_callback_group_entities_callbacks(group);
+}
+
+void
+EventsExecutorEntitiesCollector::node_added_impl(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node)
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+
+  auto notify_guard_condition = &(node->get_notify_guard_condition());
+  // Set an event callback for the node's notify guard condition, so if new entities are added
+  // or removed to this node we will receive an event.
+  set_guard_condition_callback(notify_guard_condition);
+
+  // Store node's notify guard condition
+  weak_nodes_to_guard_conditions_[node] = notify_guard_condition;
+}
+
+void
+EventsExecutorEntitiesCollector::callback_group_removed_impl(
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+  // For all the entities in the group, unset their callbacks
+  unset_callback_group_entities_callbacks(group);
+}
+
+void
+EventsExecutorEntitiesCollector::node_removed_impl(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node)
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+  // Node doesn't have more callback groups associated to the executor.
+  // Unset the event callback for the node's notify guard condition, to stop
+  // receiving events if entities are added or removed to this node.
+  unset_guard_condition_callback(&(node->get_notify_guard_condition()));
+
+  // Remove guard condition from list
+  rclcpp::node_interfaces::NodeBaseInterface::WeakPtr weak_node_ptr(node);
+  weak_nodes_to_guard_conditions_.erase(weak_node_ptr);
+}
+
+void
+EventsExecutorEntitiesCollector::set_entities_event_callbacks_from_map(
+  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+{
+  for (const auto & pair : weak_groups_to_nodes) {
+    auto group = pair.first.lock();
+    auto node = pair.second.lock();
+    if (!node || !group || !group->can_be_taken_from().load()) {
+      continue;
+    }
+    set_callback_group_entities_callbacks(group);
+  }
+}
+
+void
+EventsExecutorEntitiesCollector::set_callback_group_entities_callbacks(
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  // Timers are handled by the timers manager
+  group->find_timer_ptrs_if(
+    [this](const rclcpp::TimerBase::SharedPtr & timer) {
+      if (timer) {
+        timers_manager_->add_timer(timer);
+      }
+      return false;
+    });
+
+  // Set callbacks for all other entity types
+  group->find_subscription_ptrs_if(
+    [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
+      if (subscription) {
+        weak_subscriptions_map_.emplace(subscription.get(), subscription);
+
+        subscription->set_on_new_message_callback(
+          create_entity_callback(subscription.get(), ExecutorEventType::SUBSCRIPTION_EVENT));
+      }
+      return false;
+    });
+  group->find_service_ptrs_if(
+    [this](const rclcpp::ServiceBase::SharedPtr & service) {
+      if (service) {
+        weak_services_map_.emplace(service.get(), service);
+
+        service->set_on_new_request_callback(
+          create_entity_callback(service.get(), ExecutorEventType::SERVICE_EVENT));
+      }
+      return false;
+    });
+  group->find_client_ptrs_if(
+    [this](const rclcpp::ClientBase::SharedPtr & client) {
+      if (client) {
+        weak_clients_map_.emplace(client.get(), client);
+
+        client->set_on_new_response_callback(
+          create_entity_callback(client.get(), ExecutorEventType::CLIENT_EVENT));
+      }
+      return false;
+    });
+  group->find_waitable_ptrs_if(
+    [this](const rclcpp::Waitable::SharedPtr & waitable) {
+      if (waitable) {
+        weak_waitables_map_.emplace(waitable.get(), waitable);
+
+        waitable->set_on_ready_callback(
+          create_waitable_callback(waitable.get()));
+      }
+      return false;
+    });
+}
+
+void
+EventsExecutorEntitiesCollector::unset_callback_group_entities_callbacks(
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  auto iter = weak_groups_to_guard_conditions_.find(group);
+
+  if (iter != weak_groups_to_guard_conditions_.end()) {
+    unset_guard_condition_callback(iter->second);
+  }
+
+  // Timers are handled by the timers manager
+  group->find_timer_ptrs_if(
+    [this](const rclcpp::TimerBase::SharedPtr & timer) {
+      if (timer) {
+        timers_manager_->remove_timer(timer);
+      }
+      return false;
+    });
+
+  // Unset callbacks for all other entity types
+  group->find_subscription_ptrs_if(
+    [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
+      if (subscription) {
+        subscription->clear_on_new_message_callback();
+        weak_subscriptions_map_.erase(subscription.get());
+      }
+      return false;
+    });
+  group->find_service_ptrs_if(
+    [this](const rclcpp::ServiceBase::SharedPtr & service) {
+      if (service) {
+        service->clear_on_new_request_callback();
+        weak_services_map_.erase(service.get());
+      }
+      return false;
+    });
+  group->find_client_ptrs_if(
+    [this](const rclcpp::ClientBase::SharedPtr & client) {
+      if (client) {
+        client->clear_on_new_response_callback();
+        weak_clients_map_.erase(client.get());
+      }
+      return false;
+    });
+  group->find_waitable_ptrs_if(
+    [this](const rclcpp::Waitable::SharedPtr & waitable) {
+      if (waitable) {
+        waitable->clear_on_ready_callback();
+        weak_waitables_map_.erase(waitable.get());
+      }
+      return false;
+    });
+}
+
+void
+EventsExecutorEntitiesCollector::set_guard_condition_callback(
+  rclcpp::GuardCondition * guard_condition)
+{
+  auto gc_callback = [this](size_t num_events) {
+      // Override num events (we don't care more than a single event)
+      num_events = 1;
+      int gc_id = -1;
+      ExecutorEvent event = {this, gc_id, ExecutorEventType::WAITABLE_EVENT, num_events};
+      associated_executor_->events_queue_->enqueue(event);
+    };
+
+  guard_condition->set_on_trigger_callback(gc_callback);
+}
+
+void
+EventsExecutorEntitiesCollector::unset_guard_condition_callback(
+  rclcpp::GuardCondition * guard_condition)
+{
+  guard_condition->set_on_trigger_callback(nullptr);
+}
+
+rclcpp::SubscriptionBase::SharedPtr
+EventsExecutorEntitiesCollector::get_subscription(const void * subscription_id)
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+
+  auto it = weak_subscriptions_map_.find(subscription_id);
+
+  if (it != weak_subscriptions_map_.end()) {
+    auto subscription_weak_ptr = it->second;
+    auto subscription_shared_ptr = subscription_weak_ptr.lock();
+
+    if (subscription_shared_ptr) {
+      return subscription_shared_ptr;
+    }
+
+    // The subscription expired, remove from map
+    weak_subscriptions_map_.erase(it);
+  }
+  return nullptr;
+}
+
+rclcpp::ClientBase::SharedPtr
+EventsExecutorEntitiesCollector::get_client(const void * client_id)
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+
+  auto it = weak_clients_map_.find(client_id);
+
+  if (it != weak_clients_map_.end()) {
+    auto client_weak_ptr = it->second;
+    auto client_shared_ptr = client_weak_ptr.lock();
+
+    if (client_shared_ptr) {
+      return client_shared_ptr;
+    }
+
+    // The client expired, remove from map
+    weak_clients_map_.erase(it);
+  }
+  return nullptr;
+}
+
+rclcpp::ServiceBase::SharedPtr
+EventsExecutorEntitiesCollector::get_service(const void * service_id)
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+
+  auto it = weak_services_map_.find(service_id);
+
+  if (it != weak_services_map_.end()) {
+    auto service_weak_ptr = it->second;
+    auto service_shared_ptr = service_weak_ptr.lock();
+
+    if (service_shared_ptr) {
+      return service_shared_ptr;
+    }
+
+    // The service expired, remove from map
+    weak_services_map_.erase(it);
+  }
+  return nullptr;
+}
+
+rclcpp::Waitable::SharedPtr
+EventsExecutorEntitiesCollector::get_waitable(const void * waitable_id)
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+
+  auto it = weak_waitables_map_.find(waitable_id);
+
+  if (it != weak_waitables_map_.end()) {
+    auto waitable_weak_ptr = it->second;
+    auto waitable_shared_ptr = waitable_weak_ptr.lock();
+
+    if (waitable_shared_ptr) {
+      return waitable_shared_ptr;
+    }
+
+    // The waitable expired, remove from map
+    weak_waitables_map_.erase(it);
+  }
+  return nullptr;
+}
+
+void
+EventsExecutorEntitiesCollector::add_waitable(rclcpp::Waitable::SharedPtr waitable)
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+
+  weak_waitables_map_.emplace(waitable.get(), waitable);
+
+  waitable->set_on_ready_callback(
+    create_waitable_callback(waitable.get()));
+}
+
+std::function<void(size_t)>
+EventsExecutorEntitiesCollector::create_entity_callback(
+  void * exec_entity_id, ExecutorEventType event_type)
+{
+  std::function<void(size_t)>
+  callback = [this, exec_entity_id, event_type](size_t num_events) {
+      ExecutorEvent event = {exec_entity_id, -1, event_type, num_events};
+      associated_executor_->events_queue_->enqueue(event);
+    };
+  return callback;
+}
+
+std::function<void(size_t, int)>
+EventsExecutorEntitiesCollector::create_waitable_callback(void * exec_entity_id)
+{
+  std::function<void(size_t, int)>
+  callback = [this, exec_entity_id](size_t num_events, int gen_entity_id) {
+      ExecutorEvent event =
+      {exec_entity_id, gen_entity_id, ExecutorEventType::WAITABLE_EVENT, num_events};
+      associated_executor_->events_queue_->enqueue(event);
+    };
+  return callback;
+}

