Add acceptable_buffer_backends field in SubscriptionOptionsBase

Signed-off-by: CY Chen <cyc@nvidia.com>

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CODEOWNERS

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-# This file was generated by https://github.com/audrow/update-ros2-repos
-* @ivanpauno @hidmic @wjwwood

rclcpp/CHANGELOG.rst

@@ -2,6 +2,269 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+30.1.5 (2026-02-09)
+-------------------
+* remove default: so that compiler can detect the missing case. (`#3048 <https://github.com/ros2/rclcpp/issues/3048>`_)
+* use weak_ptr for rcl entities in the memory strategy. (`#2988 <https://github.com/ros2/rclcpp/issues/2988>`_)
+* remove test_static_executor_entities_collector.cpp (`#3041 <https://github.com/ros2/rclcpp/issues/3041>`_)
+* include the 1st spin that might throw the exception. (`#3042 <https://github.com/ros2/rclcpp/issues/3042>`_)
+* print warning message on owner node if the parameter operation fails. (`#3037 <https://github.com/ros2/rclcpp/issues/3037>`_)
+* fix context in wait for message wait set (`#3030 <https://github.com/ros2/rclcpp/issues/3030>`_)
+* Revert "construct wait set with passed in context (`#3021 <https://github.com/ros2/rclcpp/issues/3021>`_)" (`#3028 <https://github.com/ros2/rclcpp/issues/3028>`_)
+* construct wait set with passed in context (`#3021 <https://github.com/ros2/rclcpp/issues/3021>`_)
+* Improve the robustness of the TopicEndpointInfo constructor (`#3013 <https://github.com/ros2/rclcpp/issues/3013>`_)
+* Deprecate the shared_ptr<MessageT> subscription callback signatures (`#2975 <https://github.com/ros2/rclcpp/issues/2975>`_)
+* Contributors: Barry Xu, Maurice Alexander Purnawan, Michael Carroll, Rahat Dhande, Tomoya Fujita
+
+30.1.4 (2025-12-23)
+-------------------
+* Updated deprecated ament_index_cpp API (`#3011 <https://github.com/ros2/rclcpp/issues/3011>`_)
+* Unified Node Interfaces: Add const version of get_node_x_interface() (`#3006 <https://github.com/ros2/rclcpp/issues/3006>`_)
+* Parameter Descriptor Simplification  (`#2179 <https://github.com/ros2/rclcpp/issues/2179>`_)
+* ParameterEventHandler support ContentFiltering (`#2971 <https://github.com/ros2/rclcpp/issues/2971>`_)
+* update policy_name_from_kind && test_qos (`#2156 <https://github.com/ros2/rclcpp/issues/2156>`_)
+* Add ability to disable and enable subscription's callbacks (`#2985 <https://github.com/ros2/rclcpp/issues/2985>`_)
+* Switch to isolated testing via rmw_test_fixture (`#2929 <https://github.com/ros2/rclcpp/issues/2929>`_)
+* remove I/O from signal handler. (`#2986 <https://github.com/ros2/rclcpp/issues/2986>`_)
+* Contributors: Alejandro Hernández Cordero, Andrianov Roman, Barry Xu, Lucas Wendland, Michael Orlov, Tomoya Fujita, fabianhirmann, yadunund
+
+30.1.3 (2025-11-18)
+-------------------
+* correct test function descriptions (`#2970 <https://github.com/ros2/rclcpp/issues/2970>`_)
+* add : get clients, servers info (`#2569 <https://github.com/ros2/rclcpp/issues/2569>`_)
+* Fix REP url locations (`#2987 <https://github.com/ros2/rclcpp/issues/2987>`_)
+* Contributors: Minju, Lee, Tim Clephas, Yuchen966
+
+30.1.2 (2025-10-21)
+-------------------
+* clear handles before node destruction in test_memory_strategy. (`#2969 <https://github.com/ros2/rclcpp/issues/2969>`_)
+* Added static assert asserting custom types have no overloaded operator new (`#2954 <https://github.com/ros2/rclcpp/issues/2954>`_)
+* Store graph listener inside the context instead of the node graph (`#2952 <https://github.com/ros2/rclcpp/issues/2952>`_)
+* Reapply "Catch the exception from rate.sleep() if the context is invalid. (`#2956 <https://github.com/ros2/rclcpp/issues/2956>`_)" (`#2963 <https://github.com/ros2/rclcpp/issues/2963>`_) (`#2964 <https://github.com/ros2/rclcpp/issues/2964>`_)
+* Revert "Catch the exception from rate.sleep() if the context is invalid. (`#2956 <https://github.com/ros2/rclcpp/issues/2956>`_)" (`#2963 <https://github.com/ros2/rclcpp/issues/2963>`_)
+* Catch the exception from rate.sleep() if the context is invalid. (`#2956 <https://github.com/ros2/rclcpp/issues/2956>`_)
+* update Time documentation (`#2955 <https://github.com/ros2/rclcpp/issues/2955>`_)
+* Contributors: Ilario A. Azzollini, Ivo Ivanov, Skyler Medeiros, Tomoya Fujita
+
+30.1.1 (2025-09-11)
+-------------------
+* Removed warning (`#2949 <https://github.com/ros2/rclcpp/issues/2949>`_)
+* add note about problems with spin_until_future_complete (`#2849 <https://github.com/ros2/rclcpp/issues/2849>`_)
+* deprecate rclcpp::spin_some and rclcpp::spin_all (`#2848 <https://github.com/ros2/rclcpp/issues/2848>`_)
+* Improve the function extract_type_identifier (`#2923 <https://github.com/ros2/rclcpp/issues/2923>`_)
+* Allow for implicitly convertable loggers as well (`#2922 <https://github.com/ros2/rclcpp/issues/2922>`_)
+* Contributors: Alberto Soragna, Alejandro Hernández Cordero, Barry Xu, Tim Clephas
+
+30.1.0 (2025-07-29)
+-------------------
+* Fix: improve exception context for parameter_value_from (`#2917 <https://github.com/ros2/rclcpp/issues/2917>`_)
+* Fix `start_type_description_service` param handling (`#2897 <https://github.com/ros2/rclcpp/issues/2897>`_)
+* Add qos parameter for wait_for_message function (`#2903 <https://github.com/ros2/rclcpp/issues/2903>`_)
+* Fujitatomoya/test append parameter override (`#2896 <https://github.com/ros2/rclcpp/issues/2896>`_)
+* Expose `typesupport_helpers` API needed for the Rosbag2 (`#2858 <https://github.com/ros2/rclcpp/issues/2858>`_)
+* Remove comment about now-removed StaticSingleThreadedExecutor (`#2893 <https://github.com/ros2/rclcpp/issues/2893>`_)
+* Add overload of `append_parameter_override` (`#2891 <https://github.com/ros2/rclcpp/issues/2891>`_)
+* fix: Don't deadlock if removing shutdown callbacks in a shutdown callback (`#2886 <https://github.com/ros2/rclcpp/issues/2886>`_)
+* Contributors: Christophe Bedard, Janosch Machowinski, Michael Orlov, Michiel Leegwater, Patrick Roncagliolo, Sriharsha Ghanta, Tomoya Fujita
+
+30.0.0 (2025-07-01)
+-------------------
+* Hand-code logging.hpp (`#2870 <https://github.com/ros2/rclcpp/issues/2870>`_)
+* Adressed TODO in node_graph (`#2877 <https://github.com/ros2/rclcpp/issues/2877>`_)
+* fix test_publisher_with_system_default_qos. (`#2881 <https://github.com/ros2/rclcpp/issues/2881>`_)
+* Contributors: Alejandro Hernández Cordero, Chris Lalancette, Tomoya Fujita
+
+29.6.1 (2025-06-23)
+-------------------
+* Fix for memory leaks in rclcpp::SerializedMessage (`#2861 <https://github.com/ros2/rclcpp/issues/2861>`_)
+* Removed warning test_qos (`#2859 <https://github.com/ros2/rclcpp/issues/2859>`_)
+* Added missing chrono includes (`#2854 <https://github.com/ros2/rclcpp/issues/2854>`_)
+* get_all_data_impl() does not handle null pointers properly, causing segmentation fault (`#2840 <https://github.com/ros2/rclcpp/issues/2840>`_)
+* QoSInitialization::from_rmw does not validate invalid history policy values, leading to silent failures (`#2841 <https://github.com/ros2/rclcpp/issues/2841>`_)
+* remove get_notify_guard_condition from NodeBaseInterface. (`#2839 <https://github.com/ros2/rclcpp/issues/2839>`_)
+* Removed deprecated StaticSingleThreadedExecutor (`#2835 <https://github.com/ros2/rclcpp/issues/2835>`_)
+* Removed deprecated rcpputils Path (`#2834 <https://github.com/ros2/rclcpp/issues/2834>`_)
+* Add range constraints for applicable array parameters (`#2828 <https://github.com/ros2/rclcpp/issues/2828>`_)
+* Update RingBufferImplementation to clear internal data. (`#2837 <https://github.com/ros2/rclcpp/issues/2837>`_)
+* Removed deprecated cancel_sleep_or_wait (`#2836 <https://github.com/ros2/rclcpp/issues/2836>`_)
+* Add missing 's' to 'NodeParametersInterface' in doc/comment (`#2831 <https://github.com/ros2/rclcpp/issues/2831>`_)
+* subordinate node consistent behavior and update docstring. (`#2822 <https://github.com/ros2/rclcpp/issues/2822>`_)
+* Contributors: Alejandro Hernández Cordero, Alex Youngs, Christophe Bedard, Michael Carlstrom, Michael Orlov, Tomoya Fujita
+
+29.6.0 (2025-04-25)
+-------------------
+* throws std::invalid_argument if ParameterEvent is NULL. (`#2814 <https://github.com/ros2/rclcpp/issues/2814>`_)
+* Removed clang warnings (`#2823 <https://github.com/ros2/rclcpp/issues/2823>`_)
+* Contributors: Alejandro Hernández Cordero, Tomoya Fujita
+
+29.5.0 (2025-04-18)
+-------------------
+* Fix a race condition (`#2819 <https://github.com/ros2/rclcpp/issues/2819>`_)
+* Remove redundant typesupport check in serialization module (`#2808 <https://github.com/ros2/rclcpp/issues/2808>`_)
+* Remove get_typesupport_handle implementation. (`#2806 <https://github.com/ros2/rclcpp/issues/2806>`_)
+* Use NodeParameterInterface instead of /parameter_event to update "use_sim_time" (`#2378 <https://github.com/ros2/rclcpp/issues/2378>`_)
+* Remove cancel_clock_executor_promise\_. (`#2797 <https://github.com/ros2/rclcpp/issues/2797>`_)
+* Enable parameter update recursively only when QoS override parameters. (`#2742 <https://github.com/ros2/rclcpp/issues/2742>`_)
+* Contributors: Pedro de Azeredo, Tanishq Chaudhary, Tomoya Fujita
+
+29.4.0 (2025-04-04)
+-------------------
+* Removed trailing whitespace from the codebase. (`#2791 <https://github.com/ros2/rclcpp/issues/2791>`_)
+* Expanded docstring of `get_rmw_qos_profile()` (`#2787 <https://github.com/ros2/rclcpp/issues/2787>`_)
+* Set envars to run tests with rmw_zenoh_cpp with multicast discovery (`#2776 <https://github.com/ros2/rclcpp/issues/2776>`_)
+* fix: Compilefix for clang (`#2775 <https://github.com/ros2/rclcpp/issues/2775>`_)
+* add exception doc for configure_introspection. (`#2773 <https://github.com/ros2/rclcpp/issues/2773>`_)
+* feat: Add ClockWaiter and ClockConditionalVariable (`#2691 <https://github.com/ros2/rclcpp/issues/2691>`_)
+* doc: Added warning to not instantiate Clock directly with RCL_ROS_TIME (`#2768 <https://github.com/ros2/rclcpp/issues/2768>`_)
+* Use rmw_event_type_is_supported in test_qos_event (`#2761 <https://github.com/ros2/rclcpp/issues/2761>`_)
+* Support action typesupport helper (`#2750 <https://github.com/ros2/rclcpp/issues/2750>`_)
+* use maybe_unused attribute for the portability. (`#2758 <https://github.com/ros2/rclcpp/issues/2758>`_)
+* Executor strong reference fix (`#2745 <https://github.com/ros2/rclcpp/issues/2745>`_)
+* Cleanup of https://github.com/ros2/rclcpp/pull/2683 (`#2714 <https://github.com/ros2/rclcpp/issues/2714>`_)
+* Fix typo in doc section for get_service_typesupport_handle (`#2751 <https://github.com/ros2/rclcpp/issues/2751>`_)
+* Test case and fix for for https://github.com/ros2/rclcpp/issues/2652 (`#2713 <https://github.com/ros2/rclcpp/issues/2713>`_)
+* fix(timer): Delete node, after executor thread terminated (`#2737 <https://github.com/ros2/rclcpp/issues/2737>`_)
+* update doc section for spin_xxx methods. (`#2730 <https://github.com/ros2/rclcpp/issues/2730>`_)
+* fix: Expose timers used by rclcpp::Waitables (`#2699 <https://github.com/ros2/rclcpp/issues/2699>`_)
+* use rmw_qos_profile_rosout_default instead of rcl. (`#2663 <https://github.com/ros2/rclcpp/issues/2663>`_)
+* fix(Executor): Fixed entities not beeing executed after just beeing added (`#2724 <https://github.com/ros2/rclcpp/issues/2724>`_)
+* fix: make the loop condition align with the description (`#2726 <https://github.com/ros2/rclcpp/issues/2726>`_)
+* Collect log messages from rcl, and reset. (`#2720 <https://github.com/ros2/rclcpp/issues/2720>`_)
+* Contributors: Abhishek Kashyap, Alejandro Hernández Cordero, Barry Xu, Janosch Machowinski, Leander Stephen D'Souza, Tomoya Fujita, Yuyuan Yuan
+
+29.3.0 (2024-12-20)
+-------------------
+* Fix transient local IPC publish  (`#2708 <https://github.com/ros2/rclcpp/issues/2708>`_)
+* apply actual QoS from rmw to the IPC publisher. (`#2707 <https://github.com/ros2/rclcpp/issues/2707>`_)
+* Adding in topic name to logging on IPC issues (`#2706 <https://github.com/ros2/rclcpp/issues/2706>`_)
+* fix TestTimeSource.ROS_time_valid_attach_detach. (`#2700 <https://github.com/ros2/rclcpp/issues/2700>`_)
+* Update docstring for `rclcpp::Node::now()` (`#2696 <https://github.com/ros2/rclcpp/issues/2696>`_)
+* Re-enable executor test on rmw_connextdds. (`#2693 <https://github.com/ros2/rclcpp/issues/2693>`_)
+* Fix warnings on Windows. (`#2692 <https://github.com/ros2/rclcpp/issues/2692>`_)
+* Omnibus fixes for running tests with Connext. (`#2684 <https://github.com/ros2/rclcpp/issues/2684>`_)
+* fix(Executor): Fix segfault if callback group is deleted during rmw_wait (`#2683 <https://github.com/ros2/rclcpp/issues/2683>`_)
+* Contributors: Chris Lalancette, Jeffery Hsu, Patrick Roncagliolo, Steve Macenski, Tomoya Fujita, jmachowinski
+
+29.2.0 (2024-11-25)
+-------------------
+* accept custom allocator for LoanedMessage. (`#2672 <https://github.com/ros2/rclcpp/issues/2672>`_)
+* Contributors: Tomoya Fujita
+
+29.1.0 (2024-11-20)
+-------------------
+* a couple of typo fixes in doc section for LoanedMessage. (`#2676 <https://github.com/ros2/rclcpp/issues/2676>`_)
+* Make sure callback_end tracepoint is triggered in AnyServiceCallback (`#2670 <https://github.com/ros2/rclcpp/issues/2670>`_)
+* Correct the incorrect comments in generic_client.hpp (`#2662 <https://github.com/ros2/rclcpp/issues/2662>`_)
+* Fix NodeOptions assignment operator (`#2656 <https://github.com/ros2/rclcpp/issues/2656>`_)
+* set QoS History KEEP_ALL explicitly for statistics publisher. (`#2650 <https://github.com/ros2/rclcpp/issues/2650>`_)
+* Fix test_intra_process_manager.cpp with rmw_zenoh_cpp (`#2653 <https://github.com/ros2/rclcpp/issues/2653>`_)
+* Fixed test_events_executors in zenoh (`#2643 <https://github.com/ros2/rclcpp/issues/2643>`_)
+* rmw_fastrtps supports service event gid uniqueness test. (`#2638 <https://github.com/ros2/rclcpp/issues/2638>`_)
+* print warning if event callback is not supported instead of passing exception. (`#2648 <https://github.com/ros2/rclcpp/issues/2648>`_)
+* Implement callback support of async_send_request for service generic client (`#2614 <https://github.com/ros2/rclcpp/issues/2614>`_)
+* Contributors: Alejandro Hernández Cordero, Barry Xu, Chris Lalancette, Christophe Bedard, Romain DESILLE, Tomoya Fujita
+
+29.0.0 (2024-10-03)
+-------------------
+* Fixed test qos rmw zenoh (`#2639 <https://github.com/ros2/rclcpp/issues/2639>`_)
+* verify client gid uniqueness for a single service event. (`#2636 <https://github.com/ros2/rclcpp/issues/2636>`_)
+* Skip some tests in test_qos_event and run others with event types supported by rmw_zenoh (`#2626 <https://github.com/ros2/rclcpp/issues/2626>`_)
+* Shutdown the context before context's destructor is invoked in tests (`#2633 <https://github.com/ros2/rclcpp/issues/2633>`_)
+* Skip rmw zenoh content filtering tests (`#2627 <https://github.com/ros2/rclcpp/issues/2627>`_)
+* Use InvalidServiceTypeError for unavailable service type in GenericClient (`#2629 <https://github.com/ros2/rclcpp/issues/2629>`_)
+* Implement generic service (`#2617 <https://github.com/ros2/rclcpp/issues/2617>`_)
+* fix events-executor warm-up bug and add unit-tests (`#2591 <https://github.com/ros2/rclcpp/issues/2591>`_)
+* remove unnecessary gtest-skip in test_executors (`#2600 <https://github.com/ros2/rclcpp/issues/2600>`_)
+* Correct node name in service test code (`#2615 <https://github.com/ros2/rclcpp/issues/2615>`_)
+* Minor naming fixes for ParameterValue to_string() function (`#2609 <https://github.com/ros2/rclcpp/issues/2609>`_)
+* Removed clang warnings (`#2605 <https://github.com/ros2/rclcpp/issues/2605>`_)
+* Fix a couple of issues in the documentation. (`#2608 <https://github.com/ros2/rclcpp/issues/2608>`_)
+* deprecate the static single threaded executor (`#2598 <https://github.com/ros2/rclcpp/issues/2598>`_)
+* Fix name of ParameterEventHandler class in doc (`#2604 <https://github.com/ros2/rclcpp/issues/2604>`_)
+* subscriber_statistics_collectors\_ should be protected by mutex. (`#2592 <https://github.com/ros2/rclcpp/issues/2592>`_)
+* Fix bug in timers lifecycle for events executor (`#2586 <https://github.com/ros2/rclcpp/issues/2586>`_)
+* fix rclcpp/test/rclcpp/CMakeLists.txt to check for the correct targets existance (`#2596 <https://github.com/ros2/rclcpp/issues/2596>`_)
+* Shut down context during init if logging config fails (`#2594 <https://github.com/ros2/rclcpp/issues/2594>`_)
+* Make more of the Waitable API abstract (`#2593 <https://github.com/ros2/rclcpp/issues/2593>`_)
+* Contributors: Alberto Soragna, Alejandro Hernández Cordero, Alexis Pojomovsky, Barry Xu, Chris Lalancette, Christophe Bedard, Kang, Hsin-Yi, Tomoya Fujita
+
+28.3.3 (2024-07-29)
+-------------------
+* Only compile the tests once. (`#2590 <https://github.com/ros2/rclcpp/issues/2590>`_)
+* Contributors: Chris Lalancette
+
+28.3.2 (2024-07-24)
+-------------------
+* Updated rcpputils path API (`#2579 <https://github.com/ros2/rclcpp/issues/2579>`_)
+* Make the subscriber_triggered_to_receive_message test more reliable. (`#2584 <https://github.com/ros2/rclcpp/issues/2584>`_)
+  * Make the subscriber_triggered_to_receive_message test more reliable.
+  In the current code, inside of the timer we create the subscription
+  and the publisher, publish immediately, and expect the subscription
+  to get it immediately.  But it may be the case that discovery
+  hasn't even happened between the publisher and the subscription
+  by the time the publish call happens.
+  To make this more reliable, create the subscription and publish *before*
+  we ever create and spin on the timer.  This at least gives 100
+  milliseconds for discovery to happen.  That may not be quite enough
+  to make this reliable on all platforms, but in my local testing this
+  helps a lot.  Prior to this change I can make this fail one out of 10
+  times, and after the change I've run 100 times with no failures.
+* Have the EventsExecutor use more common code  (`#2570 <https://github.com/ros2/rclcpp/issues/2570>`_)
+  * move notify waitable setup to its own function
+  * move mutex lock to retrieve_entity utility
+  * use entities_need_rebuild\_ atomic bool in events-executors
+  * remove duplicated set_on_ready_callback for notify_waitable
+  * use mutex from base class rather than a new recursive mutex
+  * use current_collection\_ member in events-executor
+  * delay adding notify waitable to collection
+  * postpone clearing the current collection
+  * commonize notify waitable and collection
+  * commonize add/remove node/cbg methods
+  * fix linter errors
+  ---------
+* Removed deprecated methods and classes (`#2575 <https://github.com/ros2/rclcpp/issues/2575>`_)
+* Release ownership of entities after spinning cancelled (`#2556 <https://github.com/ros2/rclcpp/issues/2556>`_)
+  * Release ownership of entities after spinning cancelled
+  * Move release action to every exit point in different spin functions
+  * Move wait_result\_.reset() before setting spinning to false
+  * Update test code
+  * Move test code to test_executors.cpp
+  ---------
+* Split test_executors.cpp even further. (`#2572 <https://github.com/ros2/rclcpp/issues/2572>`_)
+  That's because it is too large for Windows Debug to compile,
+  so split into smaller bits.
+  Even with this split, the file is too big; that's likely
+  because we are using TYPED_TEST here, which generates multiple
+  symbols per test case.  To deal with this, without further
+  breaking up the file, also add in the /bigobj flag when
+  compiling on Windows Debug.
+* avoid adding notify waitable twice to events-executor collection (`#2564 <https://github.com/ros2/rclcpp/issues/2564>`_)
+  * avoid adding notify waitable twice to events-executor entities collection
+  * remove redundant mutex lock
+  ---------
+* Contributors: Alberto Soragna, Alejandro Hernández Cordero, Barry Xu, Chris Lalancette
+
+28.3.1 (2024-06-25)
+-------------------
+* Remove unnecessary msg includes in tests (`#2566 <https://github.com/ros2/rclcpp/issues/2566>`_)
+* Fix copy-paste errors in function docs (`#2565 <https://github.com/ros2/rclcpp/issues/2565>`_)
+* Fix typo in function doc (`#2563 <https://github.com/ros2/rclcpp/issues/2563>`_)
+* Contributors: Christophe Bedard
+
+28.3.0 (2024-06-17)
+-------------------
+* Add test creating two content filter topics with the same topic name (`#2546 <https://github.com/ros2/rclcpp/issues/2546>`_) (`#2549 <https://github.com/ros2/rclcpp/issues/2549>`_)
+* add impl pointer for ExecutorOptions (`#2523 <https://github.com/ros2/rclcpp/issues/2523>`_)
+* Fixup Executor::spin_all() regression fix (`#2517 <https://github.com/ros2/rclcpp/issues/2517>`_)
+* Add 'mimick' label to tests which use Mimick (`#2516 <https://github.com/ros2/rclcpp/issues/2516>`_)
+* Contributors: Alejandro Hernández Cordero, Scott K Logan, William Woodall
+
+28.2.0 (2024-04-26)
+-------------------
+* Check for negative time in rclcpp::Time(int64_t nanoseconds, ...) constructor (`#2510 <https://github.com/ros2/rclcpp/issues/2510>`_)
+* Revise the description of service configure_introspection() (`#2511 <https://github.com/ros2/rclcpp/issues/2511>`_)
+* Contributors: Barry Xu, Sharmin Ramli
+
 28.1.0 (2024-04-16)
 -------------------
 * Remove references to index.ros.org. (`#2504 <https://github.com/ros2/rclcpp/issues/2504>`_)

rclcpp/CMakeLists.txt

@@ -63,19 +63,20 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/exceptions/exceptions.cpp
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
+  src/rclcpp/executor_options.cpp
   src/rclcpp/executors.cpp
   src/rclcpp/executors/executor_entities_collection.cpp
   src/rclcpp/executors/executor_entities_collector.cpp
   src/rclcpp/executors/executor_notify_waitable.cpp
   src/rclcpp/executors/multi_threaded_executor.cpp
   src/rclcpp/executors/single_threaded_executor.cpp
-  src/rclcpp/executors/static_single_threaded_executor.cpp
   src/rclcpp/expand_topic_or_service_name.cpp
   src/rclcpp/experimental/executors/events_executor/events_executor.cpp
   src/rclcpp/experimental/timers_manager.cpp
   src/rclcpp/future_return_code.cpp
   src/rclcpp/generic_client.cpp
   src/rclcpp/generic_publisher.cpp
+  src/rclcpp/generic_service.cpp
   src/rclcpp/generic_subscription.cpp
   src/rclcpp/graph_listener.cpp
   src/rclcpp/guard_condition.cpp
@@ -102,6 +103,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/node_options.cpp
   src/rclcpp/parameter.cpp
   src/rclcpp/parameter_client.cpp
+  src/rclcpp/parameter_descriptor_wrapper.cpp
   src/rclcpp/parameter_event_handler.cpp
   src/rclcpp/parameter_events_filter.cpp
   src/rclcpp/parameter_map.cpp
@@ -145,27 +147,6 @@ set(Python3_FIND_UNVERSIONED_NAMES FIRST)
 
 find_package(Python3 REQUIRED COMPONENTS Interpreter)
 
-# "watch" template for changes
-configure_file(
-  "resource/logging.hpp.em"
-  "logging.hpp.em.watch"
-  COPYONLY
-)
-# generate header with logging macros
-set(python_code_logging
-  "import em"
-  "em.invoke(['-o', 'include/rclcpp/logging.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/logging.hpp.em'])")
-string(REPLACE ";" "$<SEMICOLON>" python_code_logging "${python_code_logging}")
-add_custom_command(OUTPUT include/rclcpp/logging.hpp
-  COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"
-  COMMAND Python3::Interpreter ARGS -c "${python_code_logging}"
-  DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
-  COMMENT "Expanding logging.hpp.em"
-  VERBATIM
-)
-list(APPEND ${PROJECT_NAME}_SRCS
-  include/rclcpp/logging.hpp)
-
 file(GLOB interface_files "include/rclcpp/node_interfaces/node_*_interface.hpp")
 foreach(interface_file ${interface_files})
   get_filename_component(interface_name ${interface_file} NAME_WE)

rclcpp/Doxyfile

@@ -21,6 +21,22 @@ GENERATE_LATEX         = NO
 ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
+EXCLUDE_SYMBOLS        += RCLCPP_STATIC_ASSERT_LOGGER
+EXCLUDE_SYMBOLS        += RCLCPP_LOG
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_ONCE
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_EXPRESSION
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_FUNCTION
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_SKIPFIRST
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_TIME_POINT_FUNC
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_THROTTLE
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_SKIPFIRST_THROTTLE
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_ONCE
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_EXPRESSION
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_FUNCTION
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_SKIPFIRST
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_THROTTLE
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
 PREDEFINED             += DOXYGEN_ONLY
 PREDEFINED             += RCLCPP_LOCAL=
 PREDEFINED             += RCLCPP_PUBLIC=

rclcpp/QUALITY_DECLARATION.md

@@ -1,10 +1,10 @@
-This document is a declaration of software quality for the `rclcpp` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+This document is a declaration of software quality for the `rclcpp` package, based on the guidelines in [REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 # rclcpp Quality Declaration
 
 The package `rclcpp` claims to be in the **Quality Level 1** category when it is used with a **Quality Level 1** middleware.
 
-Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 1 in REP-2004](https://www.ros.org/reps/rep-2004.html).
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 1 in REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 ## Version Policy [1]
 
@@ -55,7 +55,7 @@ All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://d
 
 ### Continuous Integration [2.iv]
 
-All pull requests must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
+All pull requests must pass CI on all [tier 1 platforms](https://reps.openrobotics.org/rep-2000/#support-tiers)
 
 Currently nightly results can be seen here:
 
@@ -213,7 +213,7 @@ It is **Quality Level 1**, see its [Quality Declaration document](https://github
 
 ## Platform Support [6]
 
-`rclcpp` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
+`rclcpp` supports all of the tier 1 platforms as described in [REP-2000](https://reps.openrobotics.org/rep-2000/#support-tiers), and tests each change against all of them.
 
 Currently nightly build status can be seen here:
 * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/rclcpp/)
@@ -225,4 +225,4 @@ Currently nightly build status can be seen here:
 
 ### Vulnerability Disclosure Policy [7.i]
 
-This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html).
+This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://reps.openrobotics.org/rep-2006/).

rclcpp/doc/api_review_march_2020.md

@@ -434,4 +434,3 @@
 
 - (tfoote) There should be no jumps in steady time. If there's a big change in system time, it doesn't necessarily mean that time jumped, just that you might have been sleeping for a long time. Most ntp systems adjust the slew rate these days instead of jumping but still that's an external process and I don't know of any APIs to introspect the state of the clock. I'm not sure that we have a way to detect jumps in time for system or steady time. To that end I think that we should be clear that we only provide callbacks when simulation time starts or stops, or simulation time jumps. We should also strongly recommend that operators not actively adjust their system clocks while running ROS nodes.
 - (jacobperron) I agree with Tully, if we don't have a way to detect system time jumps then I think we should just document that this only works with ROS time. In addition to documentation, we could log an info or warning message if the user registers jump callback with steady or system time, but it may be unnecessarily noisy.
-

rclcpp/doc/proposed_node_parameter_callbacks.md

@@ -2,15 +2,15 @@
 
 ## Introduction:
 
-The original requirement came in **gazebo_ros_pkgs** for setting individual wheel slip parameters based on global wheel slip value [link to original issue](https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1365). 
+The original requirement came in **gazebo_ros_pkgs** for setting individual wheel slip parameters based on global wheel slip value [link to original issue](https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1365).
 
-The main requirement is to set one or more parameters after another parameter is set successfully. 
+The main requirement is to set one or more parameters after another parameter is set successfully.
 
 Additionally, it would be nice if users could be notified locally (via a callback) when parameters have been set successfully (i.e. post validation).
 
 Related discussion can be found in [#609](https://github.com/ros2/rclcpp/issues/609) [#1789](https://github.com/ros2/rclcpp/pull/1789)
 
-With the current parameters API, the `add_on_set_parameters_callback` is intended for validation of parameter values before they are set, it should **not** cause any side-effects. 
+With the current parameters API, the `add_on_set_parameters_callback` is intended for validation of parameter values before they are set, it should **not** cause any side-effects.
 
 There is also the `ParameterEventHandler` that publishes changes to node parameters on `/parameter_events` topic for external nodes to see. Though the node could subscribe to the `/parameter_events` topic to be notified of changes to its own parameters, it is less than ideal since there is a delay caused by waiting for an executor to process the callback.
 
@@ -19,11 +19,11 @@ We propose adding a `PostSetParametersCallbackHandle` for successful parameter s
 The validation callback is often abused to trigger side effects in the code, for instance updating class attributes even before a parameter has been set successfully. Instead of relying on the `/parameter_events` topic to be notified of parameter changes, users can register a callback with a new API, `add_post_set_parameters_callback`.
 
 It is possible to use the proposed `add_post_set_parameters_callback` for setting additional parameters, but this might result in infinite recursion and does not allow those additional parameters to be set atomically with the original parameter(s) changed.
-To workaround these issues, we propose adding a "pre set" callback type that can be registered with `add_pre_set_parameters_callback`, which will be triggered before the validation callbacks and can be used to modify the parameter list. 
+To workaround these issues, we propose adding a "pre set" callback type that can be registered with `add_pre_set_parameters_callback`, which will be triggered before the validation callbacks and can be used to modify the parameter list.
 
 ![Desgin API](https://github.com/ros2/rclcpp/blob/deepanshu/local-param-changed-callback-support/rclcpp/doc/param_callback_design.png?raw=true)
 
 ## Alternatives
 
 * Users could call `set_parameter` while processing a message from the `/parameter_events` topic, however, there is extra overhead in having to create subscription (as noted earlier).
-* Users could call `set_parameter` inside the "on set" parameters callback, however it is not well-defined how side-effects should handle cases where parameter validation fails.
+* Users could call `set_parameter` inside the "on set" parameters callback, however it is not well-defined how side-effects should handle cases where parameter validation fails.

rclcpp/include/rclcpp/allocator/allocator_common.hpp

@@ -27,10 +27,39 @@ namespace rclcpp
 namespace allocator
 {
 
+template<typename T>
+using clean_t = std::remove_cv_t<std::remove_reference_t<T>>;
+
+// Primary template: false
+template<typename, typename = std::void_t<>>
+struct has_get_rcl_allocator : std::false_type {};
+
+// Specialization: true if expression is valid
+template<typename T>
+struct has_get_rcl_allocator<T,
+  std::void_t<
+    decltype(std::declval<clean_t<T> &>().get_rcl_allocator())
+  >
+>
+  : std::bool_constant<
+    std::is_same_v<
+      decltype(std::declval<clean_t<T> &>().get_rcl_allocator()),
+      rcl_allocator_t
+    >
+  >
+{};
+
+// Helper variable template
+template<typename T>
+inline constexpr bool has_get_rcl_allocator_v =
+  has_get_rcl_allocator<T>::value;
+
 template<typename T, typename Alloc>
 using AllocRebind = typename std::allocator_traits<Alloc>::template rebind_traits<T>;
 
 template<typename Alloc>
+[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
+  "can not be determined. This will be remove in future versions of ros.")]]
 void * retyped_allocate(size_t size, void * untyped_allocator)
 {
   auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
@@ -41,6 +70,8 @@ void * retyped_allocate(size_t size, void * untyped_allocator)
 }
 
 template<typename Alloc>
+[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
+  "can not be determined. This will be remove in future versions of ros.")]]
 void * retyped_zero_allocate(size_t number_of_elem, size_t size_of_elem, void * untyped_allocator)
 {
   auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
@@ -57,6 +88,8 @@ void * retyped_zero_allocate(size_t number_of_elem, size_t size_of_elem, void *
 }
 
 template<typename T, typename Alloc>
+[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
+  "can not be determined. This will be remove in future versions of ros.")]]
 void retyped_deallocate(void * untyped_pointer, void * untyped_allocator)
 {
   auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
@@ -68,6 +101,8 @@ void retyped_deallocate(void * untyped_pointer, void * untyped_allocator)
 }
 
 template<typename T, typename Alloc>
+[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
+  "can not be determined. This will be remove in future versions of ros.")]]
 void * retyped_reallocate(void * untyped_pointer, size_t size, void * untyped_allocator)
 {
   auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
@@ -85,6 +120,9 @@ template<
   typename T,
   typename Alloc,
   typename std::enable_if<!std::is_same<Alloc, std::allocator<void>>::value>::type * = nullptr>
+[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
+  "can not be determined. This will be remove in future versions of ros. To suppress this warning"
+  "define the method 'rcl_allocator_t get_rcl_allocator()' on your allocator")]]
 rcl_allocator_t get_rcl_allocator(Alloc & allocator)
 {
   rcl_allocator_t rcl_allocator = rcl_get_default_allocator();

rclcpp/include/rclcpp/allocator/allocator_deleter.hpp

@@ -69,18 +69,17 @@ private:
 };
 
 template<typename Alloc, typename T, typename D>
-void set_allocator_for_deleter(D * deleter, Alloc * alloc)
+void set_allocator_for_deleter([[maybe_unused]] D * deleter, [[maybe_unused]] Alloc * alloc)
 {
-  (void) alloc;
-  (void) deleter;
   throw std::runtime_error("Reached unexpected template specialization");
 }
 
 template<typename T, typename U>
-void set_allocator_for_deleter(std::default_delete<T> * deleter, std::allocator<U> * alloc)
+void set_allocator_for_deleter(
+  [[maybe_unused]] std::default_delete<T> * deleter,
+  [[maybe_unused]] std::allocator<U> * alloc)
 {
-  (void) deleter;
-  (void) alloc;
+  // This function is intentionally left empty.
 }
 
 template<typename Alloc, typename T>

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -165,11 +165,13 @@ public:
     if (std::holds_alternative<SharedPtrDeferResponseCallback>(callback_)) {
       const auto & cb = std::get<SharedPtrDeferResponseCallback>(callback_);
       cb(request_header, std::move(request));
+      TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
       return nullptr;
     }
     if (std::holds_alternative<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_)) {
       const auto & cb = std::get<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_);
       cb(service_handle, request_header, std::move(request));
+      TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
       return nullptr;
     }
     // auto response = allocate_shared<typename ServiceT::Response, Allocator>();

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -15,8 +15,10 @@
 #ifndef RCLCPP__ANY_SUBSCRIPTION_CALLBACK_HPP_
 #define RCLCPP__ANY_SUBSCRIPTION_CALLBACK_HPP_
 
+#include <atomic>
 #include <functional>
 #include <memory>
+#include <mutex>
 #include <stdexcept>
 #include <type_traits>
 #include <utility>
@@ -375,7 +377,19 @@ public:
     allocator::set_allocator_for_deleter(&ros_message_type_deleter_, &ros_message_type_allocator_);
   }
 
-  AnySubscriptionCallback(const AnySubscriptionCallback &) = default;
+  AnySubscriptionCallback(const AnySubscriptionCallback & other)
+  : callback_variant_(other.callback_variant_),
+    callback_disabled_(other.callback_disabled_.load()),
+    subscribed_type_allocator_(other.subscribed_type_allocator_),
+    subscribed_type_deleter_(other.subscribed_type_deleter_),
+    ros_message_type_allocator_(other.ros_message_type_allocator_),
+    ros_message_type_deleter_(other.ros_message_type_deleter_),
+    serialized_message_allocator_(other.serialized_message_allocator_),
+    serialized_message_deleter_(other.serialized_message_deleter_)
+  {
+    allocator::set_allocator_for_deleter(&subscribed_type_deleter_, &subscribed_type_allocator_);
+    allocator::set_allocator_for_deleter(&ros_message_type_deleter_, &ros_message_type_allocator_);
+  }
 
   /// Generic function for setting the callback.
   /**
@@ -393,12 +407,91 @@ public:
     // converted to one another, e.g. shared_ptr and unique_ptr.
     using scbth = detail::SubscriptionCallbackTypeHelper<MessageT, CallbackT>;
 
-    callback_variant_ = static_cast<typename scbth::callback_type>(callback);
+    // Determine if the given CallbackT is a deprecated signature or not.
+    constexpr auto is_deprecated =
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<SubscribedType>)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<SubscribedType>, const rclcpp::MessageInfo &)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<ROSMessageType>)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<ROSMessageType>, const rclcpp::MessageInfo &)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &)>
+      >::value;
+
+    // Use the discovered type to force the type of callback when assigning
+    // into the variant.
+    if constexpr (is_deprecated) {
+      // If deprecated, call sub-routine that is deprecated.
+      set_deprecated(static_cast<typename scbth::callback_type>(callback));
+    } else {
+      // Otherwise just assign it.
+      callback_variant_ = static_cast<typename scbth::callback_type>(callback);
+    }
 
     // Return copy of self for easier testing, normally will be compiled out.
     return *this;
   }
 
+  /// Function for shared_ptr to non-const MessageT, which is deprecated.
+  template<typename SetT>
+  // *INDENT-OFF*
+  #if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
+  // suppress deprecation warnings in `test_any_subscription_callback.cpp`
+  [[deprecated("use 'void(std::shared_ptr<const MessageT>)' instead")]]
+  #endif
+  // *INDENT-ON*
+  void
+  set_deprecated(std::function<void(std::shared_ptr<SetT>)> callback)
+  {
+    callback_variant_ = callback;
+  }
+
+  /// Function for shared_ptr to non-const MessageT with MessageInfo, which is deprecated.
+  template<typename SetT>
+  // *INDENT-OFF*
+  #if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
+  // suppress deprecation warnings in `test_any_subscription_callback.cpp`
+  [[deprecated(
+          "use 'void(std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)' instead"
+  )]]
+  #endif
+  // *INDENT-ON*
+  void
+  set_deprecated(std::function<void(std::shared_ptr<SetT>, const rclcpp::MessageInfo &)> callback)
+  {
+    callback_variant_ = callback;
+  }
+
+  /// Disable the callback from being called during dispatch.
+  void disable()
+  {
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    callback_disabled_.store(true);
+  }
+
+  /// Enable the callback to be called during dispatch.
+  void enable()
+  {
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    callback_disabled_.store(false);
+  }
+
   std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>
   create_ros_unique_ptr_from_ros_shared_ptr_message(
     const std::shared_ptr<const ROSMessageType> & message)
@@ -469,6 +562,10 @@ public:
     std::shared_ptr<ROSMessageType> message,
     const rclcpp::MessageInfo & message_info)
   {
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    if (callback_disabled_.load()) {
+      return;
+    }
     TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
@@ -569,6 +666,10 @@ public:
     std::shared_ptr<const rclcpp::SerializedMessage> serialized_message,
     const rclcpp::MessageInfo & message_info)
   {
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    if (callback_disabled_.load()) {
+      return;
+    }
     TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
@@ -648,6 +749,10 @@ public:
     std::shared_ptr<const SubscribedType> message,
     const rclcpp::MessageInfo & message_info)
   {
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    if (callback_disabled_.load()) {
+      return;
+    }
     TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), true);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
@@ -778,6 +883,10 @@ public:
     std::unique_ptr<SubscribedType, SubscribedTypeDeleter> message,
     const rclcpp::MessageInfo & message_info)
   {
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    if (callback_disabled_.load()) {
+      return;
+    }
     TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), true);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
@@ -972,6 +1081,8 @@ private:
   //   http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2020/p2162r0.html
   // For now, compose the variant into this class as a private attribute.
   typename HelperT::variant_type callback_variant_;
+  std::recursive_mutex callback_mutex_;
+  std::atomic_bool callback_disabled_{false};
 
   SubscribedTypeAllocator subscribed_type_allocator_;
   SubscribedTypeDeleter subscribed_type_deleter_;

rclcpp/include/rclcpp/callback_group.hpp

@@ -59,46 +59,6 @@ class CallbackGroup
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup)
 
-  /// 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] 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.
-   */
-  [[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'
@@ -137,7 +97,7 @@ public:
   RCLCPP_PUBLIC
   explicit CallbackGroup(
     CallbackGroupType group_type,
-    rclcpp::Context::WeakPtr context,
+    const rclcpp::Context::WeakPtr & context,
     bool automatically_add_to_executor_with_node = true);
 
   /// Default destructor.
@@ -146,35 +106,35 @@ public:
 
   template<typename Function>
   rclcpp::SubscriptionBase::SharedPtr
-  find_subscription_ptrs_if(Function func) const
+  find_subscription_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::SubscriptionBase, Function>(func, subscription_ptrs_);
   }
 
   template<typename Function>
   rclcpp::TimerBase::SharedPtr
-  find_timer_ptrs_if(Function func) const
+  find_timer_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::TimerBase, Function>(func, timer_ptrs_);
   }
 
   template<typename Function>
   rclcpp::ServiceBase::SharedPtr
-  find_service_ptrs_if(Function func) const
+  find_service_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::ServiceBase, Function>(func, service_ptrs_);
   }
 
   template<typename Function>
   rclcpp::ClientBase::SharedPtr
-  find_client_ptrs_if(Function func) const
+  find_client_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::ClientBase, Function>(func, client_ptrs_);
   }
 
   template<typename Function>
   rclcpp::Waitable::SharedPtr
-  find_waitable_ptrs_if(Function func) const
+  find_waitable_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::Waitable, Function>(func, waitable_ptrs_);
   }
@@ -219,11 +179,11 @@ public:
   RCLCPP_PUBLIC
   void
   collect_all_ptrs(
-    std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> sub_func,
-    std::function<void(const rclcpp::ServiceBase::SharedPtr &)> service_func,
-    std::function<void(const rclcpp::ClientBase::SharedPtr &)> client_func,
-    std::function<void(const rclcpp::TimerBase::SharedPtr &)> timer_func,
-    std::function<void(const rclcpp::Waitable::SharedPtr &)> waitable_func) const;
+    const std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> & sub_func,
+    const std::function<void(const rclcpp::ServiceBase::SharedPtr &)> & service_func,
+    const std::function<void(const rclcpp::ClientBase::SharedPtr &)> & client_func,
+    const std::function<void(const rclcpp::TimerBase::SharedPtr &)> & timer_func,
+    const std::function<void(const rclcpp::Waitable::SharedPtr &)> & waitable_func) const;
 
   /// Return a reference to the 'associated with executor' atomic boolean.
   /**
@@ -268,31 +228,31 @@ protected:
 
   RCLCPP_PUBLIC
   void
-  add_publisher(const rclcpp::PublisherBase::SharedPtr publisher_ptr);
+  add_publisher(const rclcpp::PublisherBase::SharedPtr & publisher_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_subscription(const rclcpp::SubscriptionBase::SharedPtr subscription_ptr);
+  add_subscription(const rclcpp::SubscriptionBase::SharedPtr & subscription_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr);
+  add_timer(const rclcpp::TimerBase::SharedPtr & timer_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_service(const rclcpp::ServiceBase::SharedPtr service_ptr);
+  add_service(const rclcpp::ServiceBase::SharedPtr & service_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_client(const rclcpp::ClientBase::SharedPtr client_ptr);
+  add_client(const rclcpp::ClientBase::SharedPtr & client_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr);
+  add_waitable(const rclcpp::Waitable::SharedPtr & waitable_ptr);
 
   RCLCPP_PUBLIC
   void
-  remove_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr) noexcept;
+  remove_waitable(const rclcpp::Waitable::SharedPtr & waitable_ptr) noexcept;
 
   CallbackGroupType type_;
   // Mutex to protect the subsequent vectors of pointers.
@@ -314,7 +274,7 @@ protected:
 private:
   template<typename TypeT, typename Function>
   typename TypeT::SharedPtr _find_ptrs_if_impl(
-    Function func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
+    const Function & func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
   {
     std::lock_guard<std::mutex> lock(mutex_);
     for (auto & weak_ptr : vect_ptrs) {

rclcpp/include/rclcpp/client.hpp

@@ -70,14 +70,6 @@ struct FutureAndRequestId
   /// Allow implicit conversions to `std::future` by reference.
   operator FutureT &() {return this->future;}
 
-  /// Deprecated, use the `future` member variable instead.
-  /**
-   * Allow implicit conversions to `std::future` by value.
-   * \deprecated
-   */
-  [[deprecated("FutureAndRequestId: use .future instead of an implicit conversion")]]
-  operator FutureT() {return this->future;}
-
   // delegate future like methods in the std::future impl_
 
   /// See std::future::get().
@@ -153,7 +145,7 @@ public:
   RCLCPP_PUBLIC
   ClientBase(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph);
 
   RCLCPP_PUBLIC
   virtual ~ClientBase() = default;
@@ -229,7 +221,8 @@ public:
   virtual std::shared_ptr<void> create_response() = 0;
   virtual std::shared_ptr<rmw_request_id_t> create_request_header() = 0;
   virtual void handle_response(
-    std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<void> response) = 0;
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & response) = 0;
 
   /// Exchange the "in use by wait set" state for this client.
   /**
@@ -304,7 +297,7 @@ public:
    * \param[in] callback functor to be called when a new response is received
    */
   void
-  set_on_new_response_callback(std::function<void(size_t)> callback)
+  set_on_new_response_callback(const std::function<void(size_t)> & callback)
   {
     if (!callback) {
       throw std::invalid_argument(
@@ -436,15 +429,6 @@ public:
   {
     using detail::FutureAndRequestId<std::future<SharedResponse>>::FutureAndRequestId;
 
-    /// Deprecated, use `.future.share()` instead.
-    /**
-     * Allow implicit conversions to `std::shared_future` by value.
-     * \deprecated
-     */
-    [[deprecated(
-      "FutureAndRequestId: use .future.share() instead of an implicit conversion")]]
-    operator SharedFuture() {return this->future.share();}
-
     // delegate future like methods in the std::future impl_
 