rclcpp/src/rclcpp/experimental/timers_manager.cpp

@@ -21,16 +21,14 @@
 #include <memory>
 #include <stdexcept>
 
-#include "rcpputils/scope_exit.hpp"
-
 using rclcpp::experimental::TimersManager;
 
 TimersManager::TimersManager(
   std::shared_ptr<rclcpp::Context> context,
-  std::function<void(const rclcpp::TimerBase *)> on_ready_callback)
-: on_ready_callback_(on_ready_callback),
-  context_(context)
+  std::function<void(void *)> on_ready_callback)
 {
+  context_ = context;
+  on_ready_callback_ = on_ready_callback;
 }
 
 TimersManager::~TimersManager()
@@ -125,6 +123,18 @@ size_t TimersManager::get_number_ready_timers()
   return locked_heap.get_number_ready_timers();
 }
 
+void TimersManager::execute_ready_timers()
+{
+  // Do not allow to interfere with the thread running
+  if (running_) {
+    throw std::runtime_error(
+            "execute_ready_timers() can't be used while timers thread is running");
+  }
+
+  std::unique_lock<std::mutex> lock(timers_mutex_);
+  this->execute_ready_timers_unsafe();
+}
+
 bool TimersManager::execute_head_timer()
 {
   // Do not allow to interfere with the thread running
@@ -146,10 +156,12 @@ bool TimersManager::execute_head_timer()
 
   const bool timer_ready = head_timer->is_ready();
   if (timer_ready) {
-    // NOTE: here we always execute the timer, regardless of whether the
-    // on_ready_callback is set or not.
     head_timer->call();
-    head_timer->execute_callback();
+    if (on_ready_callback_) {
+      on_ready_callback_(head_timer.get());
+    } else {
+      head_timer->execute_callback();
+    }
     timers_heap.heapify_root();
     weak_timers_heap_.store(timers_heap);
   }
@@ -157,7 +169,7 @@ bool TimersManager::execute_head_timer()
   return timer_ready;
 }
 