     /// See std::future::share().
@@ -490,11 +474,11 @@ public:
    * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] node_graph The node graph interface of the corresponding node.
    * \param[in] service_name Name of the topic to publish to.
-   * \param[in] client_options options for the subscription.
+   * \param[in] client_options options for the client.
    */
   Client(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph,
     const std::string & service_name,
     rcl_client_options_t & client_options)
   : ClientBase(node_base, node_graph),
@@ -573,8 +557,8 @@ public:
    */
   void
   handle_response(
-    std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<void> response) override
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & response) override
   {
     std::optional<CallbackInfoVariant>
     optional_pending_request = this->get_and_erase_pending_request(request_header->sequence_number);
@@ -583,7 +567,7 @@ public:
     }
     auto & value = *optional_pending_request;
     auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(
-      std::move(response));
+      response);
     if (std::holds_alternative<Promise>(value)) {
       auto & promise = std::get<Promise>(value);
       promise.set_value(std::move(typed_response));
@@ -634,7 +618,7 @@ public:
    * \return a FutureAndRequestId instance.
    */
   FutureAndRequestId
-  async_send_request(SharedRequest request)
+  async_send_request(const SharedRequest & request)
   {
     Promise promise;
     auto future = promise.get_future();
@@ -669,7 +653,7 @@ public:
     >::type * = nullptr
   >
   SharedFutureAndRequestId
-  async_send_request(SharedRequest request, CallbackT && cb)
+  async_send_request(const SharedRequest & request, CallbackT && cb)
   {
     Promise promise;
     auto shared_future = promise.get_future().share();
@@ -700,7 +684,7 @@ public:
     >::type * = nullptr
   >
   SharedFutureWithRequestAndRequestId
-  async_send_request(SharedRequest request, CallbackT && cb)
+  async_send_request(const SharedRequest & request, CallbackT && cb)
   {
     PromiseWithRequest promise;
     auto shared_future = promise.get_future().share();
@@ -806,10 +790,13 @@ public:
    * \param[in] clock clock to use to generate introspection timestamps
    * \param[in] qos_service_event_pub QoS settings to use when creating the introspection publisher
    * \param[in] introspection_state the state to set introspection to
+   *
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw if
+   *   it failed to configure introspection.
    */
   void
   configure_introspection(
-    Clock::SharedPtr clock, const QoS & qos_service_event_pub,
+    const Clock::SharedPtr & clock, const QoS & qos_service_event_pub,
     rcl_service_introspection_state_t introspection_state)
   {
     rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();

rclcpp/include/rclcpp/clock.hpp

@@ -60,6 +60,13 @@ public:
   /**
    * Initializes the clock instance with the given clock_type.
    *
+   * WARNING Don't instantiate a clock using RCL_ROS_TIME directly,
+   * unless you really know what you are doing. By default no TimeSource
+   * is attached to a new clock. This will lead to the unexpected behavior,
+   * that your RCL_ROS_TIME will run always on system time. If you want
+   * a RCL_ROS_TIME use Node::get_clock(), or make sure to attach a
+   * TimeSource yourself.
+   *
    * \param clock_type type of the clock.
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    */
@@ -110,8 +117,8 @@ public:
   RCLCPP_PUBLIC
   bool
   sleep_until(
-    Time until,
-    Context::SharedPtr context = contexts::get_global_default_context());
+    const Time & until,
+    const Context::SharedPtr & context = contexts::get_global_default_context());
 
   /**
    * Sleep for a specified Duration.
@@ -134,8 +141,8 @@ public:
   RCLCPP_PUBLIC
   bool
   sleep_for(
-    Duration rel_time,
-    Context::SharedPtr context = contexts::get_global_default_context());
+    const Duration & rel_time,
+    const Context::SharedPtr & context = contexts::get_global_default_context());
 
   /**
    * Check if the clock is started.
@@ -161,7 +168,7 @@ public:
    */
   RCLCPP_PUBLIC
   bool
-  wait_until_started(Context::SharedPtr context = contexts::get_global_default_context());
+  wait_until_started(const Context::SharedPtr & context = contexts::get_global_default_context());
 
   /**
    * Wait for clock to start, with timeout.
@@ -179,7 +186,7 @@ public:
   bool
   wait_until_started(
     const rclcpp::Duration & timeout,
-    Context::SharedPtr context = contexts::get_global_default_context(),
+    const Context::SharedPtr & context = contexts::get_global_default_context(),
     const rclcpp::Duration & wait_tick_ns = rclcpp::Duration(0, static_cast<uint32_t>(1e7)));
 
   /**
@@ -193,16 +200,6 @@ public:
   bool
   ros_time_is_active();
 
-  /**
-   * Cancels an ongoing or future sleep operation of one thread.
-   *
-   * This function can be used by one thread, to wakeup another thread that is
-   * blocked using any of the sleep_ or wait_ methods of this class.
-   */
-  RCLCPP_PUBLIC
-  void
-  cancel_sleep_or_wait();
-
   /// Return the rcl_clock_t clock handle
   RCLCPP_PUBLIC
   rcl_clock_t *
@@ -217,13 +214,13 @@ public:
   std::mutex &
   get_clock_mutex() noexcept;
 
-  // Add a callback to invoke if the jump threshold is exceeded.
+  /// Add a callback to invoke if the jump threshold is exceeded.
   /**
    * These callback functions must remain valid as long as the
    * returned shared pointer is valid.
    *
    * Function will register callbacks to the callback queue. On time jump all
-   * callbacks will be executed whose threshold is greater then the time jump;
+   * callbacks will be executed whose threshold is greater than the time jump;
    * The logic will first call selected pre_callbacks and then all selected
    * post_callbacks.
    *
@@ -232,7 +229,7 @@ public:
    * \param pre_callback Must be non-throwing
    * \param post_callback Must be non-throwing.
    * \param threshold Callbacks will be triggered if the time jump is greater
-   * then the threshold.
+   * than the threshold.
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    * \throws std::bad_alloc if the allocation of the JumpHandler fails.
    * \warning the instance of the clock must remain valid as long as any created
@@ -241,8 +238,8 @@ public:
   RCLCPP_PUBLIC
   JumpHandler::SharedPtr
   create_jump_callback(
-    JumpHandler::pre_callback_t pre_callback,
-    JumpHandler::post_callback_t post_callback,
+    const JumpHandler::pre_callback_t & pre_callback,
+    const JumpHandler::post_callback_t & post_callback,
     const rcl_jump_threshold_t & threshold);
 
 private:
@@ -260,6 +257,117 @@ private:
   std::shared_ptr<Impl> impl_;
 };
 
+/**
+ * A synchronization primitive, equal to std::conditional_variable,
+ * that works with the rclcpp::Clock.
+ *
+ * For more information on the API see https://en.cppreference.com/w/cpp/thread/condition_variable.
+ *
+ * Note, this class does not handle shutdowns, if you want to
+ * haven them handles as well, use ClockConditionalVariable.
+ */
+class ClockWaiter
+{
+private:
+  class ClockWaiterImpl;
+  std::unique_ptr<ClockWaiterImpl> impl_;
+
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(ClockWaiter)
+
+  RCLCPP_PUBLIC
+  explicit ClockWaiter(const rclcpp::Clock::SharedPtr & clock);
+
+  RCLCPP_PUBLIC
+  ~ClockWaiter();
+
+  /**
+   * Calling this function will block the current thread, until abs_time is reached,
+   * or pred returns true.
+   * @param lock A locked lock. The lock must be locked at call time, or this method will throw.
+   *             The lock will be atomically released and this thread will blocked.
+   * @param abs_time The time until which this thread shall be blocked.
+   * @param pred may be called in cased of spurious wakeups, but must be called every time
+   *             notify_one() was called. During the call to pred, the given lock will be locked.
+   *             This method will return, if pred returns true.
+   */
+  RCLCPP_PUBLIC
+  bool
+  wait_until(
+    std::unique_lock<std::mutex> & lock,
+    const rclcpp::Time & abs_time, const std::function<bool ()> & pred);
+
+  /**
+   * Notify the blocked thread, that it should reevaluate the wakeup condition.
+   * The given pred function in wait_until will be reevaluated and wait_until
+   * will return if it evaluates to true.
+   */
+  RCLCPP_PUBLIC
+  void
+  notify_one();
+};
+
+
+/**
+ * A synchronization primitive, similar to std::conditional_variable,
+ * that works with the rclcpp::Clock.
+ *
+ * For more information on the API see https://en.cppreference.com/w/cpp/thread/condition_variable.
+ *
+ * This primitive will wake up if the context was shut down.
+ */
+class ClockConditionalVariable
+{
+  class Impl;
+  std::unique_ptr<Impl> impl_;
+
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(ClockConditionalVariable)
+
+  RCLCPP_PUBLIC
+  ClockConditionalVariable(
+    const rclcpp::Clock::SharedPtr & clock,
+    const rclcpp::Context::SharedPtr & context = rclcpp::contexts::get_global_default_context());
+  RCLCPP_PUBLIC
+  ~ClockConditionalVariable();
+
+  /**
+   * Calling this function will block the current thread, until abs_time is reached,
+   * or pred returns true.
+   * @param lock A locked lock. The lock must be locked at call time, or this method will throw.
+   *             The lock will be atomically released and this thread will blocked.
+   *             The given lock must be created using the mutex returned my mutex().
+   * @param abs_time The time until which this thread shall be blocked.
+   * @param pred may be called in cased of spurious wakeups, but must be called every time
+   *             notify_one() was called. During the call to pred, the given lock will be locked.
+   *             This method will return, if pred returns true.
+   *
+   * @return true if until was reached.
+   */
+  RCLCPP_PUBLIC
+  bool
+  wait_until(
+    std::unique_lock<std::mutex> & lock, const rclcpp::Time & until,
+    const std::function<bool ()> & pred);
+
+  /**
+   * Notify the blocked thread, that is should reevaluate the wakeup condition.
+   * E.g. the given pred function in wait_until shall be reevaluated.
+   */
+  RCLCPP_PUBLIC
+  void
+  notify_one();
+
+  /**
+   * Returns the internal mutex. In order to be race free with the context shutdown,
+   * this mutex must be used for the wait_until call.
+   */
+  RCLCPP_PUBLIC
+  std::mutex &
+  mutex();
+};
+
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CLOCK_HPP_

rclcpp/include/rclcpp/context.hpp

@@ -37,6 +37,10 @@
 
 namespace rclcpp
 {
+namespace graph_listener
+{
+class GraphListener;
+}  // namespace graph_listener
 
 /// Thrown when init is called on an already initialized context.
 class ContextAlreadyInitialized : public std::runtime_error
@@ -225,7 +229,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   OnShutdownCallback
-  on_shutdown(OnShutdownCallback callback);
+  on_shutdown(const OnShutdownCallback & callback);
 
   /// Add a on_shutdown callback to be called when shutdown is called for this context.
   /**
@@ -249,7 +253,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   OnShutdownCallbackHandle
-  add_on_shutdown_callback(OnShutdownCallback callback);
+  add_on_shutdown_callback(const OnShutdownCallback & callback);
 
   /// Remove an registered on_shutdown callbacks.
   /**
@@ -276,7 +280,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   PreShutdownCallbackHandle
-  add_pre_shutdown_callback(PreShutdownCallback callback);
+  add_pre_shutdown_callback(const PreShutdownCallback & callback);
 
   /// Remove an registered pre_shutdown callback.
   /**
@@ -309,6 +313,10 @@ public:
   std::shared_ptr<rcl_context_t>
   get_rcl_context();
 
+  RCLCPP_PUBLIC
+  std::shared_ptr<rclcpp::graph_listener::GraphListener>
+  get_graph_listener();
+
   /// Sleep for a given period of time or until shutdown() is called.
   /**
    * This function can be interrupted early if:
@@ -381,16 +389,19 @@ private:
   std::recursive_mutex sub_contexts_mutex_;
 
   std::vector<std::shared_ptr<OnShutdownCallback>> on_shutdown_callbacks_;
-  mutable std::mutex on_shutdown_callbacks_mutex_;
+  mutable std::recursive_mutex on_shutdown_callbacks_mutex_;
 
   std::vector<std::shared_ptr<PreShutdownCallback>> pre_shutdown_callbacks_;
-  mutable std::mutex pre_shutdown_callbacks_mutex_;
+  mutable std::recursive_mutex pre_shutdown_callbacks_mutex_;
 
   /// Condition variable for timed sleep (see sleep_for).
   std::condition_variable interrupt_condition_variable_;
   /// Mutex for protecting the global condition variable.
   std::mutex interrupt_mutex_;
 
+  /// Graph Listener which waits on graph changes for the node and is shared across nodes.
+  std::shared_ptr<rclcpp::graph_listener::GraphListener> graph_listener_;
+
   /// Keep shared ownership of global vector of weak contexts
   std::shared_ptr<WeakContextsWrapper> weak_contexts_;
 
@@ -406,7 +417,7 @@ private:
   RCLCPP_LOCAL
   ShutdownCallbackHandle
   add_shutdown_callback(
-    ShutdownCallback callback);
+    const ShutdownCallback & callback);
 
   template<ShutdownType shutdown_type>
   RCLCPP_LOCAL

rclcpp/include/rclcpp/create_client.hpp

@@ -47,28 +47,9 @@ create_client(
   const std::string & service_name,
   const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
   rclcpp::CallbackGroup::SharedPtr group = nullptr)
-{
-  return create_client<ServiceT>(
-    node_base, node_graph, node_services,
-    service_name,
-    qos.get_rmw_qos_profile(),
-    group);
-}
-
-/// Create a service client with a given type.
-/// \internal
-template<typename ServiceT>
-typename rclcpp::Client<ServiceT>::SharedPtr
-create_client(
-  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-  std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,
-  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
-  const std::string & service_name,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::CallbackGroup::SharedPtr group)
 {
   rcl_client_options_t options = rcl_client_get_default_options();
-  options.qos = qos_profile;
+  options.qos = qos.get_rmw_qos_profile();
 
   auto cli = rclcpp::Client<ServiceT>::make_shared(
     node_base.get(),
@@ -80,7 +61,6 @@ create_client(
   node_services->add_client(cli_base_ptr, group);
   return cli;
 }
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CREATE_CLIENT_HPP_

rclcpp/include/rclcpp/create_generic_client.hpp

@@ -46,13 +46,13 @@ namespace rclcpp
 RCLCPP_PUBLIC
 rclcpp::GenericClient::SharedPtr
 create_generic_client(
-  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-  std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,
-  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+  const std::shared_ptr<node_interfaces::NodeBaseInterface> & node_base,
+  const std::shared_ptr<node_interfaces::NodeGraphInterface> & node_graph,
+  const std::shared_ptr<node_interfaces::NodeServicesInterface> & node_services,
   const std::string & service_name,
   const std::string & service_type,
   const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
-  rclcpp::CallbackGroup::SharedPtr group = nullptr);
+  const rclcpp::CallbackGroup::SharedPtr & group = rclcpp::CallbackGroup::SharedPtr());
 
 /// Create a generic service client with a name of given type.
 /**

rclcpp/include/rclcpp/create_generic_service.hpp

@@ -0,0 +1,102 @@
+// Copyright 2024 Sony Group 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__CREATE_GENERIC_SERVICE_HPP_
+#define RCLCPP__CREATE_GENERIC_SERVICE_HPP_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/generic_service.hpp"
+#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/get_node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "rmw/rmw.h"
+
+namespace rclcpp
+{
+/// Create a generic service with a given type.
+/**
+ * \param[in] node_base NodeBaseInterface implementation of the node on which
+ *  to create the generic service.
+ * \param[in] node_services NodeServicesInterface implementation of the node on
+ *  which to create the service.
+ * \param[in] service_name The name on which the service is accessible.
+ * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool".
+ * \param[in] callback The callback to call when the service gets a request.
+ * \param[in] qos Quality of service profile for the service.
+ * \param[in] group Callback group to handle the reply to service calls.
+ * \return Shared pointer to the created service.
+ */
+template<typename CallbackT>
+typename rclcpp::GenericService::SharedPtr
+create_generic_service(
+  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
+  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+  const std::string & service_name,
+  const std::string & service_type,
+  CallbackT && callback,
+  const rclcpp::QoS & qos,
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  rclcpp::GenericServiceCallback any_service_callback;
+  any_service_callback.set(std::forward<CallbackT>(callback));
+
+  rcl_service_options_t service_options = rcl_service_get_default_options();
+  service_options.qos = qos.get_rmw_qos_profile();
+
+  auto serv = GenericService::make_shared(
+    node_base->get_shared_rcl_node_handle(),
+    service_name, service_type, any_service_callback, service_options);
+  auto serv_base_ptr = std::dynamic_pointer_cast<ServiceBase>(serv);
+  node_services->add_service(serv_base_ptr, group);
+  return serv;
+}
+
+/// Create a generic service with a given type.
+/**
+ * The NodeT type needs to have NodeBaseInterface implementation and NodeServicesInterface
+ * implementation of the node which to create the generic service.
+ *
+ * \param[in] node The node on which to create the generic service.
+ * \param[in] service_name The name on which the service is accessible.
+ * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool".
+ * \param[in] callback The callback to call when the service gets a request.
+ * \param[in] qos Quality of service profile for the service.
+ * \param[in] group Callback group to handle the reply to service calls.
+ * \return Shared pointer to the created service.
+ */
+template<typename NodeT, typename CallbackT>
+typename rclcpp::GenericService::SharedPtr
+create_generic_service(
+  NodeT node,
+  const std::string & service_name,
+  const std::string & service_type,
+  CallbackT && callback,
+  const rclcpp::QoS & qos,
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  return create_generic_service<CallbackT>(
+    rclcpp::node_interfaces::get_node_base_interface(node),
+    rclcpp::node_interfaces::get_node_services_interface(node),
+    service_name,
+    service_type,
+    std::forward<CallbackT>(callback), qos.get_rmw_qos_profile(), group);
+}
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_GENERIC_SERVICE_HPP_

rclcpp/include/rclcpp/detail/qos_parameters.hpp

@@ -97,6 +97,9 @@ declare_parameter_or_get(
   rcl_interfaces::msg::ParameterDescriptor descriptor)
 {
   try {
+    // enable parameter modification to make it possible
+    // to declare QoS override parameters during parameter callbacks.
+    parameters_interface.enable_parameter_modification();
     return parameters_interface.declare_parameter(
       param_name, param_value, descriptor);
   } catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
@@ -267,8 +270,8 @@ apply_qos_override(
       RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING(
         reliability, RELIABILITY, value, qos);
       break;
-    default:
-      throw std::invalid_argument{"unknown QosPolicyKind"};
+    case QosPolicyKind::Invalid:
+      throw std::invalid_argument{"invalid QosPolicyKind"};
   }
 }
 
@@ -329,9 +332,11 @@ get_default_qos_param_value(rclcpp::QosPolicyKind kind, const rclcpp::QoS & qos)
       return ParameterValue(
         check_if_stringified_policy_is_null(
           rmw_qos_reliability_policy_to_str(rmw_qos.reliability), kind));
-    default:
-      throw std::invalid_argument{"unknown QoS policy kind"};
+    case QosPolicyKind::Invalid:
+      throw std::invalid_argument{"invalid QoS policy kind"};
   }
+
+  return ParameterValue();
 }
 
 }  // namespace detail

rclcpp/include/rclcpp/detail/resolve_enable_topic_statistics.hpp

@@ -29,7 +29,7 @@ template<typename OptionsT, typename NodeBaseT>
 bool
 resolve_enable_topic_statistics(const OptionsT & options, const NodeBaseT & node_base)
 {
-  bool topic_stats_enabled;
+  bool topic_stats_enabled = false;
   switch (options.topic_stats_options.state) {
     case TopicStatisticsState::Enable:
       topic_stats_enabled = true;

rclcpp/include/rclcpp/detail/resolve_use_intra_process.hpp

@@ -30,7 +30,7 @@ template<typename OptionsT, typename NodeBaseT>
 bool
 resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)
 {
-  bool use_intra_process;
+  bool use_intra_process = false;
   switch (options.use_intra_process_comm) {
     case IntraProcessSetting::Enable:
       use_intra_process = true;
@@ -43,7 +43,6 @@ resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)
       break;
     default:
       throw std::runtime_error("Unrecognized IntraProcessSetting value");
-      break;
   }
 
   return use_intra_process;

rclcpp/include/rclcpp/event_handler.hpp

@@ -15,11 +15,13 @@
 #ifndef RCLCPP__EVENT_HANDLER_HPP_
 #define RCLCPP__EVENT_HANDLER_HPP_
 
+#include <atomic>
 #include <functional>
 #include <memory>
 #include <mutex>
 #include <stdexcept>
 #include <string>
+#include <vector>
 
 #include "rcl/error_handling.h"
 #include "rcl/event_callback.h"
@@ -109,6 +111,14 @@ public:
   RCLCPP_PUBLIC
   virtual ~EventHandlerBase();
 
+  RCLCPP_PUBLIC
+  virtual
+  void enable() = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  void disable() = 0;
+
   /// Get the number of ready events
   RCLCPP_PUBLIC
   size_t
@@ -191,7 +201,7 @@ public:
         }
       };
 
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_new_event_callback_mutex_);
 
     // Set it temporarily to the new callback, while we replace the old one.
     // This two-step setting, prevents a gap where the old std::function has
@@ -214,27 +224,32 @@ public:
   void
   clear_on_ready_callback() override
   {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_new_event_callback_mutex_);
     if (on_new_event_callback_) {
       set_on_new_event_callback(nullptr, nullptr);
       on_new_event_callback_ = nullptr;
     }
   }
 
+  RCLCPP_PUBLIC
+  std::vector<std::shared_ptr<rclcpp::TimerBase>>
+  get_timers() const override
+  {
+    return {};
+  }
+
 protected:
   RCLCPP_PUBLIC
   void
   set_on_new_event_callback(rcl_event_callback_t callback, const void * user_data);
 
-  std::recursive_mutex callback_mutex_;
+  std::recursive_mutex on_new_event_callback_mutex_;
   std::function<void(size_t)> on_new_event_callback_{nullptr};
 
   rcl_event_t event_handle_;
   size_t wait_set_event_index_;
 };
 
-using QOSEventHandlerBase [[deprecated("Use rclcpp::EventHandlerBase")]] = EventHandlerBase;
-
 template<typename EventCallbackT, typename ParentHandleT>
 class EventHandler : public EventHandlerBase
 {
@@ -280,15 +295,15 @@ public:
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",
         "Couldn't take event info: %s", rcl_get_error_string().str);
+      rcl_reset_error();
       return nullptr;
     }
     return std::static_pointer_cast<void>(std::make_shared<EventCallbackInfoT>(callback_info));
   }
 
   std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override
+  take_data_by_entity_id([[maybe_unused]] size_t id) override
   {
-    (void)id;
     return take_data();
   }
 
@@ -296,6 +311,10 @@ public:
   void
   execute(const std::shared_ptr<void> & data) override
   {
+    std::unique_lock<std::mutex> event_callback_lock(event_callback_mutex_);
+    if (disabled_.load()) {
+      return;
+    }
     if (!data) {
       throw std::runtime_error("'data' is empty");
     }
@@ -304,18 +323,54 @@ public:
     callback_ptr.reset();
   }
 
+  /// Disable the event callback from being called when execute(..) invoked
+  /**
+   * This will also temporarily remove the on_new_event_callback from the underlying rmw layer,
+   *  so that it is not called from the middleware while disabled.
+   */
+  void disable() override
+  {
+    {
+      // Temporary remove the on_new_event_callback_ to prevent it from being called
+      std::lock_guard<std::recursive_mutex> on_new_event_lock(on_new_event_callback_mutex_);
+      if (on_new_event_callback_) {
+        set_on_new_event_callback(nullptr, nullptr);
+      }
+    }
+    std::lock_guard<std::mutex> event_callback_lock(event_callback_mutex_);
+    disabled_.store(true);
+  }
+
+  /// Enable the event callback to be called when execute(..) invoked
+  /**
+   * This will also set back the on_new_event_callback to the underlying rmw layer, if it was
+   * previously removed with disable().
+   */
+  void enable() override
+  {
+    {
+      // Set callback again if it was previously removed in disable()
+      std::lock_guard<std::recursive_mutex> on_new_event_lock(on_new_event_callback_mutex_);
+      if (on_new_event_callback_) {
+        set_on_new_event_callback(
+          rclcpp::detail::cpp_callback_trampoline<
+            decltype(on_new_event_callback_), const void *, size_t>,
+          static_cast<const void *>(&on_new_event_callback_));
+      }
+    }
+    std::lock_guard<std::mutex> event_callback_lock(event_callback_mutex_);
+    disabled_.store(false);
+  }
+
 private:
   using EventCallbackInfoT = typename std::remove_reference<typename
       rclcpp::function_traits::function_traits<EventCallbackT>::template argument_type<0>>::type;
 
   ParentHandleT parent_handle_;
   EventCallbackT event_callback_;
+  std::mutex event_callback_mutex_;
+  std::atomic_bool disabled_{false};
 };
-
-template<typename EventCallbackT, typename ParentHandleT>
-using QOSEventHandler [[deprecated("Use rclcpp::EventHandler")]] = EventHandler<EventCallbackT,
-    ParentHandleT>;
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__EVENT_HANDLER_HPP_

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -100,6 +100,15 @@ public:
   {}
 };
 
+class InvalidServiceTypeError : public std::runtime_error
+{
+public:
+  InvalidServiceTypeError()
+  : std::runtime_error("Service type is invalid.") {}
+  explicit InvalidServiceTypeError(const std::string & msg)
+  : std::runtime_error(msg) {}
+};
+
 class UnimplementedError : public std::runtime_error
 {
 public:

rclcpp/include/rclcpp/executor.hpp

@@ -102,8 +102,8 @@ public:
   RCLCPP_PUBLIC
   virtual void
   add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+    const rclcpp::CallbackGroup::SharedPtr & group_ptr,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
     bool notify = true);
 
   /// Get callback groups that belong to executor.
@@ -173,7 +173,7 @@ public:
   RCLCPP_PUBLIC
   virtual void
   remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
+    const rclcpp::CallbackGroup::SharedPtr & group_ptr,
     bool notify = true);
 