-void TimersManager::execute_ready_timer(const rclcpp::TimerBase * timer_id)
+void TimersManager::execute_ready_timer(const void * timer_id)
 {
   TimerPtr ready_timer;
   {
@@ -234,10 +246,6 @@ void TimersManager::execute_ready_timers_unsafe()
 
 void TimersManager::run_timers()
 {
-  // Make sure the running flag is set to false when we exit from this function
-  // to allow restarting the timers thread.
-  RCPPUTILS_SCOPE_EXIT(this->running_.store(false); );
-
   while (rclcpp::ok(context_) && running_) {
     // Lock mutex
     std::unique_lock<std::mutex> lock(timers_mutex_);
@@ -261,6 +269,10 @@ void TimersManager::run_timers()
     // Execute timers
     this->execute_ready_timers_unsafe();
   }
+
+  // Make sure the running flag is set to false when we exit from this function
+  // to allow restarting the timers thread.
+  running_ = false;
 }
 
 void TimersManager::clear()
@@ -270,7 +282,7 @@ void TimersManager::clear()
     std::unique_lock<std::mutex> lock(timers_mutex_);
 
     TimersHeap locked_heap = weak_timers_heap_.validate_and_lock();
-    locked_heap.clear_timers_on_reset_callbacks();
+    locked_heap.clear_callbacks();
 
     weak_timers_heap_.clear();
 

rclcpp/src/rclcpp/generic_subscription.cpp

@@ -25,20 +25,17 @@
 namespace rclcpp
 {
 
-std::shared_ptr<void>
-GenericSubscription::create_message()
+std::shared_ptr<void> GenericSubscription::create_message()
 {
   return create_serialized_message();
 }
 
-std::shared_ptr<rclcpp::SerializedMessage>
-GenericSubscription::create_serialized_message()
+std::shared_ptr<rclcpp::SerializedMessage> GenericSubscription::create_serialized_message()
 {
   return std::make_shared<rclcpp::SerializedMessage>(0);
 }
 
-void
-GenericSubscription::handle_message(
+void GenericSubscription::handle_message(
   std::shared_ptr<void> &,
   const rclcpp::MessageInfo &)
 {
@@ -54,8 +51,7 @@ GenericSubscription::handle_serialized_message(
   callback_(message);
 }
 
-void
-GenericSubscription::handle_loaned_message(
+void GenericSubscription::handle_loaned_message(
   void * message, const rclcpp::MessageInfo & message_info)
 {
   (void) message;
@@ -64,69 +60,16 @@ GenericSubscription::handle_loaned_message(
           "handle_loaned_message is not implemented for GenericSubscription");
 }
 
-void
-GenericSubscription::return_message(std::shared_ptr<void> & message)
+void GenericSubscription::return_message(std::shared_ptr<void> & message)
 {
   auto typed_message = std::static_pointer_cast<rclcpp::SerializedMessage>(message);
   return_serialized_message(typed_message);
 }
 
-void
-GenericSubscription::return_serialized_message(
+void GenericSubscription::return_serialized_message(
   std::shared_ptr<rclcpp::SerializedMessage> & message)
 {
   message.reset();
 }
 
-
-// DYNAMIC TYPE ====================================================================================
-// TODO(methylDragon): Reorder later
-rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
-GenericSubscription::get_shared_dynamic_message_type()
-{
-  throw rclcpp::exceptions::UnimplementedError(
-          "get_shared_dynamic_message_type is not implemented for GenericSubscription");
-}
-
-rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
-GenericSubscription::get_shared_dynamic_message()
-{
-  throw rclcpp::exceptions::UnimplementedError(
-          "get_shared_dynamic_message is not implemented for GenericSubscription");
-}
-
-rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
-GenericSubscription::get_shared_dynamic_serialization_support()
-{
-  throw rclcpp::exceptions::UnimplementedError(
-          "get_shared_dynamic_serialization_support is not implemented for GenericSubscription");
-}
-
-rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
-GenericSubscription::create_dynamic_message()
-{
-  throw rclcpp::exceptions::UnimplementedError(
-          "create_dynamic_message is not implemented for GenericSubscription");
-}
-
-void
-GenericSubscription::return_dynamic_message(
-  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message)
-{
-  (void) message;
-  throw rclcpp::exceptions::UnimplementedError(
-          "return_dynamic_message is not implemented for GenericSubscription");
-}
-
-void
-GenericSubscription::handle_dynamic_message(
-  const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
-  const rclcpp::MessageInfo & message_info)
-{
-  (void) message;
-  (void) message_info;
-  throw rclcpp::exceptions::UnimplementedError(
-          "handle_dynamic_message is not implemented for GenericSubscription");
-}
-
 }  // namespace rclcpp

rclcpp/src/rclcpp/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/logger.cpp

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

rclcpp/src/rclcpp/logging_mutex.cpp

@@ -14,7 +14,6 @@
 
 #include <memory>
 #include <mutex>
-#include <stdexcept>
 
 #include "rcutils/macros.h"
 

rclcpp/src/rclcpp/node.cpp

@@ -36,7 +36,6 @@
 #include "rclcpp/node_interfaces/node_time_source.hpp"
 #include "rclcpp/node_interfaces/node_timers.hpp"
 #include "rclcpp/node_interfaces/node_topics.hpp"
-#include "rclcpp/node_interfaces/node_type_descriptions.hpp"
 #include "rclcpp/node_interfaces/node_waitables.hpp"
 #include "rclcpp/qos_overriding_options.hpp"
 
@@ -110,22 +109,6 @@ 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.
-/**
- * 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.
- */
-class Node::NodeImpl
-{
-public:
-  NodeImpl() = default;
-  ~NodeImpl() = default;
-};
-
 Node::Node(
   const std::string & node_name,
   const NodeOptions & options)
@@ -184,7 +167,7 @@ Node::Node(
       options.use_intra_process_comms(),
       options.enable_topic_statistics())),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
-  node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_)),
+  node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
   node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get(), node_timers_.get())),
   node_services_(new rclcpp::node_interfaces::NodeServices(node_base_.get())),
@@ -223,12 +206,6 @@ 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_(""),
@@ -248,10 +225,6 @@ Node::Node(
     node_topics_->resolve_topic_name("/parameter_events"),
     options.parameter_event_qos(),
     rclcpp::detail::PublisherQosParametersTraits{});
-
-  if (options.enable_logger_service()) {
-    node_logging_->create_logger_services(node_services_);
-  }
 }
 
 Node::Node(
@@ -269,8 +242,7 @@ 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;
@@ -522,18 +494,6 @@ Node::count_subscribers(const std::string & topic_name) const
   return node_graph_->count_subscribers(topic_name);
 }
 
-size_t
-Node::count_clients(const std::string & service_name) const
-{
-  return node_graph_->count_clients(service_name);
-}
-
-size_t
-Node::count_services(const std::string & service_name) const
-{
-  return node_graph_->count_services(service_name);
-}
-
 std::vector<rclcpp::TopicEndpointInfo>
 Node::get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle) const
 {
@@ -627,12 +587,6 @@ Node::get_node_topics_interface()
   return node_topics_;
 }
 
-rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
-Node::get_node_type_descriptions_interface()
-{
-  return node_type_descriptions_;
-}
-
 rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
 Node::get_node_services_interface()
 {

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -20,9 +20,6 @@
 #include "rclcpp/node_interfaces/node_base.hpp"
 
 #include "rcl/arguments.h"
-#include "rcl/node_type_cache.h"
-#include "rcl/logging.h"
-#include "rcl/logging_rosout.h"
 #include "rclcpp/exceptions.hpp"
 #include "rcutils/logging_macros.h"
 #include "rmw/validate_namespace.h"
@@ -48,7 +45,7 @@ NodeBase::NodeBase(
   node_handle_(nullptr),
   default_callback_group_(default_callback_group),
   associated_with_executor_(false),
-  notify_guard_condition_(std::make_shared<rclcpp::GuardCondition>(context)),
+  notify_guard_condition_(context),
   notify_guard_condition_is_valid_(false)
 {
   // Create the rcl node and store it in a shared_ptr with a custom destructor.
@@ -57,12 +54,17 @@ NodeBase::NodeBase(
   std::shared_ptr<std::recursive_mutex> logging_mutex = get_global_logging_mutex();
 
   rcl_ret_t ret;
-
-  // TODO(ivanpauno): /rosout Qos should be reconfigurable.
-  ret = rcl_node_init(
-    rcl_node.get(),
-    node_name.c_str(), namespace_.c_str(),
-    context_->get_rcl_context().get(), &rcl_node_options);
+  {
+    std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
+    // TODO(ivanpauno): /rosout Qos should be reconfigurable.
+    // TODO(ivanpauno): Instead of mutually excluding rcl_node_init with the global logger mutex,
+    // rcl_logging_rosout_init_publisher_for_node could be decoupled from there and be called
+    // here directly.
+    ret = rcl_node_init(
+      rcl_node.get(),
+      node_name.c_str(), namespace_.c_str(),
+      context_->get_rcl_context().get(), &rcl_node_options);
+  }
   if (ret != RCL_RET_OK) {
     if (ret == RCL_RET_NODE_INVALID_NAME) {
       rcl_reset_error();  // discard rcl_node_init error
@@ -112,29 +114,13 @@ NodeBase::NodeBase(
     throw_from_rcl_error(ret, "failed to initialize rcl node");
   }
 
-  // The initialization for the rosout publisher
-  if (rcl_logging_rosout_enabled() && rcl_node_options.enable_rosout) {
-    std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
-    ret = rcl_logging_rosout_init_publisher_for_node(rcl_node.get());
-    if (ret != RCL_RET_OK) {
-      throw_from_rcl_error(ret, "failed to initialize rosout publisher");
-    }
-  }
-
   node_handle_.reset(
     rcl_node.release(),
-    [logging_mutex, rcl_node_options](rcl_node_t * node) -> void {
-      {
-        std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
-        if (rcl_logging_rosout_enabled() && rcl_node_options.enable_rosout) {
-          rcl_ret_t ret = rcl_logging_rosout_fini_publisher_for_node(node);
-          if (ret != RCL_RET_OK) {
-            RCUTILS_LOG_ERROR_NAMED(
-              "rclcpp",
-              "Error in destruction of rosout publisher: %s", rcl_get_error_string().str);
-          }
-        }
-      }
+    [logging_mutex](rcl_node_t * node) -> void {
+      std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
+      // TODO(ivanpauno): Instead of mutually excluding rcl_node_fini with the global logger mutex,
+      // rcl_logging_rosout_fini_publisher_for_node could be decoupled from there and be called
+      // here directly.
       if (rcl_node_fini(node) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
@@ -146,10 +132,8 @@ NodeBase::NodeBase(
   // Create the default callback group, if needed.
   if (nullptr == default_callback_group_) {
     using rclcpp::CallbackGroupType;
-    // Default callback group is mutually exclusive and automatically associated with
-    // any executors that this node is added to.
     default_callback_group_ =
-      NodeBase::create_callback_group(CallbackGroupType::MutuallyExclusive, true);
+      NodeBase::create_callback_group(CallbackGroupType::MutuallyExclusive);
   }
 