   /// Add a node to the executor.
@@ -197,7 +197,9 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify = true);
+  add_node(
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
+    bool notify = true);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
@@ -205,7 +207,7 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
+  add_node(const std::shared_ptr<rclcpp::Node> & node_ptr, bool notify = true);
 
   /// Remove a node from the executor.
   /**
@@ -225,7 +227,9 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify = true);
+  remove_node(
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
+    bool notify = true);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
@@ -233,7 +237,7 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
+  remove_node(const std::shared_ptr<rclcpp::Node> & node_ptr, bool notify = true);
 
   /// Add a node to executor, execute the next available unit of work, and remove the node.
   /**
@@ -245,7 +249,7 @@ public:
   template<typename RepT = int64_t, typename T = std::milli>
   void
   spin_node_once(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node,
     std::chrono::duration<RepT, T> timeout = std::chrono::duration<RepT, T>(-1))
   {
     return spin_node_once_nanoseconds(
@@ -258,7 +262,7 @@ public:
   template<typename NodeT = rclcpp::Node, typename RepT = int64_t, typename T = std::milli>
   void
   spin_node_once(
-    std::shared_ptr<NodeT> node,
+    const std::shared_ptr<NodeT> & node,
     std::chrono::duration<RepT, T> timeout = std::chrono::duration<RepT, T>(-1))
   {
     return spin_node_once_nanoseconds(
@@ -273,12 +277,12 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  spin_node_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node);
+  spin_node_some(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   RCLCPP_PUBLIC
   virtual void
-  spin_node_some(std::shared_ptr<rclcpp::Node> node);
+  spin_node_some(const std::shared_ptr<rclcpp::Node> & node);
 
   /// Collect work once and execute all available work, optionally within a max duration.
   /**
@@ -287,6 +291,18 @@ public:
    * Adding subscriptions, timers, services, etc. with blocking or long running
    * callbacks may cause the function exceed the max_duration significantly.
    *
+   * Work that is ready to be done is collected only once, and when collecting that work
+   * entities which may have multiple pieces of work ready will only be executed at most
+   * one time.
+   * The reason for this is that it is not possible to tell if, for example, a ready
+   * subscription has only one message ready or multiple without checking again.
+   * Because, in order to find out if there are multiple messages, one message must
+   * be taken and executed before checking again if that subscription is still ready.
+   * However, this function only checks for ready entities to work on once,
+   * and so it will never execute a single entity more than once per call to this function.
+   * See spin_all() variants for a function that will repeatedly work on a single entity
+   * in a single call.
+   *
    * If there is no work to be done when this called, it will return immediately
    * because the collecting of available work is non-blocking.
    * Before each piece of ready work is executed this function checks if the
@@ -309,13 +325,13 @@ public:
   RCLCPP_PUBLIC
   virtual void
   spin_node_all(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node,
     std::chrono::nanoseconds max_duration);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   RCLCPP_PUBLIC
   virtual void
-  spin_node_all(std::shared_ptr<rclcpp::Node> node, std::chrono::nanoseconds max_duration);
+  spin_node_all(const 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.
   /**
@@ -359,6 +375,9 @@ public:
    *   If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return
    *   code.
    * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
+   * \note This method will check the future and the timeout only when the executor is woken up.
+   *   If this future is unrelated to an executor's entity, this method will not correctly detect
+   *   when it's completed and therefore may wait forever and never time out.
    */
   template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   FutureReturnCode
@@ -412,7 +431,7 @@ protected:
   RCLCPP_PUBLIC
   void
   spin_node_once_nanoseconds(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node,
     std::chrono::nanoseconds timeout);
 
   /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
@@ -463,7 +482,7 @@ protected:
   RCLCPP_PUBLIC
   static void
   execute_subscription(
-    rclcpp::SubscriptionBase::SharedPtr subscription);
+    const rclcpp::SubscriptionBase::SharedPtr & subscription);
 
   /// Run timer executable.
   /**
@@ -472,7 +491,7 @@ protected:
    */
   RCLCPP_PUBLIC
   static void
-  execute_timer(rclcpp::TimerBase::SharedPtr timer, const std::shared_ptr<void> & data_ptr);
+  execute_timer(const rclcpp::TimerBase::SharedPtr & timer, const std::shared_ptr<void> & data_ptr);
 
   /// Run service server executable.
   /**
@@ -481,7 +500,7 @@ protected:
    */
   RCLCPP_PUBLIC
   static void
-  execute_service(rclcpp::ServiceBase::SharedPtr service);
+  execute_service(const rclcpp::ServiceBase::SharedPtr & service);
 
   /// Run service client executable.
   /**
@@ -490,7 +509,7 @@ protected:
    */
   RCLCPP_PUBLIC
   static void
-  execute_client(rclcpp::ClientBase::SharedPtr client);
+  execute_client(const rclcpp::ClientBase::SharedPtr & client);
 
   /// Gather all of the waitable entities from associated nodes and callback groups.
   RCLCPP_PUBLIC
@@ -541,8 +560,9 @@ protected:
    *
    * \param[in] notify if true will execute a trigger that will wake up a waiting executor
    */
-  void
-  trigger_entity_recollect(bool notify);
+  RCLCPP_PUBLIC
+  virtual void
+  handle_updated_entities(bool notify);
 
   /// Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.
   std::atomic_bool spinning;

rclcpp/include/rclcpp/executor_options.hpp

@@ -15,6 +15,8 @@
 #ifndef RCLCPP__EXECUTOR_OPTIONS_HPP_
 #define RCLCPP__EXECUTOR_OPTIONS_HPP_
 
+#include <memory>
+
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/memory_strategies.hpp"
@@ -24,18 +26,30 @@
 namespace rclcpp
 {
 
+class ExecutorOptionsImplementation;
+
 /// Options to be passed to the executor constructor.
 struct ExecutorOptions
 {
-  ExecutorOptions()
-  : memory_strategy(rclcpp::memory_strategies::create_default_strategy()),
-    context(rclcpp::contexts::get_global_default_context()),
-    max_conditions(0)
-  {}
+  RCLCPP_PUBLIC
+  ExecutorOptions();
+
+  RCLCPP_PUBLIC
+  virtual ~ExecutorOptions();
+
+  RCLCPP_PUBLIC
+  ExecutorOptions(const ExecutorOptions &);
+
+  RCLCPP_PUBLIC
+  ExecutorOptions & operator=(const ExecutorOptions &);
 
   rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy;
   rclcpp::Context::SharedPtr context;
   size_t max_conditions;
+
+private:
+  /// Pointer to implementation
+  std::unique_ptr<ExecutorOptionsImplementation> impl_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/executors.hpp

@@ -20,7 +20,6 @@
 
 #include "rclcpp/executors/multi_threaded_executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
-#include "rclcpp/executors/static_single_threaded_executor.hpp"
 #include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
@@ -29,37 +28,95 @@
 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. */
+/**
+ * @brief Create a default single-threaded executor and execute all available work exhaustively.
+ * @param node_ptr Shared pointer to the base interface of the node to spin.
+ * @param max_duration max duration to spin
+ *
+ * This method is deprecated because it can lead to very bad performance if used in a loop:
+ * each call will create a new executor and register the node, which is an expensive operation.
+ * It's recommended to always manually instantiate an executor and call the methods with
+ * the same name on it.
+ * For example:
+ *     SingleThreadedExecutor executor;
+ *     executor.add_node(node_ptr);
+ *     executor.spin_all(max_duration);
+ * If you are using a non-default context, this should be passed to the executor's constructor.
+ */
+[[deprecated("use SingleThreadedExecutor::spin_all instead")]]
 RCLCPP_PUBLIC
 void
 spin_all(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
   std::chrono::nanoseconds max_duration);
 
+/**
+ * @brief Create a default single-threaded executor and execute all available work exhaustively.
+ * @param node_ptr Shared pointer to the node to spin.
+ * @param max_duration max duration to spin
+ *
+ * This method is deprecated because it can lead to very bad performance if used in a loop:
+ * each call will create a new executor and register the node, which is an expensive operation.
+ * It's recommended to always manually instantiate an executor and call the methods with
+ * the same name on it.
+ * For example:
+ *     SingleThreadedExecutor executor;
+ *     executor.add_node(node_ptr);
+ *     executor.spin_all(max_duration);
+ * If you are using a non-default context, this should be passed to the executor's constructor.
+ */
+[[deprecated("use SingleThreadedExecutor::spin_all instead")]]
 RCLCPP_PUBLIC
 void
-spin_all(rclcpp::Node::SharedPtr node_ptr, std::chrono::nanoseconds max_duration);
+spin_all(const 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. */
+/**
+ * @brief Create a default single-threaded executor and execute any immediately available work.
+ * @param node_ptr Shared pointer to the base interface of the node to spin.
+ *
+ * This method is deprecated because it can lead to very bad performance if used in a loop:
+ * each call will create a new executor and register the node, which is an expensive operation.
+ * It's recommended to always manually instantiate an executor and call the methods with
+ * the same name on it.
+ * For example:
+ *     SingleThreadedExecutor executor;
+ *     executor.add_node(node_ptr);
+ *     executor.spin_some();
+ * If you are using a non-default context, this should be passed to the executor's constructor.
+ */
+[[deprecated("use SingleThreadedExecutor::spin_some instead")]]
 RCLCPP_PUBLIC
 void
-spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+spin_some(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr);
 
+/**
+ * @brief Create a default single-threaded executor and execute any immediately available work.
+ * @param node_ptr Shared pointer to the node to spin.
+ *
+ * This method is deprecated because it can lead to very bad performance if used in a loop:
+ * each call will create a new executor and register the node, which is an expensive operation.
+ * It's recommended to always manually instantiate an executor and call the methods with
+ * the same name on it.
+ * For example:
+ *     SingleThreadedExecutor executor;
+ *     executor.add_node(node_ptr);
+ *     executor.spin_some();
+ * If you are using a non-default context, this should be passed to the executor's constructor.
+ */
+[[deprecated("use SingleThreadedExecutor::spin_some instead")]]
 RCLCPP_PUBLIC
 void
-spin_some(rclcpp::Node::SharedPtr node_ptr);
+spin_some(const rclcpp::Node::SharedPtr & node_ptr);
 
 /// Create a default single-threaded executor and spin the specified node.
 /** \param[in] node_ptr Shared pointer to the node to spin. */
 RCLCPP_PUBLIC
 void
-spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+spin(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr);
 
 RCLCPP_PUBLIC
 void
-spin(rclcpp::Node::SharedPtr node_ptr);
+spin(const rclcpp::Node::SharedPtr & node_ptr);
 
 namespace executors
 {
@@ -83,7 +140,7 @@ template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::mi
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
@@ -100,7 +157,7 @@ template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = in
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
-  std::shared_ptr<NodeT> node_ptr,
+  const std::shared_ptr<NodeT> & node_ptr,
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
@@ -116,7 +173,7 @@ spin_node_until_future_complete(
 template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_until_future_complete(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
@@ -130,7 +187,7 @@ template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = in
   typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_until_future_complete(
-  std::shared_ptr<NodeT> node_ptr,
+  const std::shared_ptr<NodeT> & node_ptr,
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {

rclcpp/include/rclcpp/executors/executor_entities_collector.hpp

@@ -63,7 +63,7 @@ public:
    */
   RCLCPP_PUBLIC
   explicit ExecutorEntitiesCollector(
-    std::shared_ptr<ExecutorNotifyWaitable> notify_waitable);
+    const std::shared_ptr<ExecutorNotifyWaitable> & notify_waitable);
 
   /// Destructor
   RCLCPP_PUBLIC
@@ -82,7 +82,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+  add_node(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr);
 
   /// Remove a node from the entity collector
   /**
@@ -92,7 +92,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+  remove_node(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr);
 
   /// Add a callback group to the entity collector
   /**
@@ -101,7 +101,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  add_callback_group(rclcpp::CallbackGroup::SharedPtr group_ptr);
+  add_callback_group(const rclcpp::CallbackGroup::SharedPtr & group_ptr);
 
   /// Remove a callback group from the entity collector
   /**
@@ -111,7 +111,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  remove_callback_group(rclcpp::CallbackGroup::SharedPtr group_ptr);
+  remove_callback_group(const rclcpp::CallbackGroup::SharedPtr & group_ptr);
 
   /// Get all callback groups known to this entity collector
   /**
@@ -211,7 +211,7 @@ protected:
   RCLCPP_PUBLIC
   void
   add_callback_group_to_collection(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
+    const rclcpp::CallbackGroup::SharedPtr & group_ptr,
     CallbackGroupCollection & collection)  RCPPUTILS_TSA_REQUIRES(mutex_);
 
   /// Iterate over queued added/remove nodes and callback_groups

rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp

@@ -19,6 +19,7 @@
 #include <memory>
 #include <mutex>
 #include <set>
+#include <vector>
 
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/waitable.hpp"
@@ -41,7 +42,10 @@ public:
    *   of this waitable has signaled the wait_set.
    */
   RCLCPP_PUBLIC
-  explicit ExecutorNotifyWaitable(std::function<void(void)> on_execute_callback = {});
+  explicit ExecutorNotifyWaitable(
+    const std::function<void(void)> & on_execute_callback = {},
+    const rclcpp::Context::SharedPtr & context =
+    rclcpp::contexts::get_global_default_context());
 
   // Destructor
   RCLCPP_PUBLIC
@@ -112,7 +116,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  add_guard_condition(rclcpp::GuardCondition::WeakPtr guard_condition);
+  add_guard_condition(const rclcpp::GuardCondition::WeakPtr & guard_condition);
 
   /// Unset any callback registered via set_on_ready_callback.
   /**
@@ -122,13 +126,21 @@ public:
   void
   clear_on_ready_callback() override;
 
+  /// Set a new callback to be called whenever this waitable is executed.
+  /**
+   * \param[in] on_execute_callback The new callback
+   */
+  RCLCPP_PUBLIC
+  void
+  set_execute_callback(std::function<void(void)> on_execute_callback);
+
   /// 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);
+  remove_guard_condition(const rclcpp::GuardCondition::WeakPtr & weak_guard_condition);
 
   /// Get the number of ready guard_conditions
   /**
@@ -138,17 +150,37 @@ public:
   size_t
   get_number_of_ready_guard_conditions() override;
 
+  /// Returns the number of used Timers
+  /**
+   * Will always return an empty vector.
+   */
+  RCLCPP_PUBLIC
+  std::vector<std::shared_ptr<rclcpp::TimerBase>>
+  get_timers() const override;
+
 private:
   /// Callback to run when waitable executes
   std::function<void(void)> execute_callback_;
 
+  /// Mutex to procetect the guard conditions
   std::mutex guard_condition_mutex_;
+  /// Mutex to protect the execute callback
+  std::mutex execute_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_;
+  std::set<rclcpp::GuardCondition::SharedPtr> notify_guard_conditions_;
+
+  /// The indixes were our guard conditions were stored in the
+  /// rcl waitset
+  std::vector<size_t> idxs_of_added_guard_condition_;
+
+  /// set to true, if we got a pending trigger
+  bool needs_processing = false;
+
+  /// A guard condition needed to generate wakeups
+  rclcpp::GuardCondition::SharedPtr guard_condition_;
 };
 
 }  // namespace executors

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -1,138 +0,0 @@
-// Copyright 2019 Nobleo Technology
-//
-// 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__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
-#define RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
-
-#include <atomic>
-#include <chrono>
-#include <memory>
-
-#include "rclcpp/executor.hpp"
-#include "rclcpp/executors/executor_entities_collection.hpp"
-#include "rclcpp/executors/single_threaded_executor.hpp"
-
-namespace rclcpp
-{
-namespace executors
-{
-
-/// Static executor implementation
-/**
- * This executor is a static version of the original single threaded executor.
- * It's static because it doesn't reconstruct the executable list for every iteration.
- * All nodes, callbackgroups, timers, subscriptions etc. are created before
- * spin() is called, and modified only when an entity is added/removed to/from a node.
- *
- * To run this executor instead of SingleThreadedExecutor replace:
- * rclcpp::executors::SingleThreadedExecutor exec;
- * by
- * rclcpp::executors::StaticSingleThreadedExecutor exec;
- * in your source code and spin node(s) in the following way:
- * exec.add_node(node);
- * exec.spin();
- * exec.remove_node(node);
- */
-class StaticSingleThreadedExecutor : public rclcpp::Executor
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(StaticSingleThreadedExecutor)
-
-  /// Default constructor. See the default constructor for Executor.
-  RCLCPP_PUBLIC
-  explicit StaticSingleThreadedExecutor(
-    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
-
-  /// Default destructor.
-  RCLCPP_PUBLIC
-  virtual ~StaticSingleThreadedExecutor();
-
-  /// Static executor implementation of spin.
-  /**
-   * This function will block until work comes in, execute it, and keep blocking.
-   * It will only be interrupted by a CTRL-C (managed by the global signal handler).
-   * \throws std::runtime_error when spin() called while already spinning
-   */
-  RCLCPP_PUBLIC
-  void
-  spin() override;
-
-  /// Static executor implementation of spin some
-  /**
-   * This non-blocking function will execute entities that
-   * were ready when this API was called, until timeout or no
-   * more work available. Entities that got ready while
-   * executing work, won't be taken into account here.
-   *
-   * Example:
-   *   while(condition) {
-   *     spin_some();
-   *     sleep(); // User should have some sync work or
-   *              // sleep to avoid a 100% CPU usage
-   *   }
-   */
-  RCLCPP_PUBLIC
-  void
-  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)) override;
-
-  /// Static executor implementation of spin all
-  /**
-   * This non-blocking function will execute entities until timeout (must be >= 0)
-   * or no more work available.
-   * If timeout is `0`, potentially it blocks forever until no more work is available.
-   * If new entities get ready while executing work available, they will be executed
-   * as long as the timeout hasn't expired.
-   *
-   * Example:
-   *   while(condition) {
-   *     spin_all();
-   *     sleep(); // User should have some sync work or
-   *              // sleep to avoid a 100% CPU usage
-   *   }
-   */
-  RCLCPP_PUBLIC
-  void
-  spin_all(std::chrono::nanoseconds max_duration) override;
-
-protected:
-  /**
-   * @brief Executes ready executables from wait set.
-   * @param collection entities to evaluate for ready executables.
-   * @param wait_result result to check for ready executables.
-   * @param spin_once if true executes only the first ready executable.
-   * @return true if any executable was ready.
-   */
-  bool
-  execute_ready_executables(
-    const rclcpp::executors::ExecutorEntitiesCollection & collection,
-    rclcpp::WaitResult<rclcpp::WaitSet> & wait_result,
-    bool spin_once);
-
-  void
-  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
-
-  void
-  spin_once_impl(std::chrono::nanoseconds timeout) override;
-
-  std::optional<rclcpp::WaitResult<rclcpp::WaitSet>>
-  collect_and_wait(std::chrono::nanoseconds timeout);
-
-private:
-  RCLCPP_DISABLE_COPY(StaticSingleThreadedExecutor)
-};
-
-}  // namespace executors
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_

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

@@ -178,6 +178,8 @@ public:
   void clear() override
   {
     TRACETOOLS_TRACEPOINT(rclcpp_ring_buffer_clear, static_cast<const void *>(this));
+    std::lock_guard<std::mutex> lock(mutex_);
+    clear_();
   }
 
 private:
@@ -227,6 +229,14 @@ private:
     return capacity_ - size_;
   }
 
+  inline void clear_()
+  {
+    ring_buffer_.clear();
+    size_ = 0;
+    read_index_ = 0;
+    write_index_ = capacity_ - 1;
+  }
+
   /// Traits for checking if a type is std::unique_ptr
   template<typename ...>
   struct is_std_unique_ptr final : std::false_type {};
@@ -255,9 +265,13 @@ private:
     std::vector<BufferT> result_vtr;
     result_vtr.reserve(size_);
     for (size_t id = 0; id < size_; ++id) {
-      result_vtr.emplace_back(
-        new typename is_std_unique_ptr<T>::Ptr_type(
-          *(ring_buffer_[(read_index_ + id) % capacity_])));
+      const auto & elem(ring_buffer_[(read_index_ + id) % capacity_]);
+      if (elem != nullptr) {
+        result_vtr.emplace_back(new typename is_std_unique_ptr<T>::Ptr_type(
+          *elem));
+      } else {
+        result_vtr.emplace_back(nullptr);
+      }
     }
     return result_vtr;
   }
@@ -292,7 +306,7 @@ private:
     return {};
   }
 
-  size_t capacity_;
+  const size_t capacity_;
 
   std::vector<BufferT> ring_buffer_;
 

rclcpp/include/rclcpp/experimental/create_intra_process_buffer.hpp

@@ -82,10 +82,9 @@ create_intra_process_buffer(
 
         break;
       }
-    default:
+    case IntraProcessBufferType::CallbackDefault:
       {
-        throw std::runtime_error("Unrecognized IntraProcessBufferType value");
-        break;
+        throw std::runtime_error("IntraProcessBufferType::CallbackDefault is not allowed");
       }
   }
 

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

@@ -59,24 +59,22 @@ namespace executors
  */
 class EventsExecutor : public rclcpp::Executor
 {
-  friend class EventsExecutorEntitiesCollector;
-
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(EventsExecutor)
 
   /// Default constructor. See the default constructor for Executor.
   /**
+   * \param[in] options Options used to configure the executor.
    * \param[in] events_queue The queue used to store events.
    * \param[in] execute_timers_separate_thread If true, timers are executed in a separate
    * thread. If false, timers are executed in the same thread as all other entities.
-   * \param[in] options Options used to configure the executor.
    */
   RCLCPP_PUBLIC
-  explicit EventsExecutor(
+  EventsExecutor(
+    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions(),
     rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue = std::make_unique<
       rclcpp::experimental::executors::SimpleEventsQueue>(),
-    bool execute_timers_separate_thread = false,
-    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
+    bool execute_timers_separate_thread = false);
 
   /// Default destructor.
   RCLCPP_PUBLIC
@@ -128,87 +126,6 @@ public:
   void
   spin_all(std::chrono::nanoseconds max_duration) override;
 
-  /// Add a node to the executor.
-  /**
-   * \sa rclcpp::Executor::add_node
-   */
-  RCLCPP_PUBLIC
-  void
-  add_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Convenience function which takes Node and forwards NodeBaseInterface.
-  /**
-   * \sa rclcpp::EventsExecutor::add_node
-   */
-  RCLCPP_PUBLIC
-  void
-  add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
-
-  /// Remove a node from the executor.
-  /**
-   * \sa rclcpp::Executor::remove_node
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Convenience function which takes Node and forwards NodeBaseInterface.
-  /**
-   * \sa rclcpp::Executor::remove_node
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
-
-  /// Add a callback group to an executor.
-  /**
-   * \sa rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  void
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Remove callback group from the executor
-  /**
-   * \sa rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_callback_group(
-    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;
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_manually_added_callback_groups()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups() override;
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes() override;
-
 protected:
   /// Internal implementation of spin_once
   RCLCPP_PUBLIC
@@ -220,6 +137,11 @@ protected:
   void
   spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
 
+  /// Collect entities from callback groups and refresh the current collection with them
+  RCLCPP_PUBLIC
+  void
+  handle_updated_entities(bool notify) override;
+
 private:
   RCLCPP_DISABLE_COPY(EventsExecutor)
 
@@ -227,9 +149,9 @@ private:
   void
   execute_event(const ExecutorEvent & event);
 
-  /// Collect entities from callback groups and refresh the current collection with them
+  /// Rebuilds the executor's notify waitable, as we can't use the one built in the base class
   void
-  refresh_current_collection_from_callback_groups();
+  setup_notify_waitable();
 
   /// Refresh the current collection using the provided new_collection
   void
@@ -253,6 +175,11 @@ private:
   typename CollectionType::EntitySharedPtr
   retrieve_entity(typename CollectionType::Key entity_id, CollectionType & collection)
   {
+    // Note: we lock the mutex because we assume that you are trying to get an element from the
+    // current collection... If there will be a use-case to retrieve elements also from other
+    // collections, we can move the mutex back to the calling codes.
+    std::lock_guard<std::mutex> guard(mutex_);
+
     // Check if the entity_id is in the collection
     auto it = collection.find(entity_id);
     if (it == collection.end()) {
@@ -273,16 +200,6 @@ private:
   /// 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_;
-
-  /// 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
   std::shared_ptr<rclcpp::experimental::TimersManager> timers_manager_;
 };

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -19,6 +19,7 @@
 
 #include <shared_mutex>
 
+#include <algorithm>
 #include <iterator>
 #include <memory>
 #include <stdexcept>
@@ -118,7 +119,8 @@ public:
     typename Alloc = std::allocator<ROSMessageType>
   >
   uint64_t
-  add_subscription(rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription)
+  add_subscription(
+    const rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr & subscription)
   {
     std::unique_lock<std::shared_timed_mutex> lock(mutex_);
 
@@ -175,8 +177,8 @@ public:
   RCLCPP_PUBLIC
   uint64_t
   add_publisher(
-    rclcpp::PublisherBase::SharedPtr publisher,
-    rclcpp::experimental::buffers::IntraProcessBufferBase::SharedPtr buffer =
+    const rclcpp::PublisherBase::SharedPtr & publisher,
+    const rclcpp::experimental::buffers::IntraProcessBufferBase::SharedPtr & buffer =
     rclcpp::experimental::buffers::IntraProcessBufferBase::SharedPtr());
 
   /// Unregister a publisher using the publisher's unique id.
@@ -386,6 +388,39 @@ private:
     std::vector<uint64_t> take_ownership_subscriptions;
   };
 
+  /// Hash function for rmw_gid_t to enable use in unordered_map
+  struct rmw_gid_hash
+  {
+    std::size_t operator()(const rmw_gid_t & gid) const noexcept
+    {
+      // Using the FNV-1a hash algorithm on the gid data
+      constexpr std::size_t FNV_prime = 1099511628211u;
+      std::size_t result = 14695981039346656037u;
+
+      for (std::size_t i = 0; i < RMW_GID_STORAGE_SIZE; ++i) {
+        result ^= gid.data[i];
+        result *= FNV_prime;
+      }
+      return result;
+    }
+  };
+
+  /// Equality comparison for rmw_gid_t to enable use in unordered_map
+  struct rmw_gid_equal
+  {
+    bool operator()(const rmw_gid_t & lhs, const rmw_gid_t & rhs) const noexcept
+    {
+      // Compare the data bytes only.
+      // implementation_identifier pointer comparison is not used here because
+      // intra-process communication is always within the same process and RMW,
+      // and pointer comparison is fragile across dynamically loaded components.
+      return std::equal(
+        std::begin(lhs.data),
+        std::end(lhs.data),
+        std::begin(rhs.data));
+    }
+  };
+
   using SubscriptionMap =
     std::unordered_map<uint64_t, rclcpp::experimental::SubscriptionIntraProcessBase::WeakPtr>;
 
@@ -398,6 +433,16 @@ private:
   using PublisherToSubscriptionIdsMap =
     std::unordered_map<uint64_t, SplittedSubscriptions>;
 
+  /// Structure to store publisher information in GID lookup map
+  struct PublisherInfo
+  {
+    uint64_t pub_id;
+    rclcpp::PublisherBase::WeakPtr publisher;
+  };
+
+  using GidToPublisherInfoMap =
+    std::unordered_map<rmw_gid_t, PublisherInfo, rmw_gid_hash, rmw_gid_equal>;
+
   RCLCPP_PUBLIC
   static
   uint64_t
@@ -410,8 +455,8 @@ private:
   RCLCPP_PUBLIC
   bool
   can_communicate(
-    rclcpp::PublisherBase::SharedPtr pub,
-    rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr sub) const;
+    const rclcpp::PublisherBase::SharedPtr & pub,
+    const rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr & sub) const;
 
   template<
     typename ROSMessageType,
@@ -642,6 +687,8 @@ private:
   PublisherBufferMap publisher_buffers_;
 
   mutable std::shared_timed_mutex mutex_;
+
+  GidToPublisherInfoMap gid_to_publisher_info_;
 };
 
 }  // namespace experimental

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -154,6 +154,29 @@ public:
     execute_impl<SubscribedType>(data);
   }
 
+  /// Disable callbacks from being called
+  /**
+    * This method will block, until any subscription's callbacks currently being executed are
+    * finished.
+    * This method is thread safe, and provides a safe way to atomically disable the callbacks.
+    */
+  void disable_callbacks() override
+  {
+    SubscriptionIntraProcessBase::disable_callbacks();
+    any_callback_.disable();
+  }
+
+  /// Enable the callbacks to be called
+  /**
+    * This method is thread safe, and provides a safe way to atomically enable the callbacks
+    * in a multithreaded environment.
+    */
+  void enable_callbacks() override
+  {
+    SubscriptionIntraProcessBase::enable_callbacks();
+    any_callback_.enable();
+  }
+
 protected:
   template<typename T>
   typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value, void>::type

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

@@ -19,6 +19,7 @@
 #include <memory>
 #include <mutex>
 #include <string>
+#include <vector>
 
 #include "rcl/wait.h"
 #include "rmw/impl/cpp/demangle.hpp"
@@ -78,15 +79,30 @@ public:
   take_data() override = 0;
 
   std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override
+  take_data_by_entity_id([[maybe_unused]] size_t id) override
   {
-    (void)id;
     return take_data();
   }
 
   void
   execute(const std::shared_ptr<void> & data) override = 0;
 
+  /// Disable callbacks from being called
+  /**
+   * This function temporary disable on_new_message_callback to prevent it from being called.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void disable_callbacks();
+
+  /// Enable the callbacks to be called
+  /**
+    * This function enable the on_new_message_callback if it was previously set.
+    */
+  RCLCPP_PUBLIC
+  virtual
+  void enable_callbacks();
+
   virtual
   bool
   use_take_shared_method() const = 0;
@@ -158,7 +174,7 @@ public:
         }
       };
 
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_new_message_callback_mutex_);
     on_new_message_callback_ = new_callback;
 
     if (unread_count_ > 0) {
@@ -176,13 +192,21 @@ public:
   void
   clear_on_ready_callback() override
   {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_new_message_callback_mutex_);
     on_new_message_callback_ = nullptr;
   }
 
+  RCLCPP_PUBLIC
+  std::vector<std::shared_ptr<rclcpp::TimerBase>>
+  get_timers() const override
+  {
+    return {};
+  }
+
 protected:
-  std::recursive_mutex callback_mutex_;
+  std::recursive_mutex on_new_message_callback_mutex_;
   std::function<void(size_t)> on_new_message_callback_ {nullptr};
+  bool on_new_message_callback_disabled_{false};
   size_t unread_count_{0};
   rclcpp::GuardCondition gc_;
 
@@ -192,11 +216,13 @@ protected:
   void
   invoke_on_new_message()
   {
-    std::lock_guard<std::recursive_mutex> lock(this->callback_mutex_);
-    if (this->on_new_message_callback_) {
-      this->on_new_message_callback_(1);
-    } else {
-      this->unread_count_++;
+    std::lock_guard<std::recursive_mutex> lock(this->on_new_message_callback_mutex_);
+    if (!on_new_message_callback_disabled_) {
+      if (this->on_new_message_callback_) {
+        this->on_new_message_callback_(1);
+      } else {
+        this->unread_count_++;
+      }
     }
   }
 

rclcpp/include/rclcpp/experimental/subscription_intra_process_buffer.hpp

@@ -110,9 +110,8 @@ public:
   }
 
   bool
-  is_ready(const rcl_wait_set_t & wait_set) override
+  is_ready([[maybe_unused]] const rcl_wait_set_t & wait_set) override
   {
-    (void) wait_set;
     return buffer_->has_data();
   }
 

rclcpp/include/rclcpp/experimental/timers_manager.hpp

@@ -103,7 +103,7 @@ public:
    * @throws std::invalid_argument if timer is a nullptr.
    */
   RCLCPP_PUBLIC
-  void add_timer(rclcpp::TimerBase::SharedPtr timer);
+  void add_timer(const rclcpp::TimerBase::SharedPtr & timer);
 
   /**
    * @brief Remove a single timer from the object storage.
@@ -113,7 +113,7 @@ public:
    * @param timer the timer to remove.
    */
   RCLCPP_PUBLIC
-  void remove_timer(rclcpp::TimerBase::SharedPtr timer);
+  void remove_timer(const rclcpp::TimerBase::SharedPtr & timer);
 
   /**
    * @brief Remove all the timers stored in the object.

rclcpp/include/rclcpp/generic_client.hpp

@@ -19,6 +19,7 @@
 #include <memory>
 #include <future>
 #include <string>
+#include <tuple>
 #include <vector>
 #include <utility>
 
@@ -35,8 +36,8 @@ namespace rclcpp
 class GenericClient : public ClientBase
 {
 public:
-  using Request = void *;   // Serialized data pointer of request message
-  using Response = void *;  // Serialized data pointer of response message
+  using Request = void *;   // Deserialized data pointer of request message
+  using Response = void *;  // Deserialized data pointer of response message
 
   using SharedResponse = std::shared_ptr<void>;
 
@@ -46,6 +47,8 @@ public:
   using Future = std::future<SharedResponse>;
   using SharedFuture = std::shared_future<SharedResponse>;
 
+  using CallbackType = std::function<void (SharedFuture)>;
+
   RCLCPP_SMART_PTR_DEFINITIONS(GenericClient)
 
   /// A convenient GenericClient::Future and request id pair.
@@ -76,9 +79,23 @@ public:
     ~FutureAndRequestId() = default;
   };
 
+  /// A convenient GenericClient::SharedFuture and request id pair.
+  /**
+   * Public members:
+   * - future: a std::shared_future<SharedResponse>.
+   * - request_id: the request id associated with the future.
+   *
+   * All the other methods are equivalent to the ones std::shared_future provides.
+   */
+  struct SharedFutureAndRequestId
+    : detail::FutureAndRequestId<std::shared_future<SharedResponse>>
+  {
+    using detail::FutureAndRequestId<std::shared_future<SharedResponse>>::FutureAndRequestId;
+  };
+
   GenericClient(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph,
     const std::string & service_name,
     const std::string & service_type,
     rcl_client_options_t & client_options);
@@ -94,8 +111,8 @@ public:
   RCLCPP_PUBLIC
   void
   handle_response(
-    std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<void> response) override;
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & response) override;
 
   /// Send a request to the service server.
   /**
@@ -106,16 +123,16 @@ public:
    * If the future never completes,
    * e.g. the call to Executor::spin_until_future_complete() times out,
    * GenericClient::remove_pending_request() must be called to clean the client internal state.
-   * Not doing so will make the `Client` instance to use more memory each time a response is not
-   * received from the service server.
+   * Not doing so will make the `GenericClient` instance to use more memory each time a response is
+   * not received from the service server.
    *
    * ```cpp
-   * auto future = client->async_send_request(my_request);
+   * auto future = generic_client->async_send_request(my_request);
    * if (
    *   rclcpp::FutureReturnCode::TIMEOUT ==
    *   executor->spin_until_future_complete(future, timeout))
    * {
-   *   client->remove_pending_request(future);
+   *   generic_client->remove_pending_request(future);
    *   // handle timeout
    * } else {
    *   handle_response(future.get());
@@ -127,7 +144,46 @@ public:
    */
   RCLCPP_PUBLIC
   FutureAndRequestId
-  async_send_request(const Request request);
+  async_send_request(const Request & request);
+
+  /// Send a request to the service server and schedule a callback in the executor.
+  /**
+   * Similar to the previous overload, but a callback will automatically be called when a response
+   * is received.
+   *
+   * If the callback is never called, because we never got a reply for the service server,
+   * remove_pending_request() has to be called with the returned request id or
+   * prune_pending_requests().
+   * Not doing so will make the `GenericClient` instance use more memory each time a response is not
+   * received from the service server.
+   * In this case, it's convenient to setup a timer to cleanup the pending requests.
+   *
+   * \param[in] request request to be send.
+   * \param[in] cb callback that will be called when we get a response for this request.
+   * \return the request id representing the request just sent.
+   */
+  template<
+    typename CallbackT,
+    typename std::enable_if<
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        CallbackType
+      >::value
+    >::type * = nullptr
+  >
+  SharedFutureAndRequestId
+  async_send_request(const Request & request, CallbackT && cb)
+  {
+    Promise promise;
+    auto shared_future = promise.get_future().share();
+    auto req_id = async_send_request_impl(
+      request,
+      std::make_tuple(
+        CallbackType{std::forward<CallbackT>(cb)},
+        shared_future,
+        std::move(promise)));
+    return SharedFutureAndRequestId{std::move(shared_future), req_id};
+  }
 
   /// Clean all pending requests older than a time_point.
   /**
@@ -149,15 +205,52 @@ public:
       pruned_requests);
   }
 
+  /// Clean all pending requests.
+  /**
+   * \return number of pending requests that were removed.
+   */
   RCLCPP_PUBLIC
   size_t
   prune_pending_requests();
 
+  /// Cleanup a pending request.
+  /**
+   * This notifies the client that we have waited long enough for a response from the server
+   * to come, we have given up and we are not waiting for a response anymore.
+   *
+   * Not calling this will make the client start using more memory for each request
+   * that never got a reply from the server.
+   *
+   * \param[in] request_id request id returned by async_send_request().
+   * \return true when a pending request was removed, false if not (e.g. a response was received).
+   */
   RCLCPP_PUBLIC
   bool
   remove_pending_request(
     int64_t request_id);
 
+  /// Cleanup a pending request.
+  /**
+   * Convenient overload, same as:
+   *
+   * `GenericClient::remove_pending_request(this, future.request_id)`.
+   */
+  RCLCPP_PUBLIC
+  bool
+  remove_pending_request(
+    const FutureAndRequestId & future);
+
+  /// Cleanup a pending request.
+  /**
+   * Convenient overload, same as:
+   *
+   * `GenericClient::remove_pending_request(this, future.request_id)`.
+   */
+  RCLCPP_PUBLIC
+  bool
+  remove_pending_request(
+    const SharedFutureAndRequestId & future);
+
   /// Take the next response for this client.
   /**
    * \sa ClientBase::take_type_erased_response().
@@ -179,12 +272,15 @@ public:
   }
 
 protected:
+  using CallbackTypeValueVariant = std::tuple<CallbackType, SharedFuture, Promise>;
   using CallbackInfoVariant = std::variant<
-    std::promise<SharedResponse>>;  // Use variant for extension
+    std::promise<SharedResponse>,
+    CallbackTypeValueVariant>;  // Use variant for extension
 
+  RCLCPP_PUBLIC
   int64_t
   async_send_request_impl(
-    const Request request,
+    const Request & request,
     CallbackInfoVariant value);
 
   std::optional<CallbackInfoVariant>

rclcpp/include/rclcpp/generic_service.hpp

@@ -0,0 +1,308 @@
+// Copyright 2024 Sony Group 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__GENERIC_SERVICE_HPP_
+#define RCLCPP__GENERIC_SERVICE_HPP_
+
+#include <cstdlib>
+#include <functional>
+#include <memory>
+#include <string>
+#include <type_traits>
+#include <utility>
+#include <variant>
+
+#include "rclcpp/typesupport_helpers.hpp"
+
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
+#include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
+
+#include "service.hpp"
+
+namespace rclcpp
+{
+class GenericService;
+
+class GenericServiceCallback
+{
+public:
+  using SharedRequest = std::shared_ptr<void>;
+  using SharedResponse = std::shared_ptr<void>;
+
+  GenericServiceCallback()
+  : callback_(std::monostate{})
+  {}
+
+  template<
+    typename CallbackT,
+    typename std::enable_if_t<!detail::can_be_nullptr<CallbackT>::value, int> = 0>
+  void
+  set(CallbackT && callback)
+  {
+    // Workaround Windows issue with std::bind
+    if constexpr (
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrCallback>(callback);
+    } else if constexpr (  // NOLINT, can't satisfy both cpplint and uncrustify
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrWithRequestHeaderCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrWithRequestHeaderCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallbackWithServiceHandle
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallbackWithServiceHandle>(callback);
+    } else {
+      // the else clause is not needed, but anyways we should only be doing this instead
+      // of all the above workaround ...
+      callback_ = std::forward<CallbackT>(callback);
+    }
+  }
+
+  template<
+    typename CallbackT,
+    typename std::enable_if_t<detail::can_be_nullptr<CallbackT>::value, int> = 0>
+  void
+  set(CallbackT && callback)
+  {
+    if (!callback) {
+      throw std::invalid_argument("AnyServiceCallback::set(): callback cannot be nullptr");
+    }
+    // Workaround Windows issue with std::bind
+    if constexpr (
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrWithRequestHeaderCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrWithRequestHeaderCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallbackWithServiceHandle
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallbackWithServiceHandle>(callback);
+    } else {
+      // the else clause is not needed, but anyways we should only be doing this instead
+      // of all the above workaround ...
+      callback_ = std::forward<CallbackT>(callback);
+    }
+  }
+
+  SharedResponse
+  dispatch(
+    const std::shared_ptr<rclcpp::GenericService> & service_handle,
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    SharedRequest request,
+    SharedRequest response)
+  {
+    TRACETOOLS_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.
+      throw std::runtime_error{"unexpected request without any callback set"};
+    }
+    if (std::holds_alternative<SharedPtrDeferResponseCallback>(callback_)) {
+      const auto & cb = std::get<SharedPtrDeferResponseCallback>(callback_);
+      cb(request_header, std::move(request));
+      return nullptr;
+    }
+    if (std::holds_alternative<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_)) {
+      const auto & cb = std::get<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_);
+      cb(service_handle, request_header, std::move(request));
+      return nullptr;
+    }
+
+    if (std::holds_alternative<SharedPtrCallback>(callback_)) {
+      (void)request_header;
+      const auto & cb = std::get<SharedPtrCallback>(callback_);
+      cb(std::move(request), response);
+    } else if (std::holds_alternative<SharedPtrWithRequestHeaderCallback>(callback_)) {
+      const auto & cb = std::get<SharedPtrWithRequestHeaderCallback>(callback_);
+      cb(request_header, std::move(request), response);
+    }
+    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    return response;
+  }
+
+  void register_callback_for_tracing()
+  {
+#ifndef TRACETOOLS_DISABLED
+    std::visit(
+      [this](auto && arg) {
+        if (TRACETOOLS_TRACEPOINT_ENABLED(rclcpp_callback_register)) {
+          char * symbol = tracetools::get_symbol(arg);
+          TRACETOOLS_DO_TRACEPOINT(
+            rclcpp_callback_register,
+            static_cast<const void *>(this),
+            symbol);
+          std::free(symbol);
+        }
+      }, callback_);
+#endif  // TRACETOOLS_DISABLED
+  }
+
+private:
+  using SharedPtrCallback = std::function<void (SharedRequest, SharedResponse)>;
+  using SharedPtrWithRequestHeaderCallback = std::function<
+    void (
+      std::shared_ptr<rmw_request_id_t>,
+      SharedRequest,
+      SharedResponse
+    )>;
+  using SharedPtrDeferResponseCallback = std::function<
+    void (
+      std::shared_ptr<rmw_request_id_t>,
+      SharedRequest
+    )>;
+  using SharedPtrDeferResponseCallbackWithServiceHandle = std::function<
+    void (
+      std::shared_ptr<rclcpp::GenericService>,
+      std::shared_ptr<rmw_request_id_t>,
+      SharedRequest
+    )>;
+
+  std::variant<
+    std::monostate,
+    SharedPtrCallback,
+    SharedPtrWithRequestHeaderCallback,
+    SharedPtrDeferResponseCallback,
+    SharedPtrDeferResponseCallbackWithServiceHandle> callback_;
+};
+
+class GenericService
+  : public ServiceBase,
+  public std::enable_shared_from_this<GenericService>
+{
+public:
+  using Request = void *;  // Serialized/Deserialized data pointer of request message
+  using Response = void *;  // Serialized/Deserialized data pointer of response message
+  using SharedRequest = std::shared_ptr<void>;
+  using SharedResponse = std::shared_ptr<void>;
+  using CallbackType = std::function<void (const SharedRequest, SharedResponse)>;
+
+  using CallbackWithHeaderType =
+    std::function<void (const std::shared_ptr<rmw_request_id_t>,
+      const SharedRequest,
+      SharedResponse)>;
+
+  RCLCPP_SMART_PTR_DEFINITIONS(GenericService)
+
+  /// Default constructor.
+  /**
+   * The constructor for a Service is almost never called directly.
+   * Instead, services should be instantiated through the function
+   * rclcpp::create_service().
+   *
+   * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
+   * \param[in] service_name Name of the topic to publish to.
+   * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool".
+   * \param[in] any_callback User defined callback to call when a client request is received.
+   * \param[in] service_options options for the service.
+   */
+  RCLCPP_PUBLIC
+  GenericService(
+    const std::shared_ptr<rcl_node_t> & node_handle,
+    const std::string & service_name,
+    const std::string & service_type,
+    GenericServiceCallback any_callback,
+    rcl_service_options_t & service_options);
+
+  GenericService() = delete;
+
+  RCLCPP_PUBLIC
+  virtual ~GenericService() {}
+
+  /// Take the next request from the service.
+  /**
+   * \sa ServiceBase::take_type_erased_request().
+   *
+   * \param[out] request_out The reference to a service deserialized request object
+   *   into which the middleware will copy the taken request.
+   * \param[out] request_id_out The output id for the request which can be used
+   *   to associate response with this request in the future.
+   * \returns true if the request was taken, otherwise false.
+   * \throws rclcpp::exceptions::RCLError based exceptions if the underlying
+   *   rcl calls fail.
+   */
+  RCLCPP_PUBLIC
+  bool
+  take_request(SharedRequest & request_out, rmw_request_id_t & request_id_out);
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<void>
+  create_request() override;
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<void>
+  create_response();
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<rmw_request_id_t>
+  create_request_header() override;
+
+  RCLCPP_PUBLIC
+  void
+  handle_request(
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & request) override;
+
+  RCLCPP_PUBLIC
+  void
+  send_response(rmw_request_id_t & req_id, SharedResponse & response);
+
+private:
+  RCLCPP_DISABLE_COPY(GenericService)
+
+  GenericServiceCallback any_callback_;
+
+  std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
+  const rosidl_typesupport_introspection_cpp::MessageMembers * request_members_;
+  const rosidl_typesupport_introspection_cpp::MessageMembers * response_members_;
+};
+
+}  // namespace rclcpp
+#endif  // RCLCPP__GENERIC_SERVICE_HPP_

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -80,7 +80,7 @@ public:
       node_base,
       *rclcpp::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
       topic_name,
-      options.to_rcl_subscription_options(qos),
+      force_cpu_buffer_backend_(options).to_rcl_subscription_options(qos),
       options.event_callbacks,
       options.use_default_callbacks,
       DeliveredMessageKind::SERIALIZED_MESSAGE),
@@ -111,6 +111,26 @@ public:
   RCLCPP_PUBLIC
   std::shared_ptr<rclcpp::SerializedMessage> create_serialized_message() override;
 
+  /// Disable callbacks from being called
+  /**
+    * This method will block, until any subscription's callbacks provided during construction
+    * currently being executed are finished.
+    * \note This method also temporary removes the on new message callback and all
+    * on new event callbacks from the rmw layer to prevent them from being called. However, this
+    * method will not block and wait until the currently executing on_new_[message]event callbacks
+    * are finished.
+    */
+  RCLCPP_PUBLIC
+  void disable_callbacks() override;
+
+  /// Enable the callbacks to be called
+  /**
+    * This method is thread safe, and provides a safe way to atomically enable the callbacks
+    * in a multithreaded environment.
+    */
+  RCLCPP_PUBLIC
+  void enable_callbacks() override;
+
   /// Cast the message to a rclcpp::SerializedMessage and call the callback.
   RCLCPP_PUBLIC
   void handle_message(
@@ -162,6 +182,17 @@ public:
 
 private:
   RCLCPP_DISABLE_COPY(GenericSubscription)
+
+  template<typename AllocatorT>
+  static rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>
+  force_cpu_buffer_backend_(
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
+  {
+    auto opts = options;
+    opts.acceptable_buffer_backends = "cpu";
+    return opts;
+  }
+
   AnySubscriptionCallback<rclcpp::SerializedMessage, std::allocator<void>> any_callback_;
   // The type support library should stay loaded, so it is stored in the GenericSubscription
   std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;

rclcpp/include/rclcpp/graph_listener.hpp

@@ -154,6 +154,12 @@ public:
   bool
   is_shutdown();
 
+  /// Return true if the graph listener was started.
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  is_started();
+
 protected:
   /// Main function for the listening thread.
   RCLCPP_PUBLIC
@@ -181,7 +187,6 @@ private:
   void
   __shutdown();
 
-  std::weak_ptr<rclcpp::Context> weak_parent_context_;
   std::shared_ptr<rcl_context_t> rcl_parent_context_;
 
   std::thread listener_thread_;

rclcpp/include/rclcpp/guard_condition.hpp

@@ -120,7 +120,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  set_on_trigger_callback(std::function<void(size_t)> callback);
+  set_on_trigger_callback(const std::function<void(size_t)> & callback);
 
 protected:
   rcl_guard_condition_t rcl_guard_condition_;

rclcpp/include/rclcpp/loaned_message.hpp

@@ -31,21 +31,20 @@ namespace rclcpp
 template<typename MessageT, typename AllocatorT = std::allocator<void>>
 class LoanedMessage
 {
+public:
   using MessageAllocatorTraits = rclcpp::allocator::AllocRebind<MessageT, AllocatorT>;
   using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
 