   // Indicate the notify_guard_condition is now valid.
@@ -218,27 +202,11 @@ NodeBase::create_callback_group(
   rclcpp::CallbackGroupType group_type,
   bool automatically_add_to_executor_with_node)
 {
-  auto weak_context = this->get_context()->weak_from_this();
-  auto get_node_context = [weak_context]() -> rclcpp::Context::SharedPtr {
-      return weak_context.lock();
-    };
-
   auto group = std::make_shared<rclcpp::CallbackGroup>(
     group_type,
-    get_node_context,
     automatically_add_to_executor_with_node);
   std::lock_guard<std::mutex> lock(callback_groups_mutex_);
   callback_groups_.push_back(group);
-
-  // This guard condition is generally used to signal to this node's executor that a callback
-  // group has been added that should be considered for new entities.
-  // If this is creating the default callback group, then the notify guard condition won't be
-  // ready or needed yet, as the node is not done being constructed and therefore cannot be added.
-  // If the callback group is not automatically associated with this node's executors, then
-  // triggering the guard condition is also unnecessary, it will be manually added to an exector.
-  if (notify_guard_condition_is_valid_ && automatically_add_to_executor_with_node) {
-    this->trigger_notify_guard_condition();
-  }
   return group;
 }
 
@@ -285,29 +253,9 @@ NodeBase::get_notify_guard_condition()
   if (!notify_guard_condition_is_valid_) {
     throw std::runtime_error("failed to get notify guard condition because it is invalid");
   }
-  return *notify_guard_condition_;
-}
-
-rclcpp::GuardCondition::SharedPtr
-NodeBase::get_shared_notify_guard_condition()
-{
-  std::lock_guard<std::recursive_mutex> notify_condition_lock(notify_guard_condition_mutex_);
-  if (!notify_guard_condition_is_valid_) {
-    return nullptr;
-  }
   return notify_guard_condition_;
 }
 
-void
-NodeBase::trigger_notify_guard_condition()
-{
-  std::lock_guard<std::recursive_mutex> notify_condition_lock(notify_guard_condition_mutex_);
-  if (!notify_guard_condition_is_valid_) {
-    throw std::runtime_error("failed to trigger notify guard condition because it is invalid");
-  }
-  notify_guard_condition_->trigger();
-}
-
 bool
 NodeBase::get_use_intra_process_default() const
 {

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

@@ -498,50 +498,6 @@ NodeGraph::count_subscribers(const std::string & topic_name) const
   return count;
 }
 
-size_t
-NodeGraph::count_clients(const std::string & service_name) const
-{
-  auto rcl_node_handle = node_base_->get_rcl_node_handle();
-
-  auto fqdn = rclcpp::expand_topic_or_service_name(
-    service_name,
-    rcl_node_get_name(rcl_node_handle),
-    rcl_node_get_namespace(rcl_node_handle),
-    true);
-
-  size_t count;
-  auto ret = rcl_count_clients(rcl_node_handle, fqdn.c_str(), &count);
-  if (ret != RMW_RET_OK) {
-    // *INDENT-OFF*
-    throw std::runtime_error(
-      std::string("could not count clients: ") + rmw_get_error_string().str);
-    // *INDENT-ON*
-  }
-  return count;
-}
-
-size_t
-NodeGraph::count_services(const std::string & service_name) const
-{
-  auto rcl_node_handle = node_base_->get_rcl_node_handle();
-
-  auto fqdn = rclcpp::expand_topic_or_service_name(
-    service_name,
-    rcl_node_get_name(rcl_node_handle),
-    rcl_node_get_namespace(rcl_node_handle),
-    true);
-
-  size_t count;
-  auto ret = rcl_count_services(rcl_node_handle, fqdn.c_str(), &count);
-  if (ret != RMW_RET_OK) {
-    // *INDENT-OFF*
-    throw std::runtime_error(
-      std::string("could not count services: ") + rmw_get_error_string().str);
-    // *INDENT-ON*
-  }
-  return count;
-}
-
 const rcl_guard_condition_t *
 NodeGraph::get_graph_guard_condition() const
 {
@@ -577,8 +533,9 @@ NodeGraph::notify_graph_change()
     }
   }
   graph_cv_.notify_all();
+  auto & node_gc = node_base_->get_notify_guard_condition();
   try {
-    node_base_->trigger_notify_guard_condition();
+    node_gc.trigger();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
             std::string("failed to notify wait set on graph change: ") + ex.what());
@@ -832,15 +789,3 @@ rclcpp::TopicEndpointInfo::qos_profile() const
 {
   return qos_profile_;
 }
-
-rosidl_type_hash_t &
-rclcpp::TopicEndpointInfo::topic_type_hash()
-{
-  return topic_type_hash_;
-}
-
-const rosidl_type_hash_t &
-rclcpp::TopicEndpointInfo::topic_type_hash() const
-{
-  return topic_type_hash_;
-}

rclcpp/src/rclcpp/node_interfaces/node_logging.cpp

@@ -12,13 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp/node_impl.hpp"
 #include "rclcpp/node_interfaces/node_logging.hpp"
-#include "rclcpp/node_interfaces/node_services_interface.hpp"
 
 using rclcpp::node_interfaces::NodeLogging;
 
-NodeLogging::NodeLogging(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base)
+NodeLogging::NodeLogging(rclcpp::node_interfaces::NodeBaseInterface * node_base)
 : node_base_(node_base)
 {
   logger_ = rclcpp::get_logger(NodeLogging::get_logger_name());
@@ -39,55 +37,3 @@ NodeLogging::get_logger_name() const
 {
   return rcl_node_get_logger_name(node_base_->get_rcl_node_handle());
 }
-
-void NodeLogging::create_logger_services(
-  node_interfaces::NodeServicesInterface::SharedPtr node_services)
-{
-  rclcpp::ServicesQoS qos_profile;
-  const std::string node_name = node_base_->get_name();
-  auto callback_group = node_base_->get_default_callback_group();
-
-  get_loggers_service_ = rclcpp::create_service<rcl_interfaces::srv::GetLoggerLevels>(
-    node_base_, node_services,
-    node_name + "/get_logger_levels",
-    [](
-      const std::shared_ptr<rmw_request_id_t>,
-      const std::shared_ptr<rcl_interfaces::srv::GetLoggerLevels::Request> request,
-      std::shared_ptr<rcl_interfaces::srv::GetLoggerLevels::Response> response)
-    {
-      for (auto & name : request->names) {
-        rcl_interfaces::msg::LoggerLevel logger_level;
-        logger_level.name = name;
-        auto ret = rcutils_logging_get_logger_level(name.c_str());
-        if (ret < 0) {
-          logger_level.level = 0;
-        } else {
-          logger_level.level = static_cast<uint8_t>(ret);
-        }
-        response->levels.push_back(std::move(logger_level));
-      }
-    },
-    qos_profile, callback_group);
-
-  set_loggers_service_ = rclcpp::create_service<rcl_interfaces::srv::SetLoggerLevels>(
-    node_base_, node_services,
-    node_name + "/set_logger_levels",
-    [](
-      const std::shared_ptr<rmw_request_id_t>,
-      const std::shared_ptr<rcl_interfaces::srv::SetLoggerLevels::Request> request,
-      std::shared_ptr<rcl_interfaces::srv::SetLoggerLevels::Response> response)
-    {
-      rcl_interfaces::msg::SetLoggerLevelsResult result;
-      for (auto & level : request->levels) {
-        auto ret = rcutils_logging_set_logger_level(level.name.c_str(), level.level);
-        if (ret != RCUTILS_RET_OK) {
-          result.successful = false;
-          result.reason = rcutils_get_error_string().str;
-        } else {
-          result.successful = true;
-        }
-        response->results.push_back(std::move(result));
-      }
-    },
-    qos_profile, callback_group);
-}

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -651,7 +651,7 @@ NodeParameters::undeclare_parameter(const std::string & name)
   }
   if (!parameter_info->second.descriptor.dynamic_typing) {
     throw rclcpp::exceptions::InvalidParameterTypeException{
-            name, "cannot undeclare a statically typed parameter"};
+            name, "cannot undeclare an statically typed parameter"};
   }
 
   parameters_.erase(parameter_info);
@@ -824,7 +824,7 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
       auto it = parameters_.find(parameter.get_name());
       if (it != parameters_.end() && rclcpp::PARAMETER_NOT_SET != it->second.value.get_type()) {
         if (!it->second.descriptor.dynamic_typing) {
-          result.reason = "cannot undeclare a statically typed parameter";
+          result.reason = "cannot undeclare an statically typed parameter";
           result.successful = false;
           return result;
         }
@@ -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() + 1);
-              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();
@@ -41,8 +42,9 @@ NodeServices::add_service(
   group->add_service(service_base_ptr);
 
   // Notify the executor that a new service was created using the parent Node.
+  auto & node_gc = node_base_->get_notify_guard_condition();
   try {
-    node_base_->trigger_notify_guard_condition();
+    node_gc.trigger();
     group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
@@ -57,7 +59,8 @@ 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();
@@ -66,8 +69,9 @@ NodeServices::add_client(
   group->add_client(client_base_ptr);
 
   // Notify the executor that a new client was created using the parent Node.
+  auto & node_gc = node_base_->get_notify_guard_condition();
   try {
-    node_base_->trigger_notify_guard_condition();
+    node_gc.trigger();
     group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(

rclcpp/src/rclcpp/node_interfaces/node_timers.cpp

@@ -34,22 +34,24 @@ 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();
   }
   callback_group->add_timer(timer);
 
+  auto & node_gc = node_base_->get_notify_guard_condition();
   try {
-    node_base_->trigger_notify_guard_condition();
+    node_gc.trigger();
     callback_group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
             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();
@@ -70,8 +70,9 @@ NodeTopics::add_publisher(
   }
 
   // Notify the executor that a new publisher was created using the parent Node.
+  auto & node_gc = node_base_->get_notify_guard_condition();
   try {
-    node_base_->trigger_notify_guard_condition();
+    node_gc.trigger();
     callback_group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(
@@ -97,7 +98,8 @@ 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();
@@ -117,8 +119,9 @@ NodeTopics::add_subscription(
   }
 
   // Notify the executor that a new subscription was created using the parent Node.
+  auto & node_gc = node_base_->get_notify_guard_condition();
   try {
-    node_base_->trigger_notify_guard_condition();
+    node_gc.trigger();
     callback_group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(

rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp

@@ -1,157 +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 <memory>
-#include <string>
-#include <thread>
-
-#include "rclcpp/node_interfaces/node_type_descriptions.hpp"
-#include "rclcpp/parameter_client.hpp"
-
-#include "type_description_interfaces/srv/get_type_description.h"
-
-namespace
-{
-// Helper wrapper for rclcpp::Service to access ::Request and ::Response types for allocation.
-struct GetTypeDescription__C
-{
-  using Request = type_description_interfaces__srv__GetTypeDescription_Request;
-  using Response = type_description_interfaces__srv__GetTypeDescription_Response;
-  using Event = type_description_interfaces__srv__GetTypeDescription_Event;
-};
-}  // namespace
-
-// Helper function for C typesupport.
-namespace rosidl_typesupport_cpp
-{
-template<>
-rosidl_service_type_support_t const *
-get_service_type_support_handle<GetTypeDescription__C>()
-{
-  return ROSIDL_GET_SRV_TYPE_SUPPORT(type_description_interfaces, srv, GetTypeDescription);
-}
-}  // namespace rosidl_typesupport_cpp
-
-namespace rclcpp
-{
-namespace node_interfaces
-{
-
-class NodeTypeDescriptions::NodeTypeDescriptionsImpl
-{
-public:
-  using ServiceT = GetTypeDescription__C;
-
-  rclcpp::Logger logger_;
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
-  rclcpp::Service<ServiceT>::SharedPtr type_description_srv_;
-
-  NodeTypeDescriptionsImpl(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
-    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
-    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
-    rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services)
-  : logger_(node_logging->get_logger()),
-    node_base_(node_base)
-  {
-    const std::string enable_param_name = "start_type_description_service";
-
-    bool enabled = false;
-    try {
-      auto enable_param = node_parameters->declare_parameter(
-        enable_param_name,
-        rclcpp::ParameterValue(true),
-        rcl_interfaces::msg::ParameterDescriptor()
-        .set__name(enable_param_name)
-        .set__type(rclcpp::PARAMETER_BOOL)
-        .set__description("Start the ~/get_type_description service for this node.")
-        .set__read_only(true));
-      enabled = enable_param.get<bool>();
-    } catch (const rclcpp::exceptions::InvalidParameterTypeException & exc) {
-      RCLCPP_ERROR(logger_, "%s", exc.what());
-      throw;
-    }
-
-    if (enabled) {
-      auto rcl_node = node_base->get_rcl_node_handle();
-      rcl_ret_t rcl_ret = rcl_node_type_description_service_init(rcl_node);
-      if (rcl_ret != RCL_RET_OK) {
-        RCLCPP_ERROR(
-          logger_, "Failed to initialize ~/get_type_description_service: %s",
-          rcl_get_error_string().str);
-        throw std::runtime_error(
-                "Failed to initialize ~/get_type_description service.");
-      }
-
-      rcl_service_t * rcl_srv = nullptr;
-      rcl_ret = rcl_node_get_type_description_service(rcl_node, &rcl_srv);
-      if (rcl_ret != RCL_RET_OK) {
-        throw std::runtime_error(
-                "Failed to get initialized ~/get_type_description service from rcl.");
-      }
-
-      rclcpp::AnyServiceCallback<ServiceT> cb;
-      cb.set(
-        [this](
-          std::shared_ptr<rmw_request_id_t> header,
-          std::shared_ptr<ServiceT::Request> request,
-          std::shared_ptr<ServiceT::Response> response
-        ) {
-          rcl_node_type_description_service_handle_request(
-            node_base_->get_rcl_node_handle(),
-            header.get(),
-            request.get(),
-            response.get());
-        });
-
-      type_description_srv_ = std::make_shared<Service<ServiceT>>(
-        node_base_->get_shared_rcl_node_handle(),
-        rcl_srv,
-        cb);
-      node_services->add_service(
-        std::dynamic_pointer_cast<ServiceBase>(type_description_srv_),
-        nullptr);
-    }
-  }
-
-  ~NodeTypeDescriptionsImpl()
-  {
-    if (
-      type_description_srv_ &&
-      RCL_RET_OK != rcl_node_type_description_service_fini(node_base_->get_rcl_node_handle()))
-    {
-      RCLCPP_ERROR(
-        logger_,
-        "Error in shutdown of get_type_description service: %s", rcl_get_error_string().str);
-    }
-  }
-};
-
-NodeTypeDescriptions::NodeTypeDescriptions(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
-  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
-  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services)
-: impl_(new NodeTypeDescriptionsImpl(
-      node_base,
-      node_logging,
-      node_parameters,
-      node_services))
-{}
-
-NodeTypeDescriptions::~NodeTypeDescriptions()
-{}
-
-}  // namespace node_interfaces
-}  // namespace rclcpp

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();
@@ -41,8 +42,9 @@ NodeWaitables::add_waitable(
   group->add_waitable(waitable_ptr);
 
   // Notify the executor that a new waitable was created using the parent Node.
+  auto & node_gc = node_base_->get_notify_guard_condition();
   try {
-    node_base_->trigger_notify_guard_condition();
+    node_gc.trigger();
     group->trigger_notify_guard_condition();
   } catch (const rclcpp::exceptions::RCLError & ex) {
     throw std::runtime_error(

rclcpp/src/rclcpp/node_options.cpp

@@ -248,19 +248,6 @@ NodeOptions::start_parameter_services(bool start_parameter_services)
   return *this;
 }
 
-bool
-NodeOptions::enable_logger_service() const
-{
-  return this->enable_logger_service_;
-}
-
-NodeOptions &
-NodeOptions::enable_logger_service(bool enable_logger_service)
-{
-  this->enable_logger_service_ = enable_logger_service;
-  return *this;
-}
-
 bool
 NodeOptions::start_parameter_event_publisher() const
 {

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

@@ -1,113 +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 <chrono>
-#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();
-}
-
-std::chrono::nanoseconds
-Rate::period() const
-{
-  return std::chrono::nanoseconds(period_.nanoseconds());
-}
-
-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 = *new SignalHandler();
+  static SignalHandler signal_handler;
   return signal_handler;
 }
 

rclcpp/src/rclcpp/subscription_base.cpp

@@ -22,7 +22,6 @@
 
 #include "rcpputils/scope_exit.hpp"
 