-public:
   /// Constructor of the LoanedMessage class.
   /**
    * The constructor of this class allocates memory for a given message type
    * and associates this with a given publisher.
    *
-   * Given the publisher instance, a case differentiation is being performaned
-   * which decides whether the underlying middleware is able to allocate the appropriate
-   * memory for this message type or not.
-   * In the case that the middleware can not loan messages, the passed in allocator instance
-   * is being used to allocate the message within the scope of this class.
-   * Otherwise, the allocator is being ignored and the allocation is solely performaned
+   * The underlying middleware is queried to determine whether it is able to allocate the
+   * appropriate memory for this message type or not.
+   * In the case that the middleware cannot loan messages, the passed in allocator instance
+   * is used to allocate the message within the scope of this class.
+   * Otherwise, the allocator is ignored and the allocation is solely performed
    * in the underlying middleware with its appropriate allocation strategy.
    * The need for this arises as the user code can be written explicitly targeting a middleware
    * capable of loaning messages.
@@ -53,12 +52,12 @@ public:
    * a middleware which doesn't support message loaning in which case the allocator will be used.
    *
    * \param[in] pub rclcpp::Publisher instance to which the memory belongs
-   * \param[in] allocator Allocator instance in case middleware can not allocate messages
+   * \param[in] allocator Allocator instance in case middleware cannot allocate messages
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    */
   LoanedMessage(
     const rclcpp::PublisherBase & pub,
-    std::allocator<MessageT> allocator)
+    MessageAllocator allocator)
   : pub_(pub),
     message_(nullptr),
     message_allocator_(std::move(allocator))
@@ -82,36 +81,6 @@ public:
     }
   }
 
-  /// Constructor of the LoanedMessage class.
-  /**
-   * The constructor of this class allocates memory for a given message type
-   * and associates this with a given publisher.
-   *
-   * Given the publisher instance, a case differentiation is being performaned
-   * which decides whether the underlying middleware is able to allocate the appropriate
-   * memory for this message type or not.
-   * In the case that the middleware can not loan messages, the passed in allocator instance
-   * is being used to allocate the message within the scope of this class.
-   * Otherwise, the allocator is being ignored and the allocation is solely performaned
-   * in the underlying middleware with its appropriate allocation strategy.
-   * The need for this arises as the user code can be written explicitly targeting a middleware
-   * capable of loaning messages.
-   * However, this user code is ought to be usable even when dynamically linked against
-   * a middleware which doesn't support message loaning in which case the allocator will be used.
-   *
-   * \param[in] pub rclcpp::Publisher instance to which the memory belongs
-   * \param[in] allocator Allocator instance in case middleware can not allocate messages
-   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
-   */
-  [[
-    deprecated("used the LoanedMessage constructor that does not use a shared_ptr to the allocator")
-  ]]
-  LoanedMessage(
-    const rclcpp::PublisherBase * pub,
-    std::shared_ptr<std::allocator<MessageT>> allocator)
-  : LoanedMessage(*pub, *allocator)
-  {}
-
   /// Move semantic for RVO
   LoanedMessage(LoanedMessage<MessageT> && other)
   : pub_(std::move(other.pub_)),

rclcpp/include/rclcpp/logger.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__LOGGER_HPP_
 #define RCLCPP__LOGGER_HPP_
 
+#include <filesystem>
 #include <memory>
 #include <string>
 #include <utility>
@@ -86,8 +87,8 @@ get_node_logger(const rcl_node_t * node);
  * \throws rclcpp::exceptions::RCLError if an unexpected error occurs.
  */
 RCLCPP_PUBLIC
-rcpputils::fs::path
-get_logging_directory();
+std::filesystem::path
+get_log_directory();
 
 class Logger
 {

rclcpp/include/rclcpp/logging.hpp

@@ -0,0 +1,983 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__LOGGING_HPP_
+#define RCLCPP__LOGGING_HPP_
+
+#include <sstream>
+#include <type_traits>
+
+#include "rclcpp/logger.hpp"
+#include "rcutils/logging_macros.h"
+
+// These are used for compiling out logging macros lower than a minimum severity.
+#define RCLCPP_LOG_MIN_SEVERITY_DEBUG 0
+#define RCLCPP_LOG_MIN_SEVERITY_INFO 1
+#define RCLCPP_LOG_MIN_SEVERITY_WARN 2
+#define RCLCPP_LOG_MIN_SEVERITY_ERROR 3
+#define RCLCPP_LOG_MIN_SEVERITY_FATAL 4
+#define RCLCPP_LOG_MIN_SEVERITY_NONE 5
+
+#define RCLCPP_STATIC_ASSERT_LOGGER(logger) \
+  do { \
+    static_assert( \
+      ::std::is_convertible_v<decltype(logger), ::rclcpp::Logger>, \
+      "First argument to logging macros must be an rclcpp::Logger"); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG
+ * Log a message with given severity.
+ * \param logger The `rclcpp::Logger` to use
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG(severity, logger, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_NAMED(severity, (logger).get_name(), __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_ONCE
+ * Log a message with given severity with the following condition:
+ * - All log calls except the first one are ignored.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_ONCE(severity, logger, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_ONCE_NAMED(severity, (logger).get_name(), __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_EXPRESSION
+ * Log a message with given severity with the following condition:
+ * - Log calls are ignored when the expression evaluates to false.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param expression The expression determining if the message should be logged
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_EXPRESSION(severity, logger, expression, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_EXPRESSION_NAMED(severity, expression, (logger).get_name(), __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_FUNCTION
+ * Log a message with given severity with the following condition:
+ * - Log calls are ignored when the function returns false.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param function The functions return value determines if the message should be logged
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_FUNCTION(severity, logger, function, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_FUNCTION_NAMED(severity, function, (logger).get_name(), __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_SKIPFIRST
+ * Log a message with given severity with the following condition:
+ * - The first log call is ignored but all subsequent calls are processed.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_SKIPFIRST(severity, logger, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_SKIPFIRST_NAMED(severity, (logger).get_name(), __VA_ARGS__); \
+  } while (0)
+
+#define RCLCPP_LOG_TIME_POINT_FUNC(clock) \
+  [&c = clock](rcutils_time_point_value_t * time_point)->rcutils_ret_t { \
+    try { \
+      *time_point = c.now().nanoseconds(); \
+    } catch (...) { \
+      RCUTILS_SAFE_FWRITE_TO_STDERR( \
+      "[rclcpp|logging.hpp] RCLCPP_DEBUG_THROTTLE could not get current time stamp\n"); \
+      return RCUTILS_RET_ERROR; \
+    } \
+    return RCUTILS_RET_OK; \
+  }
+
+/**
+ * \def RCLCPP_LOG_THROTTLE
+ * Log a message with given severity with the following condition:
+ * - Log calls are ignored if the last logged message is not longer ago than the specified duration.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param clock rclcpp::Clock that will be used to get the time point.
+ * \param duration The duration of the throttle interval as an integral value in milliseconds.
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_THROTTLE(severity, logger, clock, duration, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_THROTTLE_NAMED( \
+      severity, \
+      RCLCPP_LOG_TIME_POINT_FUNC(clock), \
+      duration, \
+      (logger).get_name(), \
+      __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_SKIPFIRST_THROTTLE
+ * Log a message with given severity with the following conditions:
+ * - The first log call is ignored but all subsequent calls are processed.
+ * - Log calls are ignored if the last logged message is not longer ago than the specified duration.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param clock rclcpp::Clock that will be used to get the time point.
+ * \param duration The duration of the throttle interval as an integral value in milliseconds.
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_SKIPFIRST_THROTTLE(severity, logger, clock, duration, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_SKIPFIRST_THROTTLE_NAMED( \
+      severity, \
+      RCLCPP_LOG_TIME_POINT_FUNC(clock), \
+      duration, \
+      (logger).get_name(), \
+      __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM
+ * Log a message with given severity.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM(severity, logger, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_NAMED(severity, (logger).get_name(), "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_ONCE
+ * Log a message with given severity with the following condition:
+ * - All log calls except the first one are ignored.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_ONCE(severity, logger, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_ONCE_NAMED(severity, (logger).get_name(), "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_EXPRESSION
+ * Log a message with given severity with the following condition:
+ * - Log calls are being ignored when the expression evaluates to false.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param expression The expression determining if the message should be logged
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_EXPRESSION(severity, logger, expression, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_EXPRESSION_NAMED( \
+      severity, \
+      expression, \
+      (logger).get_name(), \
+      "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_FUNCTION
+ * Log a message with given severity with the following condition:
+ * - Log calls are being ignored when the function returns false.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param function The functions return value determines if the message should be logged
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_FUNCTION(severity, logger, function, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_FUNCTION_NAMED( \
+      severity, \
+      function, \
+      (logger).get_name(), \
+      "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_SKIPFIRST
+ * Log a message with given severity with the following condition:
+ * - The first log call is ignored but all subsequent calls are processed.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_SKIPFIRST(severity, logger, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_SKIPFIRST_NAMED( \
+      severity, \
+      (logger).get_name(), \
+      "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_THROTTLE
+ * Log a message with given severity with the following condition:
+ * - Log calls are ignored if the last logged message is not longer ago than the specified duration.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param clock rclcpp::Clock that will be used to get the time point.
+ * \param duration The duration of the throttle interval as an integral value in milliseconds.
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_THROTTLE(severity, logger, clock, duration, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_THROTTLE_NAMED( \
+      severity, \
+      RCLCPP_LOG_TIME_POINT_FUNC(clock), \
+      duration, \
+      (logger).get_name(), \
+      "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ * Log a message with given severity with the following conditions:
+ * - The first log call is ignored but all subsequent calls are processed.
+ * - Log calls are ignored if the last logged message is not longer ago than the specified duration.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param clock rclcpp::Clock that will be used to get the time point.
+ * \param duration The duration of the throttle interval as an integral value in milliseconds.
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(severity, logger, clock, duration, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_SKIPFIRST_THROTTLE_NAMED( \
+      severity, \
+      RCLCPP_LOG_TIME_POINT_FUNC(clock), \
+      duration, \
+      (logger).get_name(), \
+      "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_MIN_SEVERITY
+ * Define RCLCPP_LOG_MIN_SEVERITY=RCLCPP_LOG_MIN_SEVERITY_[DEBUG|INFO|WARN|ERROR|FATAL]
+ * in your build options to compile out anything below that severity.
+ * Use RCLCPP_LOG_MIN_SEVERITY_NONE to compile out all macros.
+ */
+#ifndef RCLCPP_LOG_MIN_SEVERITY
+#define RCLCPP_LOG_MIN_SEVERITY RCLCPP_LOG_MIN_SEVERITY_DEBUG
+#endif
+
+/** @name Logging macros for severity DEBUG.
+ */
+#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_DEBUG)
+// empty logging macros for severity DEBUG when being disabled at compile time
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_SKIPFIRST_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_SKIPFIRST_THROTTLE(...)
+
+#else
+/**
+ * \def RCLCPP_DEBUG
+ * \copydoc RCLCPP_LOG
+ */
+#define RCLCPP_DEBUG(logger, ...) RCLCPP_LOG(RCUTILS_LOG_SEVERITY_DEBUG, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_ONCE
+ * \copydoc RCLCPP_LOG_ONCE
+ */
+#define RCLCPP_DEBUG_ONCE(logger, ...) \
+  RCLCPP_LOG_ONCE(RCUTILS_LOG_SEVERITY_DEBUG, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_EXPRESSION
+ * \copydoc RCLCPP_LOG_EXPRESSION
+ */
+#define RCLCPP_DEBUG_EXPRESSION(logger, expression, ...) \
+  RCLCPP_LOG_EXPRESSION(RCUTILS_LOG_SEVERITY_DEBUG, logger, expression, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_FUNCTION
+ * \copydoc RCLCPP_LOG_FUNCTION
+ */
+#define RCLCPP_DEBUG_FUNCTION(logger, function, ...) \
+  RCLCPP_LOG_FUNCTION(RCUTILS_LOG_SEVERITY_DEBUG, logger, function, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_SKIPFIRST
+ * \copydoc RCLCPP_LOG_SKIPFIRST
+ */
+#define RCLCPP_DEBUG_SKIPFIRST(logger, ...) \
+  RCLCPP_LOG_SKIPFIRST(RCUTILS_LOG_SEVERITY_DEBUG, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_THROTTLE
+ * \copydoc RCLCPP_LOG_THROTTLE
+ */
+#define RCLCPP_DEBUG_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_THROTTLE(RCUTILS_LOG_SEVERITY_DEBUG, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_DEBUG_SKIPFIRST_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_DEBUG, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM
+ * \copydoc RCLCPP_LOG_STREAM
+ */
+#define RCLCPP_DEBUG_STREAM(logger, stream_arg) \
+  RCLCPP_LOG_STREAM(RCUTILS_LOG_SEVERITY_DEBUG, logger, stream_arg)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_ONCE
+ * \copydoc RCLCPP_LOG_STREAM_ONCE
+ */
+#define RCLCPP_DEBUG_STREAM_ONCE(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_ONCE(RCUTILS_LOG_SEVERITY_DEBUG, logger, stream_arg)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_EXPRESSION
+ * \copydoc RCLCPP_LOG_STREAM_EXPRESSION
+ */
+#define RCLCPP_DEBUG_STREAM_EXPRESSION(logger, expression, stream_arg) \
+  RCLCPP_LOG_STREAM_EXPRESSION(RCUTILS_LOG_SEVERITY_DEBUG, logger, expression, stream_arg)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_FUNCTION
+ * \copydoc RCLCPP_LOG_STREAM_FUNCTION
+ */
+#define RCLCPP_DEBUG_STREAM_FUNCTION(logger, function, stream_arg) \
+  RCLCPP_LOG_STREAM_FUNCTION(RCUTILS_LOG_SEVERITY_DEBUG, logger, function, stream_args)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_SKIPFIRST
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST
+ */
+#define RCLCPP_DEBUG_STREAM_SKIPFIRST(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST(RCUTILS_LOG_SEVERITY_DEBUG, logger, stream_arg)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_THROTTLE
+ */
+#define RCLCPP_DEBUG_STREAM_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_THROTTLE(RCUTILS_LOG_SEVERITY_DEBUG, logger, clock, duration, stream_arg)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_DEBUG_STREAM_SKIPFIRST_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_DEBUG, logger, clock, duration, \
+    stream_arg)
+
+#endif
+
+/** @name Logging macros for severity INFO.
+ */
+#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_INFO)
+// empty logging macros for severity INFO when being disabled at compile time
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_SKIPFIRST_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_SKIPFIRST_THROTTLE(...)
+
+#else
+/**
+ * \def RCLCPP_INFO
+ * \copydoc RCLCPP_LOG
+ */
+#define RCLCPP_INFO(logger, ...) RCLCPP_LOG(RCUTILS_LOG_SEVERITY_INFO, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_ONCE
+ * \copydoc RCLCPP_LOG_ONCE
+ */
+#define RCLCPP_INFO_ONCE(logger, ...) \
+  RCLCPP_LOG_ONCE(RCUTILS_LOG_SEVERITY_INFO, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_EXPRESSION
+ * \copydoc RCLCPP_LOG_EXPRESSION
+ */
+#define RCLCPP_INFO_EXPRESSION(logger, expression, ...) \
+  RCLCPP_LOG_EXPRESSION(RCUTILS_LOG_SEVERITY_INFO, logger, expression, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_FUNCTION
+ * \copydoc RCLCPP_LOG_FUNCTION
+ */
+#define RCLCPP_INFO_FUNCTION(logger, function, ...) \
+  RCLCPP_LOG_FUNCTION(RCUTILS_LOG_SEVERITY_INFO, logger, function, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_SKIPFIRST
+ * \copydoc RCLCPP_LOG_SKIPFIRST
+ */
+#define RCLCPP_INFO_SKIPFIRST(logger, ...) \
+  RCLCPP_LOG_SKIPFIRST(RCUTILS_LOG_SEVERITY_INFO, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_THROTTLE
+ * \copydoc RCLCPP_LOG_THROTTLE
+ */
+#define RCLCPP_INFO_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_THROTTLE(RCUTILS_LOG_SEVERITY_INFO, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_INFO_SKIPFIRST_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_INFO, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_STREAM
+ * \copydoc RCLCPP_LOG_STREAM
+ */
+#define RCLCPP_INFO_STREAM(logger, stream_arg) \
+  RCLCPP_LOG_STREAM(RCUTILS_LOG_SEVERITY_INFO, logger, stream_arg)
+
+/**
+ * \def RCLCPP_INFO_STREAM_ONCE
+ * \copydoc RCLCPP_LOG_STREAM_ONCE
+ */
+#define RCLCPP_INFO_STREAM_ONCE(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_ONCE(RCUTILS_LOG_SEVERITY_INFO, logger, stream_arg)
+
+/**
+ * \def RCLCPP_INFO_STREAM_EXPRESSION
+ * \copydoc RCLCPP_LOG_STREAM_EXPRESSION
+ */
+#define RCLCPP_INFO_STREAM_EXPRESSION(logger, expression, stream_arg) \
+  RCLCPP_LOG_STREAM_EXPRESSION(RCUTILS_LOG_SEVERITY_INFO, logger, expression, stream_arg)
+
+/**
+ * \def RCLCPP_INFO_STREAM_FUNCTION
+ * \copydoc RCLCPP_LOG_STREAM_FUNCTION
+ */
+#define RCLCPP_INFO_STREAM_FUNCTION(logger, function, stream_arg) \
+  RCLCPP_LOG_STREAM_FUNCTION(RCUTILS_LOG_SEVERITY_INFO, logger, function, stream_args)
+
+/**
+ * \def RCLCPP_INFO_STREAM_SKIPFIRST
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST
+ */
+#define RCLCPP_INFO_STREAM_SKIPFIRST(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST(RCUTILS_LOG_SEVERITY_INFO, logger, stream_arg)
+
+/**
+ * \def RCLCPP_INFO_STREAM_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_THROTTLE
+ */
+#define RCLCPP_INFO_STREAM_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_THROTTLE(RCUTILS_LOG_SEVERITY_INFO, logger, clock, duration, stream_arg)
+
+/**
+ * \def RCLCPP_INFO_STREAM_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_INFO_STREAM_SKIPFIRST_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_INFO, logger, clock, duration, \
+    stream_arg)
+
+#endif
+
+/** @name Logging macros for severity WARN.
+ */
+#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_WARN)
+// empty logging macros for severity WARN when being disabled at compile time
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_SKIPFIRST_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_SKIPFIRST_THROTTLE(...)
+
+#else
+/**
+ * \def RCLCPP_WARN
+ * \copydoc RCLCPP_LOG
+ */
+#define RCLCPP_WARN(logger, ...) RCLCPP_LOG(RCUTILS_LOG_SEVERITY_WARN, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_ONCE
+ * \copydoc RCLCPP_LOG_ONCE
+ */
+#define RCLCPP_WARN_ONCE(logger, ...) \
+  RCLCPP_LOG_ONCE(RCUTILS_LOG_SEVERITY_WARN, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_EXPRESSION
+ * \copydoc RCLCPP_LOG_EXPRESSION
+ */
+#define RCLCPP_WARN_EXPRESSION(logger, expression, ...) \
+  RCLCPP_LOG_EXPRESSION(RCUTILS_LOG_SEVERITY_WARN, logger, expression, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_FUNCTION
+ * \copydoc RCLCPP_LOG_FUNCTION
+ */
+#define RCLCPP_WARN_FUNCTION(logger, function, ...) \
+  RCLCPP_LOG_FUNCTION(RCUTILS_LOG_SEVERITY_WARN, logger, function, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_SKIPFIRST
+ * \copydoc RCLCPP_LOG_SKIPFIRST
+ */
+#define RCLCPP_WARN_SKIPFIRST(logger, ...) \
+  RCLCPP_LOG_SKIPFIRST(RCUTILS_LOG_SEVERITY_WARN, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_THROTTLE
+ * \copydoc RCLCPP_LOG_THROTTLE
+ */
+#define RCLCPP_WARN_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_THROTTLE(RCUTILS_LOG_SEVERITY_WARN, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_WARN_SKIPFIRST_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_WARN, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_STREAM
+ * \copydoc RCLCPP_LOG_STREAM
+ */
+#define RCLCPP_WARN_STREAM(logger, stream_arg) \
+  RCLCPP_LOG_STREAM(RCUTILS_LOG_SEVERITY_WARN, logger, stream_arg)
+
+/**
+ * \def RCLCPP_WARN_STREAM_ONCE
+ * \copydoc RCLCPP_LOG_STREAM_ONCE
+ */
+#define RCLCPP_WARN_STREAM_ONCE(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_ONCE(RCUTILS_LOG_SEVERITY_WARN, logger, stream_arg)
+
+/**
+ * \def RCLCPP_WARN_STREAM_EXPRESSION
+ * \copydoc RCLCPP_LOG_STREAM_EXPRESSION
+ */
+#define RCLCPP_WARN_STREAM_EXPRESSION(logger, expression, stream_arg) \
+  RCLCPP_LOG_STREAM_EXPRESSION(RCUTILS_LOG_SEVERITY_WARN, logger, expression, stream_arg)
+
+/**
+ * \def RCLCPP_WARN_STREAM_FUNCTION
+ * \copydoc RCLCPP_LOG_STREAM_FUNCTION
+ */
+#define RCLCPP_WARN_STREAM_FUNCTION(logger, function, stream_arg) \
+  RCLCPP_LOG_STREAM_FUNCTION(RCUTILS_LOG_SEVERITY_WARN, logger, function, stream_args)
+
+/**
+ * \def RCLCPP_WARN_STREAM_SKIPFIRST
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST
+ */
+#define RCLCPP_WARN_STREAM_SKIPFIRST(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST(RCUTILS_LOG_SEVERITY_WARN, logger, stream_arg)
+
+/**
+ * \def RCLCPP_WARN_STREAM_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_THROTTLE
+ */
+#define RCLCPP_WARN_STREAM_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_THROTTLE(RCUTILS_LOG_SEVERITY_WARN, logger, clock, duration, stream_arg)
+
+/**
+ * \def RCLCPP_WARN_STREAM_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_WARN_STREAM_SKIPFIRST_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_WARN, logger, clock, duration, \
+    stream_arg)
+
+#endif
+
+/** @name Logging macros for severity ERROR.
+ */
+#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_ERROR)
+// empty logging macros for severity ERROR when being disabled at compile time
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_SKIPFIRST_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_SKIPFIRST_THROTTLE(...)
+
+#else
+/**
+ * \def RCLCPP_ERROR
+ * \copydoc RCLCPP_LOG
+ */
+#define RCLCPP_ERROR(logger, ...) RCLCPP_LOG(RCUTILS_LOG_SEVERITY_ERROR, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_ONCE
+ * \copydoc RCLCPP_LOG_ONCE
+ */
+#define RCLCPP_ERROR_ONCE(logger, ...) \
+  RCLCPP_LOG_ONCE(RCUTILS_LOG_SEVERITY_ERROR, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_EXPRESSION
+ * \copydoc RCLCPP_LOG_EXPRESSION
+ */
+#define RCLCPP_ERROR_EXPRESSION(logger, expression, ...) \
+  RCLCPP_LOG_EXPRESSION(RCUTILS_LOG_SEVERITY_ERROR, logger, expression, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_FUNCTION
+ * \copydoc RCLCPP_LOG_FUNCTION
+ */
+#define RCLCPP_ERROR_FUNCTION(logger, function, ...) \
+  RCLCPP_LOG_FUNCTION(RCUTILS_LOG_SEVERITY_ERROR, logger, function, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_SKIPFIRST
+ * \copydoc RCLCPP_LOG_SKIPFIRST
+ */
+#define RCLCPP_ERROR_SKIPFIRST(logger, ...) \
+  RCLCPP_LOG_SKIPFIRST(RCUTILS_LOG_SEVERITY_ERROR, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_THROTTLE
+ * \copydoc RCLCPP_LOG_THROTTLE
+ */
+#define RCLCPP_ERROR_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_THROTTLE(RCUTILS_LOG_SEVERITY_ERROR, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_ERROR_SKIPFIRST_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_ERROR, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_STREAM
+ * \copydoc RCLCPP_LOG_STREAM
+ */
+#define RCLCPP_ERROR_STREAM(logger, stream_arg) \
+  RCLCPP_LOG_STREAM(RCUTILS_LOG_SEVERITY_ERROR, logger, stream_arg)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_ONCE
+ * \copydoc RCLCPP_LOG_STREAM_ONCE
+ */
+#define RCLCPP_ERROR_STREAM_ONCE(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_ONCE(RCUTILS_LOG_SEVERITY_ERROR, logger, stream_arg)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_EXPRESSION
+ * \copydoc RCLCPP_LOG_STREAM_EXPRESSION
+ */
+#define RCLCPP_ERROR_STREAM_EXPRESSION(logger, expression, stream_arg) \
+  RCLCPP_LOG_STREAM_EXPRESSION(RCUTILS_LOG_SEVERITY_ERROR, logger, expression, stream_arg)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_FUNCTION
+ * \copydoc RCLCPP_LOG_STREAM_FUNCTION
+ */
+#define RCLCPP_ERROR_STREAM_FUNCTION(logger, function, stream_arg) \
+  RCLCPP_LOG_STREAM_FUNCTION(RCUTILS_LOG_SEVERITY_ERROR, logger, function, stream_args)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_SKIPFIRST
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST
+ */
+#define RCLCPP_ERROR_STREAM_SKIPFIRST(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST(RCUTILS_LOG_SEVERITY_ERROR, logger, stream_arg)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_THROTTLE
+ */
+#define RCLCPP_ERROR_STREAM_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_THROTTLE(RCUTILS_LOG_SEVERITY_ERROR, logger, clock, duration, stream_arg)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_ERROR_STREAM_SKIPFIRST_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_ERROR, logger, clock, duration, \
+    stream_arg)
+
+#endif
+
+/** @name Logging macros for severity FATAL.
+ */
+#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_FATAL)
+// empty logging macros for severity FATAL when being disabled at compile time
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_SKIPFIRST_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_SKIPFIRST_THROTTLE(...)
+
+#else
+/**
+ * \def RCLCPP_FATAL
+ * \copydoc RCLCPP_LOG
+ */
+#define RCLCPP_FATAL(logger, ...) RCLCPP_LOG(RCUTILS_LOG_SEVERITY_FATAL, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_ONCE
+ * \copydoc RCLCPP_LOG_ONCE
+ */
+#define RCLCPP_FATAL_ONCE(logger, ...) \
+  RCLCPP_LOG_ONCE(RCUTILS_LOG_SEVERITY_FATAL, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_EXPRESSION
+ * \copydoc RCLCPP_LOG_EXPRESSION
+ */
+#define RCLCPP_FATAL_EXPRESSION(logger, expression, ...) \
+  RCLCPP_LOG_EXPRESSION(RCUTILS_LOG_SEVERITY_FATAL, logger, expression, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_FUNCTION
+ * \copydoc RCLCPP_LOG_FUNCTION
+ */
+#define RCLCPP_FATAL_FUNCTION(logger, function, ...) \
+  RCLCPP_LOG_FUNCTION(RCUTILS_LOG_SEVERITY_FATAL, logger, function, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_SKIPFIRST
+ * \copydoc RCLCPP_LOG_SKIPFIRST
+ */
+#define RCLCPP_FATAL_SKIPFIRST(logger, ...) \
+  RCLCPP_LOG_SKIPFIRST(RCUTILS_LOG_SEVERITY_FATAL, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_THROTTLE
+ * \copydoc RCLCPP_LOG_THROTTLE
+ */
+#define RCLCPP_FATAL_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_THROTTLE(RCUTILS_LOG_SEVERITY_FATAL, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_FATAL_SKIPFIRST_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_FATAL, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_STREAM
+ * \copydoc RCLCPP_LOG_STREAM
+ */
+#define RCLCPP_FATAL_STREAM(logger, stream_arg) \
+  RCLCPP_LOG_STREAM(RCUTILS_LOG_SEVERITY_FATAL, logger, stream_arg)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_ONCE
+ * \copydoc RCLCPP_LOG_STREAM_ONCE
+ */
+#define RCLCPP_FATAL_STREAM_ONCE(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_ONCE(RCUTILS_LOG_SEVERITY_FATAL, logger, stream_arg)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_EXPRESSION
+ * \copydoc RCLCPP_LOG_STREAM_EXPRESSION
+ */
+#define RCLCPP_FATAL_STREAM_EXPRESSION(logger, expression, stream_arg) \
+  RCLCPP_LOG_STREAM_EXPRESSION(RCUTILS_LOG_SEVERITY_FATAL, logger, expression, stream_arg)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_FUNCTION
+ * \copydoc RCLCPP_LOG_STREAM_FUNCTION
+ */
+#define RCLCPP_FATAL_STREAM_FUNCTION(logger, function, stream_arg) \
+  RCLCPP_LOG_STREAM_FUNCTION(RCUTILS_LOG_SEVERITY_FATAL, logger, function, stream_args)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_SKIPFIRST
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST
+ */
+#define RCLCPP_FATAL_STREAM_SKIPFIRST(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST(RCUTILS_LOG_SEVERITY_FATAL, logger, stream_arg)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_THROTTLE
+ */
+#define RCLCPP_FATAL_STREAM_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_THROTTLE(RCUTILS_LOG_SEVERITY_FATAL, logger, clock, duration, stream_arg)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_FATAL_STREAM_SKIPFIRST_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_FATAL, logger, clock, duration, \
+    stream_arg)
+
+#endif
+
+#endif  // RCLCPP__LOGGING_HPP_

rclcpp/include/rclcpp/message_memory_strategy.hpp

@@ -18,6 +18,7 @@
 #include <memory>
 #include <stdexcept>
 
+#include "rcl/allocator.h"
 #include "rcl/types.h"
 
 #include "rclcpp/allocator/allocator_common.hpp"
@@ -61,7 +62,16 @@ public:
     message_allocator_ = std::make_shared<MessageAlloc>();
     serialized_message_allocator_ = std::make_shared<SerializedMessageAlloc>();
     buffer_allocator_ = std::make_shared<BufferAlloc>();
-    rcutils_allocator_ = allocator::get_rcl_allocator<char, BufferAlloc>(*buffer_allocator_.get());
+    if constexpr (std::is_same_v<Alloc, std::allocator<void>>) {
+      rcutils_allocator_ = rcl_get_default_allocator();
+    } else {
+      if constexpr (rclcpp::allocator::has_get_rcl_allocator_v<Alloc>) {
+        rcutils_allocator_ = message_allocator_->get_rcl_allocator();
+      } else {
+        rcutils_allocator_ = allocator::get_rcl_allocator<char,
+            BufferAlloc>(*buffer_allocator_.get());
+      }
+    }
   }
 
   explicit MessageMemoryStrategy(std::shared_ptr<Alloc> allocator)
@@ -69,7 +79,16 @@ public:
     message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
     serialized_message_allocator_ = std::make_shared<SerializedMessageAlloc>(*allocator.get());
     buffer_allocator_ = std::make_shared<BufferAlloc>(*allocator.get());
-    rcutils_allocator_ = allocator::get_rcl_allocator<char, BufferAlloc>(*buffer_allocator_.get());
+    if constexpr (std::is_same_v<Alloc, std::allocator<void>>) {
+      rcutils_allocator_ = rcl_get_default_allocator();
+    } else {
+      if constexpr (rclcpp::allocator::has_get_rcl_allocator_v<Alloc>) {
+        rcutils_allocator_ = allocator->get_rcl_allocator();
+      } else {
+        rcutils_allocator_ = allocator::get_rcl_allocator<char,
+            BufferAlloc>(*buffer_allocator_.get());
+      }
+    }
   }
 
   virtual ~MessageMemoryStrategy() = default;

rclcpp/include/rclcpp/node.hpp

@@ -44,6 +44,7 @@
 #include "rclcpp/event.hpp"
 #include "rclcpp/generic_client.hpp"
 #include "rclcpp/generic_publisher.hpp"
+#include "rclcpp/generic_service.hpp"
 #include "rclcpp/generic_subscription.hpp"
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
@@ -241,7 +242,7 @@ public:
   create_wall_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr,
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr,
     bool autostart = true);
 
   /// Create a timer that uses the node clock to drive the callback.
@@ -255,23 +256,7 @@ public:
   create_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
-
-  /// Create and return a Client.
-  /**
-   * \param[in] service_name The topic to service on.
-   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
-   * \param[in] group Callback group to call the service.
-   * \return Shared pointer to the created client.
-   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
-   */
-  template<typename ServiceT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  typename rclcpp::Client<ServiceT>::SharedPtr
-  create_client(
-    const std::string & service_name,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
 
   /// Create and return a Client.
   /**
@@ -285,25 +270,7 @@ public:
   create_client(
     const std::string & service_name,
     const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
-
-  /// Create and return a Service.
-  /**
-   * \param[in] service_name The topic to service on.
-   * \param[in] callback User-defined callback function.
-   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
-   * \param[in] group Callback group to call the service.
-   * \return Shared pointer to the created service.
-   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
-   */
-  template<typename ServiceT, typename CallbackT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  typename rclcpp::Service<ServiceT>::SharedPtr
-  create_service(
-    const std::string & service_name,
-    CallbackT && callback,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
 
   /// Create and return a Service.
   /**
@@ -319,7 +286,7 @@ public:
     const std::string & service_name,
     CallbackT && callback,
     const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
 
   /// Create and return a GenericClient.
   /**
@@ -335,7 +302,25 @@ public:
     const std::string & service_name,
     const std::string & service_type,
     const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
+
+  /// Create and return a GenericService.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool"
+   * \param[in] callback User-defined callback function.
+   * \param[in] qos Quality of service profile for the service.
+   * \param[in] group Callback group to call the service.
+   * \return Shared pointer to the created service.
+   */
+  template<typename CallbackT>
+  typename rclcpp::GenericService::SharedPtr
+  create_generic_service(
+    const std::string & service_name,
+    const std::string & service_type,
+    CallbackT && callback,
+    const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
 
   /// Create and return a GenericPublisher.
   /**
@@ -1015,8 +1000,6 @@ public:
     rclcpp::node_interfaces::OnSetParametersCallbackHandle;
   using OnSetParametersCallbackType =
     rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType;
-  using OnParametersSetCallbackType [[deprecated("use OnSetParametersCallbackType instead")]] =
-    OnSetParametersCallbackType;
 
   using PostSetParametersCallbackHandle =
     rclcpp::node_interfaces::PostSetParametersCallbackHandle;
@@ -1405,6 +1388,66 @@ public:
   std::vector<rclcpp::TopicEndpointInfo>
   get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
 
+  /// Return the service endpoint information about clients on a given service.
+  /**
+   * The returned parameter is a list of service endpoint information, where each item will contain
+   * the node name, node namespace, service type, endpoint type, endpoint count,
+   * service endpoint's GIDs, and its QoS profiles.
+   *
+   * When the `no_mangle` parameter is `true`, the provided `service_name` should be a valid service
+   * name for the middleware (useful when combining ROS with native middleware apps).
+   * When the `no_mangle` parameter is `false`, the provided `service_name` should follow
+   * ROS service name conventions. In DDS-based RMWs, services are implemented as topics with mangled
+   * names (e.g., `rq/my_serviceRequest` and `rp/my_serviceReply`), so `no_mangle = true` is not
+   * supported and will result in an error. Use `get_publishers_info_by_topic` or
+   * `get_subscriptions_info_by_topic` for unmangled topic queries in such cases. Other RMWs
+   * (e.g., Zenoh) may support `no_mangle = true` if they natively handle services without topic-based
+   *
+   * 'service_name` may be a relative, private, or fully qualified service name.
+   * A relative or private service will be expanded using this node's namespace and name.
+   * The queried `service_name` is not remapped.
+   *
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   * \param[in] no_mangle if `true`, `service_name` needs to be a valid middleware service name,
+   *   otherwise it should be a valid ROS service name. Defaults to `false`.
+   * \return a list of SeviceEndpointInfo representing all the clients on this service.
+   * \throws InvalidServiceNameError if the given service_name is invalid.
+   * \throws std::runtime_error if internal error happens.
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_clients_info_by_service(const std::string & service_name, bool no_mangle = false) const;
+
+  /// Return the service endpoint information about servers on a given service.
+  /**
+   * The returned parameter is a list of service endpoint information, where each item will contain
+   * the node name, node namespace, service type, endpoint type, endpoint count,
+   * service endpoint's GIDs, and its QoS profiles.
+   *
+   * When the `no_mangle` parameter is `true`, the provided `service_name` should be a valid service
+   * name for the middleware (useful when combining ROS with native middleware apps).
+   * When the `no_mangle` parameter is `false`, the provided `service_name` should follow
+   * ROS service name conventions. In DDS-based RMWs, services are implemented as topics with mangled
+   * names (e.g., `rq/my_serviceRequest` and `rp/my_serviceReply`), so `no_mangle = true` is not
+   * supported and will result in an error. Use `rcl_get_publishers_info_by_topic` or
+   * `rcl_get_subscriptions_info_by_topic` for unmangled topic queries in such cases. Other RMWs
+   * (e.g., Zenoh) may support `no_mangle = true` if they natively handle services without topic-based
+   *
+   * 'service_name` may be a relative, private, or fully qualified service name.
+   * A relative or private service will be expanded using this node's namespace and name.
+   * The queried `service_name` is not remapped.
+   *
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   * \param[in] no_mangle if `true`, `service_name` needs to be a valid middleware service name,
+   *   otherwise it should be a valid ROS service name. Defaults to `false`.
+   * \return a list of SeviceEndpointInfo representing all the servers on this service.
+   * \throws InvalidServiceNameError if the given service_name is invalid.
+   * \throws std::runtime_error if internal error happens.
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_servers_info_by_service(const std::string & service_name, bool no_mangle = false) const;
+
   /// Return a graph event, which will be set anytime a graph change occurs.
   /* The graph Event object is a loan which must be returned.
    * The Event object is scoped and therefore to return the loan just let it go
@@ -1428,7 +1471,7 @@ public:
   RCLCPP_PUBLIC
   void
   wait_for_graph_change(
-    rclcpp::Event::SharedPtr event,
+    const rclcpp::Event::SharedPtr & event,
     std::chrono::nanoseconds timeout);
 
   /// Get a clock as a non-const shared pointer which is managed by the node.
@@ -1447,7 +1490,7 @@ public:
   rclcpp::Clock::ConstSharedPtr
   get_clock() const;
 
-  /// Returns current time from the time source specified by clock_type.
+  /// Returns current time from the node clock.
   /**
    * \sa rclcpp::Clock::now
    */
@@ -1576,6 +1619,10 @@ public:
    * which has been created using an existing instance of this class, but which
    * has an additional sub-namespace (short for subordinate namespace)
    * associated with it.
+   * A subordinate node and an instance of this class share all the node interfaces
+   * such as `rclcpp::node_interfaces::NodeParametersInterface`.
+   * Subordinate nodes are primarily used to organize namespaces and provide a
+   * hierarchical structure, but they are not meant to be completely independent nodes.
    * The sub-namespace will extend the node's namespace for the purpose of
    * creating additional entities, such as Publishers, Subscriptions, Service
    * Clients and Servers, and so on.

rclcpp/include/rclcpp/node_impl.hpp

@@ -40,6 +40,7 @@
 #include "rclcpp/create_generic_subscription.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"
+#include "rclcpp/create_generic_service.hpp"
 #include "rclcpp/create_subscription.hpp"
 #include "rclcpp/create_timer.hpp"
 #include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
@@ -110,7 +111,7 @@ typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::CallbackGroup::SharedPtr group,
+  const rclcpp::CallbackGroup::SharedPtr & group,
   bool autostart)
 {
   return rclcpp::create_wall_timer(
@@ -127,7 +128,7 @@ typename rclcpp::GenericTimer<CallbackT>::SharedPtr
 Node::create_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::CallbackGroup::SharedPtr group)
+  const rclcpp::CallbackGroup::SharedPtr & group)
 {
   return rclcpp::create_timer(
     this->get_clock(),
@@ -143,7 +144,7 @@ typename Client<ServiceT>::SharedPtr
 Node::create_client(
   const std::string & service_name,
   const rclcpp::QoS & qos,
-  rclcpp::CallbackGroup::SharedPtr group)
+  const rclcpp::CallbackGroup::SharedPtr & group)
 {
   return rclcpp::create_client<ServiceT>(
     node_base_,
@@ -154,29 +155,13 @@ Node::create_client(
     group);
 }
 
-template<typename ServiceT>
-typename Client<ServiceT>::SharedPtr
-Node::create_client(
-  const std::string & service_name,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::CallbackGroup::SharedPtr group)
-{
-  return rclcpp::create_client<ServiceT>(
-    node_base_,
-    node_graph_,
-    node_services_,
-    extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
-    qos_profile,
-    group);
-}
-
 template<typename ServiceT, typename CallbackT>
 typename rclcpp::Service<ServiceT>::SharedPtr
 Node::create_service(
   const std::string & service_name,
   CallbackT && callback,
   const rclcpp::QoS & qos,
-  rclcpp::CallbackGroup::SharedPtr group)
+  const rclcpp::CallbackGroup::SharedPtr & group)
 {
   return rclcpp::create_service<ServiceT, CallbackT>(
     node_base_,
@@ -187,20 +172,22 @@ Node::create_service(
     group);
 }
 
-template<typename ServiceT, typename CallbackT>
-typename rclcpp::Service<ServiceT>::SharedPtr
-Node::create_service(
+template<typename CallbackT>
+typename rclcpp::GenericService::SharedPtr
+Node::create_generic_service(
   const std::string & service_name,
+  const std::string & service_type,
   CallbackT && callback,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::CallbackGroup::SharedPtr group)
+  const rclcpp::QoS & qos,
+  const rclcpp::CallbackGroup::SharedPtr & group)
 {
-  return rclcpp::create_service<ServiceT, CallbackT>(
+  return rclcpp::create_generic_service<CallbackT>(
     node_base_,
     node_services_,
     extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
+    service_type,
     std::forward<CallbackT>(callback),
-    qos_profile,
+    qos,
     group);
 }
 
@@ -336,11 +323,9 @@ template<typename ParameterT>
 bool
 Node::get_parameter(const std::string & name, ParameterT & parameter) const
 {
-  std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
-
   rclcpp::Parameter parameter_variant;
 
-  bool result = get_parameter(sub_name, parameter_variant);
+  bool result = get_parameter(name, parameter_variant);
   if (result) {
     parameter = static_cast<ParameterT>(parameter_variant.get_value<ParameterT>());
   }
@@ -355,9 +340,7 @@ Node::get_parameter_or(
   ParameterT & parameter,
   const ParameterT & alternative_value) const
 {
-  std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
-
-  bool got_parameter = get_parameter(sub_name, parameter);
+  bool got_parameter = get_parameter(name, parameter);
   if (!got_parameter) {
     parameter = alternative_value;
   }

rclcpp/include/rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp

@@ -199,6 +199,12 @@ init_tuple(NodeT & n)
     { \
       return StorageClassT::template get<NodeInterfaceType>(); \
     } \
+ \
+    std::shared_ptr<const NodeInterfaceType> \
+    get_node_ ## NodeInterfaceName ## _interface() const \
+    { \
+      return StorageClassT::template get<NodeInterfaceType>(); \
+    } \
   }; \
   }  // namespace rclcpp::node_interfaces::detail
 // *INDENT-ON*

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -121,11 +121,6 @@ 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/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -144,17 +144,6 @@ public:
   std::atomic_bool &
   get_associated_with_executor_atomic() = 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 throw 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.

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -33,6 +33,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rmw/service_endpoint_info_array.h"
 #include "rmw/topic_endpoint_info_array.h"
 
 namespace rclcpp
@@ -159,14 +160,24 @@ public:
     const std::string & topic_name,
     bool no_mangle = false) const override;
 
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_clients_info_by_service(
+    const std::string & service_name,
+    bool no_mangle = false) const override;
+
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_servers_info_by_service(
+    const std::string & service_name,
+    bool no_mangle = false) const override;
+
 private:
   RCLCPP_DISABLE_COPY(NodeGraph)
 
   /// Handle to the NodeBaseInterface given in the constructor.
   rclcpp::node_interfaces::NodeBaseInterface * node_base_;
 
-  /// Graph Listener which waits on graph changes for the node and is shared across nodes.
-  std::shared_ptr<rclcpp::graph_listener::GraphListener> graph_listener_;
   /// Whether or not this node needs to be added to the graph listener.
   std::atomic_bool should_add_to_graph_listener_;
 

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -18,6 +18,8 @@
 #include <algorithm>
 #include <array>
 #include <chrono>
+#include <cstddef>
+#include <cstdint>
 #include <map>
 #include <string>
 #include <tuple>
@@ -40,7 +42,9 @@ enum class EndpointType
 {
   Invalid = RMW_ENDPOINT_INVALID,
   Publisher = RMW_ENDPOINT_PUBLISHER,
-  Subscription = RMW_ENDPOINT_SUBSCRIPTION
+  Subscription = RMW_ENDPOINT_SUBSCRIPTION,
+  Client = RMW_ENDPOINT_CLIENT,
+  Server = RMW_ENDPOINT_SERVER
 };
 
 /**
@@ -53,13 +57,17 @@ public:
   /// Construct a TopicEndpointInfo from a rcl_topic_endpoint_info_t.
   RCLCPP_PUBLIC
   explicit TopicEndpointInfo(const rcl_topic_endpoint_info_t & info)
-  : node_name_(info.node_name),
-    node_namespace_(info.node_namespace),
-    topic_type_(info.topic_type),
-    endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_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)
   {
+    if (!info.node_name || !info.node_namespace || !info.topic_type) {
+      throw std::invalid_argument("Constructor TopicEndpointInfo with invalid topic endpoint info");
+    }
+    node_name_ = info.node_name;
+    node_namespace_ = info.node_namespace;
+    topic_type_ = info.topic_type;
+
     std::copy(info.endpoint_gid, info.endpoint_gid + RMW_GID_STORAGE_SIZE, endpoint_gid_.begin());
   }
 
@@ -143,6 +151,125 @@ private:
   rosidl_type_hash_t topic_type_hash_;
 };
 
+/**
+ * Struct that contains service endpoint information like the associated node name, node namespace,
+ * service type, endpoint type, endpoint count, endpoint GIDs, and its QoS profiles.
+ */
+class ServiceEndpointInfo
+{
+public:
+  /// Construct a ServiceEndpointInfo from a rcl_service_endpoint_info_t.
+  RCLCPP_PUBLIC
+  explicit ServiceEndpointInfo(const rcl_service_endpoint_info_t & info)
+  : node_name_(info.node_name),
+    node_namespace_(info.node_namespace),
+    service_type_(info.service_type),
+    endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
+    service_type_hash_(info.service_type_hash),
+    endpoint_count_(info.endpoint_count)
+  {
+    for(size_t i = 0; i < endpoint_count_; i++) {
+      std::array<uint8_t, RMW_GID_STORAGE_SIZE> gid;
+      std::copy(info.endpoint_gids[i], info.endpoint_gids[i] + RMW_GID_STORAGE_SIZE, gid.begin());
+      endpoint_gids_.push_back(gid);
+
+      rclcpp::QoS qos(
+        {info.qos_profiles[i].history, info.qos_profiles[i].depth}, info.qos_profiles[i]);
+      qos_profiles_.push_back(qos);
+    }
+  }
+
+  /// Get a mutable reference to the node name.
+  RCLCPP_PUBLIC
+  std::string &
+  node_name();
+
+  /// Get a const reference to the node name.
+  RCLCPP_PUBLIC
+  const std::string &
+  node_name() const;
+
+  /// Get a mutable reference to the node namespace.
+  RCLCPP_PUBLIC
+  std::string &
+  node_namespace();
+
+  /// Get a const reference to the node namespace.
+  RCLCPP_PUBLIC
+  const std::string &
+  node_namespace() const;
+
+  /// Get a mutable reference to the service type string.
+  RCLCPP_PUBLIC
+  std::string &
+  service_type();
+
+  /// Get a const reference to the service type string.
+  RCLCPP_PUBLIC
+  const std::string &
+  service_type() const;
+
+  /// Get a mutable reference to the service endpoint type.
+  RCLCPP_PUBLIC
+  rclcpp::EndpointType &
+  endpoint_type();
+
+  /// Get a const reference to the service endpoint type.
+  RCLCPP_PUBLIC
+  const rclcpp::EndpointType &
+  endpoint_type() const;
+
+  /// Get a mutable reference to the endpoint count.
+  RCLCPP_PUBLIC
+  size_t &
+  endpoint_count();
+
+  /// Get a const reference to the endpoint count.
+  RCLCPP_PUBLIC
+  const size_t &
+  endpoint_count() const;
+
+  /// Get a mutable reference to the GID of the service endpoint.
+  RCLCPP_PUBLIC
+  std::vector<std::array<uint8_t, RMW_GID_STORAGE_SIZE>> &
+  endpoint_gids();
+
+  /// Get a const reference to the GID of the service endpoint.
+  RCLCPP_PUBLIC
+  const std::vector<std::array<uint8_t, RMW_GID_STORAGE_SIZE>> &
+  endpoint_gids() const;
+
+  /// Get a mutable reference to the QoS profile of the service endpoint.
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::QoS> &
+  qos_profiles();
+
+  /// Get a const reference to the QoS profile of the service endpoint.
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::QoS> &
+  qos_profiles() const;
+
+  /// Get a mutable reference to the type hash of the service endpoint.
+  RCLCPP_PUBLIC
+  rosidl_type_hash_t &
+  service_type_hash();
+
+  /// Get a const reference to the type hash of the service endpoint.
+  RCLCPP_PUBLIC
+  const rosidl_type_hash_t &
+  service_type_hash() const;
+
+private:
+  std::string node_name_;
+  std::string node_namespace_;
+  std::string service_type_;
+  rclcpp::EndpointType endpoint_type_;
+  std::vector<std::array<uint8_t, RMW_GID_STORAGE_SIZE>> endpoint_gids_;
+  std::vector<rclcpp::QoS> qos_profiles_;
+  rosidl_type_hash_t service_type_hash_;
+  size_t endpoint_count_;
+};
+
 namespace node_interfaces
 {
 