-#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
@@ -33,8 +32,6 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-#include "rosidl_dynamic_typesupport/types.h"
-
 using rclcpp::SubscriptionBase;
 
 SubscriptionBase::SubscriptionBase(
@@ -44,7 +41,7 @@ SubscriptionBase::SubscriptionBase(
   const rcl_subscription_options_t & subscription_options,
   const SubscriptionEventCallbacks & event_callbacks,
   bool use_default_callbacks,
-  DeliveredMessageKind delivered_message_kind)
+  bool is_serialized)
 : node_base_(node_base),
   node_handle_(node_base_->get_shared_rcl_node_handle()),
   node_logger_(rclcpp::get_node_logger(node_handle_.get())),
@@ -52,7 +49,7 @@ SubscriptionBase::SubscriptionBase(
   intra_process_subscription_id_(0),
   event_callbacks_(event_callbacks),
   type_support_(type_support_handle),
-  delivered_message_kind_(delivered_message_kind)
+  is_serialized_(is_serialized)
 {
   auto custom_deletor = [node_handle = this->node_handle_](rcl_subscription_t * rcl_subs)
     {
@@ -218,7 +215,7 @@ 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) {
@@ -261,13 +258,7 @@ SubscriptionBase::get_message_type_support_handle() const
 bool
 SubscriptionBase::is_serialized() const
 {
-  return delivered_message_kind_ == rclcpp::DeliveredMessageKind::SERIALIZED_MESSAGE;
-}
-
-rclcpp::DeliveredMessageKind
-SubscriptionBase::get_delivered_message_kind() const
-{
-  return delivered_message_kind_;
+  return is_serialized_;
 }
 
 size_t
@@ -451,7 +442,8 @@ SubscriptionBase::set_content_filter(
   rcl_subscription_content_filter_options_t options =
     rcl_get_zero_initialized_subscription_content_filter_options();
 
-  std::vector<const char *> cstrings = get_c_vector_string(expression_parameters);
+  std::vector<const char *> cstrings =
+    get_c_vector_string(expression_parameters);
   rcl_ret_t ret = rcl_subscription_content_filter_options_init(
     subscription_handle_.get(),
     get_c_string(filter_expression),
@@ -523,14 +515,3 @@ SubscriptionBase::get_content_filter() const
 
   return ret_options;
 }
-
-
-// DYNAMIC TYPE ==================================================================================
-bool
-SubscriptionBase::take_dynamic_message(
-  rclcpp::dynamic_typesupport::DynamicMessage & /*message_out*/,
-  rclcpp::MessageInfo & /*message_info_out*/)
-{
-  throw std::runtime_error("Unimplemented");
-  return false;
-}

rclcpp/src/rclcpp/time_source.cpp

@@ -14,7 +14,6 @@
 
 #include <memory>
 #include <string>
-#include <unordered_set>
 #include <utility>
 #include <vector>
 
@@ -55,7 +54,9 @@ public:
     ros_time_active_ = true;
 
     // Update all attached clocks to zero or last recorded time
-    set_all_clocks(last_time_msg_, true);
+    for (auto it = associated_clocks_.begin(); it != associated_clocks_.end(); ++it) {
+      set_clock(last_time_msg_, true, *it);
+    }
   }
 
   // An internal method to use in the clock callback that iterates and disables all clocks
@@ -70,8 +71,11 @@ public:
     ros_time_active_ = false;
 
     // Update all attached clocks
-    auto msg = std::make_shared<builtin_interfaces::msg::Time>();
-    set_all_clocks(msg, false);
+    std::lock_guard<std::mutex> guard(clock_list_lock_);
+    for (auto it = associated_clocks_.begin(); it != associated_clocks_.end(); ++it) {
+      auto msg = std::make_shared<builtin_interfaces::msg::Time>();
+      set_clock(msg, false, *it);
+    }
   }
 
   // Check if ROS time is active
@@ -91,7 +95,7 @@ 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 +104,10 @@ 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 +184,8 @@ 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.
@@ -236,7 +242,6 @@ public:
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface,
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_interface)
   {
-    std::lock_guard<std::mutex> guard(node_base_lock_);
     node_base_ = node_base_interface;
     node_topics_ = node_topics_interface;
     node_graph_ = node_graph_interface;
@@ -281,14 +286,17 @@ public:
     parameter_subscription_ = rclcpp::AsyncParametersClient::on_parameter_event(
       node_topics_,
       [this](std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event) {
-        this->on_parameter_event(event);
+        if (node_base_ != nullptr) {
+          this->on_parameter_event(event);
+        }
+        // Do nothing if node_base_ is nullptr because it means the TimeSource is now
+        // without an attached node
       });
   }
 
   // Detach the attached node
   void detachNode()
   {
-    std::lock_guard<std::mutex> guard(node_base_lock_);
     // destroy_clock_sub() *must* be first here, to ensure that the executor
     // can't possibly call any of the callbacks as we are cleaning up.
     destroy_clock_sub();
@@ -325,7 +333,6 @@ private:
   std::thread clock_executor_thread_;
 
   // Preserve the node reference
-  std::mutex node_base_lock_;
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_{nullptr};
   rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_{nullptr};
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_{nullptr};
@@ -463,14 +470,6 @@ private:
   // Callback for parameter updates
   void on_parameter_event(std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event)
   {
-    std::lock_guard<std::mutex> guard(node_base_lock_);
-
-    if (node_base_ == nullptr) {
-      // Do nothing if node_base_ is nullptr because it means the TimeSource is now
-      // without an attached node
-      return;
-    }
-
     // Filter out events on 'use_sim_time' parameter instances in other nodes.
     if (event->node != node_base_->get_fully_qualified_name()) {
       return;

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");
     }