@@ -408,6 +535,30 @@ public:
   virtual
   std::vector<rclcpp::TopicEndpointInfo>
   get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const = 0;
+
+  /// Return the service endpoint information about clients on a given service.
+  /**
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   * \param[in] no_mangle if `true`, `service_name` needs to be a valid middleware service name,
+   *   otherwise it should be a valid ROS service name.
+   * \sa rclcpp::Node::get_clients_info_by_service
+   */
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_clients_info_by_service(const std::string & service_name, bool no_mangle = false) const = 0;
+
+  /// Return the service endpoint information about servers on a given service.
+  /**
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   * \param[in] no_mangle if `true`, `service_name` needs to be a valid middleware service name,
+   *   otherwise it should be a valid ROS service name.
+   * \sa rclcpp::Node::get_servers_info_by_service
+   */
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_servers_info_by_service(const std::string & service_name, bool no_mangle = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_logging.hpp

@@ -38,7 +38,7 @@ public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeLoggingInterface)
 
   RCLCPP_PUBLIC
-  explicit NodeLogging(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base);
+  explicit NodeLogging(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_base);
 
   RCLCPP_PUBLIC
   virtual
@@ -55,7 +55,7 @@ public:
   RCLCPP_PUBLIC
   void
   create_logger_services(
-    node_interfaces::NodeServicesInterface::SharedPtr node_services) override;
+    const node_interfaces::NodeServicesInterface::SharedPtr & node_services) override;
 
 private:
   RCLCPP_DISABLE_COPY(NodeLogging)

rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp

@@ -61,7 +61,7 @@ public:
   virtual
   void
   create_logger_services(
-    node_interfaces::NodeServicesInterface::SharedPtr node_services) = 0;
+    const node_interfaces::NodeServicesInterface::SharedPtr & node_services) = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -214,6 +214,10 @@ public:
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;
 
+  RCLCPP_PUBLIC
+  void
+  enable_parameter_modification() override;
+
   using PreSetCallbacksHandleContainer = std::list<PreSetParametersCallbackHandle::WeakPtr>;
   using OnSetCallbacksHandleContainer = std::list<OnSetParametersCallbackHandle::WeakPtr>;
   using PostSetCallbacksHandleContainer = std::list<PostSetParametersCallbackHandle::WeakPtr>;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -52,8 +52,6 @@ struct OnSetParametersCallbackHandle
     std::function<
     rcl_interfaces::msg::SetParametersResult(
       const std::vector<rclcpp::Parameter> &)>;
-  using OnParametersSetCallbackType [[deprecated("use OnSetParametersCallbackType instead")]] =
-    OnSetParametersCallbackType;
 
   OnSetParametersCallbackType callback;
 };
@@ -272,6 +270,26 @@ public:
   virtual
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const = 0;
+
+  /// Enable parameter modification recursively during parameter callbacks.
+  /**
+   * This function is used to enable parameter modification during parameter callbacks.
+   *
+   * There are times when it does not allow parameter modification, such as when the parameter
+   * callbacks are being called and tries to modify the parameters with set_parameter and
+   * declare_parameter to avoid recursive parameter modification.
+   * This is protected by rclcpp::node_interfaces::ParameterMutationRecursionGuard.
+   *
+   * This function is explicitly called to allow the recursive parameter operation during
+   * parameter callbacks by the application.
+   * Once it is enabled, the next parameter operation set/declare/undeclare_parameter are
+   * allowed to execute in the parameter callback. But, no more further recursive operation
+   * is allowed, unless user application calls this API again.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  enable_parameter_modification() = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_type_descriptions.hpp

@@ -39,10 +39,10 @@ public:
 
   RCLCPP_PUBLIC
   explicit NodeTypeDescriptions(
-    NodeBaseInterface::SharedPtr node_base,
-    NodeLoggingInterface::SharedPtr node_logging,
-    NodeParametersInterface::SharedPtr node_parameters,
-    NodeServicesInterface::SharedPtr node_services);
+    const NodeBaseInterface::SharedPtr & node_base,
+    const NodeLoggingInterface::SharedPtr & node_logging,
+    const NodeParametersInterface::SharedPtr & node_parameters,
+    const NodeServicesInterface::SharedPtr & node_services);
 
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_options.hpp

@@ -100,7 +100,7 @@ public:
   /// Set the context, return this for parameter idiom.
   RCLCPP_PUBLIC
   NodeOptions &
-  context(rclcpp::Context::SharedPtr context);
+  context(const rclcpp::Context::SharedPtr & context);
 
   /// Return a reference to the list of arguments for the node.
   RCLCPP_PUBLIC
@@ -146,6 +146,14 @@ public:
     return *this;
   }
 
+  /// Append a single parameter override, parameter idiom style.
+  NodeOptions &
+  append_parameter_override(const rclcpp::Parameter & param)
+  {
+    this->parameter_overrides().push_back(param);
+    return *this;
+  }
+
   /// Return the use_global_arguments flag.
   RCLCPP_PUBLIC
   bool

rclcpp/include/rclcpp/parameter_client.hpp

@@ -52,37 +52,6 @@ class AsyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient)
 
-  /// Create an async parameters client.
-  /**
-   * \param[in] node_base_interface The node base interface of the corresponding node.
-   * \param[in] node_topics_interface Node topic base interface.
-   * \param[in] node_graph_interface The node graph interface of the corresponding node.
-   * \param[in] node_services_interface Node service interface.
-   * \param[in] remote_node_name Name of the remote node
-   * \param[in] qos_profile The rmw qos profile to use to subscribe
-   * \param[in] group (optional) The async parameter client will be added to this callback group.
-   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
-   */
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  RCLCPP_PUBLIC
-  AsyncParametersClient(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
-    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
-    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
-    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
-  : AsyncParametersClient(
-      node_base_interface,
-      node_topics_interface,
-      node_graph_interface,
-      node_services_interface,
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
-      group)
-  {}
-
   /// Create an async parameters client.
   /**
    * \param[in] node_base_interface The node base interface of the corresponding node.
@@ -95,38 +64,13 @@ public:
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
-    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
-    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
-    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_base_interface,
+    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics_interface,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph_interface,
+    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr & node_services_interface,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
-
-  /// Constructor
-  /**
-   * \param[in] node The async parameters client will be added to this node.
-   * \param[in] remote_node_name name of the remote node
-   * \param[in] qos_profile The rmw qos profile to use to subscribe
-   * \param[in] group (optional) The async parameter client will be added to this callback group.
-   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
-   */
-  template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  AsyncParametersClient(
-    const std::shared_ptr<NodeT> node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
-  : AsyncParametersClient(
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
-      group)
-  {}
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
 
   /**
    * \param[in] node The async parameters client will be added to this node.
@@ -136,10 +80,10 @@ public:
    */
   template<typename NodeT>
   explicit AsyncParametersClient(
-    const std::shared_ptr<NodeT> node,
+    const std::shared_ptr<NodeT> & node,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr)
   : AsyncParametersClient(
       node->get_node_base_interface(),
       node->get_node_topics_interface(),
@@ -150,31 +94,6 @@ public:
       group)
   {}
 
-  /// Constructor
-  /**
-   * \param[in] node The async parameters client will be added to this node.
-   * \param[in] remote_node_name Name of the remote node
-   * \param[in] qos_profile The rmw qos profile to use to subscribe
-   * \param[in] group (optional) The async parameter client will be added to this callback group.
-   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
-   */
-  template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  AsyncParametersClient(
-    NodeT * node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
-  : AsyncParametersClient(
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
-      group)
-  {}
-
   /**
    * \param[in] node The async parameters client will be added to this node.
    * \param[in] remote_node_name (optional) name of the remote node
@@ -186,7 +105,7 @@ public:
     NodeT * node,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr)
   : AsyncParametersClient(
       node->get_node_base_interface(),
       node->get_node_topics_interface(),
@@ -201,41 +120,41 @@ public:
   std::shared_future<std::vector<rclcpp::Parameter>>
   get_parameters(
     const std::vector<std::string> & names,
-    std::function<
+    const std::function<
       void(std::shared_future<std::vector<rclcpp::Parameter>>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>
   describe_parameters(
     const std::vector<std::string> & names,
-    std::function<
+    const std::function<
       void(std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::ParameterType>>
   get_parameter_types(
     const std::vector<std::string> & names,
-    std::function<
+    const std::function<
       void(std::shared_future<std::vector<rclcpp::ParameterType>>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
   set_parameters(
     const std::vector<rclcpp::Parameter> & parameters,
-    std::function<
+    const std::function<
       void(std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<rcl_interfaces::msg::SetParametersResult>
   set_parameters_atomically(
     const std::vector<rclcpp::Parameter> & parameters,
-    std::function<
+    const std::function<
       void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   /// Delete several parameters at once.
   /**
@@ -281,9 +200,9 @@ public:
   list_parameters(
     const std::vector<std::string> & prefixes,
     uint64_t depth,
-    std::function<
+    const std::function<
       void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   template<
     typename CallbackT,
@@ -383,22 +302,9 @@ class SyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient)
 
-  template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  SyncParametersClient(
-    std::shared_ptr<NodeT> node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
-  {}
-
   template<typename NodeT>
   explicit SyncParametersClient(
-    std::shared_ptr<NodeT> node,
+    const std::shared_ptr<NodeT> & node,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
@@ -409,26 +315,9 @@ public:
   {}
 
   template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
-    std::shared_ptr<NodeT> node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile)
-  : SyncParametersClient(
-      executor,
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
-  {}
-
-  template<typename NodeT>
-  SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
-    std::shared_ptr<NodeT> node,
+    const rclcpp::Executor::SharedPtr & executor,
+    const std::shared_ptr<NodeT> & node,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
@@ -441,19 +330,6 @@ public:
       qos_profile)
   {}
 
-  template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  SyncParametersClient(
-    NodeT * node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
-  {}
-
   template<typename NodeT>
   explicit SyncParametersClient(
     NodeT * node,
@@ -467,25 +343,8 @@ public:
   {}
 
   template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
-    NodeT * node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile)
-  : SyncParametersClient(
-      executor,
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
-  {}
-
-  template<typename NodeT>
-  SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
+    const rclcpp::Executor::SharedPtr & executor,
     NodeT * node,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
@@ -499,35 +358,13 @@ public:
       qos_profile)
   {}
 
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
-    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
-    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
-    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile)
-  : executor_(executor), node_base_interface_(node_base_interface)
-  {
-    async_parameters_client_ =
-      std::make_shared<AsyncParametersClient>(
-      node_base_interface,
-      node_topics_interface,
-      node_graph_interface,
-      node_services_interface,
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)));
-  }
-
-  RCLCPP_PUBLIC
-  SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
-    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
-    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
-    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
+    const rclcpp::Executor::SharedPtr & executor,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_base_interface,
+    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics_interface,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph_interface,
+    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr & node_services_interface,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : executor_(executor), node_base_interface_(node_base_interface)

rclcpp/include/rclcpp/parameter_descriptor_wrapper.hpp

@@ -0,0 +1,82 @@
+// 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__PARAMETER_DESCRIPTOR_WRAPPER_HPP_
+#define RCLCPP__PARAMETER_DESCRIPTOR_WRAPPER_HPP_
+
+// C++ Standard library includes
+#include <functional>
+#include <utility>
+#include <memory>
+#include <string>
+
+// Additional ROS libraries needed
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
+
+#include "rclcpp/node.hpp"
+#include "rclcpp/parameter_value.hpp"
+#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "node_interfaces/node_parameters_interface.hpp"
+
+namespace rclcpp
+{
+
+// Implements ParameterDesription class with builder design pattern
+class ParameterDescription
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(ParameterDescription)
+
+  // List of classes the builder manages
+  RCLCPP_PUBLIC
+  ParameterDescription();
+
+  // Our Main build methods which will construct the base class
+  RCLCPP_PUBLIC rcl_interfaces::msg::ParameterDescriptor build() const;
+
+  // Builder Methods:
+  // Describes the instances in a parameter_description object
+  RCLCPP_PUBLIC ParameterDescription & set_name(const std::string & name);
+  RCLCPP_PUBLIC ParameterDescription & set_type(std::uint8_t type);
+  RCLCPP_PUBLIC ParameterDescription & set_description_text(const std::string & description);
+  RCLCPP_PUBLIC ParameterDescription & set_additional_constraints(const std::string & constraints);
+  RCLCPP_PUBLIC ParameterDescription & set_read_only(bool read_only);
+  RCLCPP_PUBLIC ParameterDescription & set_dynamic_typing(bool dynamic_typing);
+  RCLCPP_PUBLIC ParameterDescription & set_floating_point_description_range(
+    float min, float max, float step);
+  RCLCPP_PUBLIC ParameterDescription & set_integer_description_range(int min, int max, int step);
+
+  // Need the current node in order to begin the configuration state
+  // for it via the declare_parameter function
+  template<typename NodeT>
+  ParameterDescription & declare_parameter(
+    const rclcpp::ParameterValue & default_value,
+    NodeT && node)
+  {
+    auto node_param = rclcpp::node_interfaces::get_node_parameters_interface(node);
+    node_param->declare_parameter(
+      parameter_descriptor.name, default_value,
+      parameter_descriptor);
+    return *this;
+  }
+
+private:
+  // The main descriptor object we're meant to initialize and adjust
+  rcl_interfaces::msg::ParameterDescriptor parameter_descriptor;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__PARAMETER_DESCRIPTOR_WRAPPER_HPP_

rclcpp/include/rclcpp/parameter_event_handler.hpp

@@ -67,19 +67,23 @@ struct ParameterEventCallbackHandle
  * The first step is to instantiate a ParameterEventHandler, providing a ROS node to use
  * to create any required subscriptions:
  *
- *   auto param_handler = std::make_shared<rclcpp::ParameterEventHandler>(node);
+ * ```cpp
+ * auto param_handler = std::make_shared<rclcpp::ParameterEventHandler>(node);
+ * ```
  *
  * Next, you can supply a callback to the add_parameter_callback method, as follows:
  *
- *   auto cb1 = [&node](const rclcpp::Parameter & p) {
- *      RCLCPP_INFO(
- *        node->get_logger(),
- *        "cb1: Received an update to parameter \"%s\" of type %s: \"%ld\"",
- *        p.get_name().c_str(),
- *        p.get_type_name().c_str(),
- *        p.as_int());
- *   };
- *   auto handle1 = param_handler->add_parameter_callback("an_int_param", cb1);
+ * ```cpp
+ * auto cb1 = [&node](const rclcpp::Parameter & p) {
+ *    RCLCPP_INFO(
+ *      node->get_logger(),
+ *      "cb1: Received an update to parameter \"%s\" of type %s: \"%ld\"",
+ *      p.get_name().c_str(),
+ *      p.get_type_name().c_str(),
+ *      p.as_int());
+ * };
+ * auto handle1 = param_handler->add_parameter_callback("an_int_param", cb1);
+ * ```
  *
  * In this case, we didn't supply a node name (the third, optional, parameter) so the
  * default will be to monitor for changes to the "an_int_param" parameter associated with
@@ -92,16 +96,18 @@ struct ParameterEventCallbackHandle
  * You may also monitor for changes to parameters in other nodes by supplying the node
  * name to add_parameter_callback:
  *
- *   auto cb2 = [&node](const rclcpp::Parameter & p) {
- *       RCLCPP_INFO(
- *         node->get_logger(),
- *         "cb2: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *         p.get_name().c_str(),
- *         p.get_type_name().c_str(),
- *         p.as_string().c_str());
- *     };
- *   auto handle2 = param_handler->add_parameter_callback(
- *     "some_remote_param_name", cb2, "some_remote_node_name");
+ * ```cpp
+ * auto cb2 = [&node](const rclcpp::Parameter & p) {
+ *     RCLCPP_INFO(
+ *       node->get_logger(),
+ *       "cb2: Received an update to parameter \"%s\" of type: %s: \"%s\"",
+ *       p.get_name().c_str(),
+ *       p.get_type_name().c_str(),
+ *       p.as_string().c_str());
+ *   };
+ * auto handle2 = param_handler->add_parameter_callback(
+ *   "some_remote_param_name", cb2, "some_remote_node_name");
+ * ```
  *
  * In this case, the callback will be invoked whenever "some_remote_param_name" changes
  * on remote node "some_remote_node_name".
@@ -109,7 +115,9 @@ struct ParameterEventCallbackHandle
  * To remove a parameter callback, reset the callback handle smart pointer or call
  * remove_parameter_callback, passing the handle returned from add_parameter_callback:
  *
- *   param_handler->remove_parameter_callback(handle2);
+ * ```cpp
+ * param_handler->remove_parameter_callback(handle2);
+ * ```
  *
  * You can also monitor for *all* parameter changes, using add_parameter_event_callback.
  * In this case, the callback will be invoked whenever any parameter changes in the system.
@@ -117,40 +125,42 @@ struct ParameterEventCallbackHandle
  * is convenient to use a regular expression on the node names or namespaces of interest.
  * For example:
  *
- *   auto cb3 =
- *     [fqn, remote_param_name, &node](const rcl_interfaces::msg::ParameterEvent & event) {
- *       // Look for any updates to parameters in "/a_namespace" as well as any parameter changes
- *       // to our own node ("this_node")
- *       std::regex re("(/a_namespace/.*)|(/this_node)");
- *       if (regex_match(event.node, re)) {
- *         // Now that we know the event matches the regular expression we scanned for, we can
- *         // use 'get_parameter_from_event' to get a specific parameter name that we're looking for
- *         rclcpp::Parameter p;
- *         if (rclcpp::ParameterEventsSubscriber::get_parameter_from_event(
- *             event, p, remote_param_name, fqn))
- *         {
- *           RCLCPP_INFO(
- *             node->get_logger(),
- *             "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *             p.get_name().c_str(),
- *             p.get_type_name().c_str(),
- *             p.as_string().c_str());
- *         }
- *
- *         // You can also use 'get_parameter*s*_from_event' to enumerate all changes that came
- *         // in on this event
- *         auto params = rclcpp::ParameterEventsSubscriber::get_parameters_from_event(event);
- *         for (auto & p : params) {
- *           RCLCPP_INFO(
- *             node->get_logger(),
- *             "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *             p.get_name().c_str(),
- *             p.get_type_name().c_str(),
- *             p.value_to_string().c_str());
- *         }
+ * ```cpp
+ * auto cb3 =
+ *   [fqn, remote_param_name, &node](const rcl_interfaces::msg::ParameterEvent & event) {
+ *     // Look for any updates to parameters in "/a_namespace" as well as any parameter changes
+ *     // to our own node ("this_node")
+ *     std::regex re("(/a_namespace/.*)|(/this_node)");
+ *     if (regex_match(event.node, re)) {
+ *       // Now that we know the event matches the regular expression we scanned for, we can
+ *       // use 'get_parameter_from_event' to get a specific parameter name that we're looking for
+ *       rclcpp::Parameter p;
+ *       if (rclcpp::ParameterEventHandler::get_parameter_from_event(
+ *           event, p, remote_param_name, fqn))
+ *       {
+ *         RCLCPP_INFO(
+ *           node->get_logger(),
+ *           "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
+ *           p.get_name().c_str(),
+ *           p.get_type_name().c_str(),
+ *           p.as_string().c_str());
  *       }
- *     };
- *   auto handle3 = param_handler->add_parameter_event_callback(cb3);
+ *
+ *       // You can also use 'get_parameter*s*_from_event' to enumerate all changes that came
+ *       // in on this event
+ *       auto params = rclcpp::ParameterEventHandler::get_parameters_from_event(event);
+ *       for (auto & p : params) {
+ *         RCLCPP_INFO(
+ *           node->get_logger(),
+ *           "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
+ *           p.get_name().c_str(),
+ *           p.get_type_name().c_str(),
+ *           p.value_to_string().c_str());
+ *       }
+ *     }
+ *   };
+ * auto handle3 = param_handler->add_parameter_event_callback(cb3);
+ * ```
  *
  * For both parameter callbacks and parameter event callbacks, when multiple callbacks are added,
  * the callbacks are invoked last-in, first-called order (LIFO).
@@ -160,7 +170,9 @@ struct ParameterEventCallbackHandle
  *
  * To remove a parameter event callback, reset the callback smart pointer or use:
  *
- *   param_handler->remove_event_parameter_callback(handle3);
+ * ```cpp
+ * param_handler->remove_event_parameter_callback(handle3);
+ * ```
  */
 class ParameterEventHandler
 {
@@ -172,7 +184,7 @@ public:
    */
   template<typename NodeT>
   explicit ParameterEventHandler(
-    NodeT node,
+    const NodeT & node,
     const rclcpp::QoS & qos =
     rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)))
   : node_base_(rclcpp::node_interfaces::get_node_base_interface(node))
@@ -205,7 +217,7 @@ public:
   RCUTILS_WARN_UNUSED
   ParameterEventCallbackHandle::SharedPtr
   add_parameter_event_callback(
-    ParameterEventCallbackType callback);
+    const ParameterEventCallbackType & callback);
 
   /// Remove parameter event callback registered with add_parameter_event_callback.
   /**
@@ -214,7 +226,7 @@ public:
   RCLCPP_PUBLIC
   void
   remove_parameter_event_callback(
-    ParameterEventCallbackHandle::SharedPtr callback_handle);
+    const ParameterEventCallbackHandle::SharedPtr & callback_handle);
 
   using ParameterCallbackType = ParameterCallbackHandle::ParameterCallbackType;
 
@@ -222,6 +234,10 @@ public:
   /**
    * If a node_name is not provided, defaults to the current node.
    *
+   * The configure_nodes_filter() function will affect the behavior of this function.
+   * If the node specified in this function isn't included in the nodes specified in
+   * configure_nodes_filter(), the callback will never be called.
+   *
    * Note: if the returned callback handle smart pointer is not captured, the callback
    * is immediately unregistered. A compiler warning should be generated to warn
    * of this.
@@ -236,9 +252,34 @@ public:
   ParameterCallbackHandle::SharedPtr
   add_parameter_callback(
     const std::string & parameter_name,
-    ParameterCallbackType callback,
+    const ParameterCallbackType & callback,
     const std::string & node_name = "");
 
+  /// Configure which node parameter events will be received.
+  /**
+   * This function depends on rmw implementation support for content filtering.
+   * If middleware doesn't support contentfilter, return false.
+   *
+   * If node_names is empty, the configured node filter will be cleared.
+   *
+   * If this function return true, only parameter events from the specified node will be received.
+   * It affects the behavior of the following two functions.
+   * - add_parameter_event_callback()
+   *   The callback will only be called for parameter events from the specified nodes which are
+   *   configured in this function.
+   * - add_parameter_callback()
+   *   The callback will only be called for parameter events from the specified nodes which are
+   *   configured in this function and add_parameter_callback().
+   *   If the nodes specified in this function is different from the nodes specified in
+   *   add_parameter_callback(), the callback will never be called.
+   *
+   * \param[in] node_names Node names to filter parameter events from.
+   * \returns true if configuring was successfully applied, false otherwise.
+   * \throws rclcpp::exceptions::RCLError if internal error occurred when calling the rcl function.
+   */
+  RCLCPP_PUBLIC
+  bool configure_nodes_filter(const std::vector<std::string> & node_names);
+
   /// Remove a parameter callback registered with add_parameter_callback.
   /**
    * The parameter name and node name are inspected from the callback handle. The callback handle
@@ -250,7 +291,7 @@ public:
   RCLCPP_PUBLIC
   void
   remove_parameter_callback(
-    ParameterCallbackHandle::SharedPtr callback_handle);
+    const ParameterCallbackHandle::SharedPtr & callback_handle);
 
   /// Get an rclcpp::Parameter from a parameter event.
   /**

rclcpp/include/rclcpp/parameter_events_filter.hpp

@@ -45,6 +45,7 @@ public:
    * \param[in] names A list of parameter names of interest.
    * \param[in] types A list of the types of parameter events of iterest.
    *    EventType NEW, DELETED, or CHANGED
+   * \throws std::invalid_argument if event is NULL.
    *
    * Example Usage:
    *

rclcpp/include/rclcpp/parameter_service.hpp

@@ -40,24 +40,10 @@ class ParameterService
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(ParameterService)
 
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   RCLCPP_PUBLIC
   ParameterService(
-    const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-    const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
-    rclcpp::node_interfaces::NodeParametersInterface * node_params,
-    const rmw_qos_profile_t & qos_profile)
-  : ParameterService(
-      node_base,
-      node_services,
-      node_params,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
-  {}
-
-  RCLCPP_PUBLIC
-  ParameterService(
-    const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-    const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+    const std::shared_ptr<node_interfaces::NodeBaseInterface> & node_base,
+    const std::shared_ptr<node_interfaces::NodeServicesInterface> & node_services,
     rclcpp::node_interfaces::NodeParametersInterface * node_params,
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS());
 

rclcpp/include/rclcpp/parameter_value.hpp

@@ -359,7 +359,7 @@ private:
 /// Return the value of a parameter as a string
 RCLCPP_PUBLIC
 std::string
-to_string(const ParameterValue & type);
+to_string(const ParameterValue & value);
 
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/publisher.hpp

@@ -96,22 +96,6 @@ public:
   using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
   using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
 
-  using MessageAllocatorTraits
-  [[deprecated("use PublishedTypeAllocatorTraits")]] =
-    PublishedTypeAllocatorTraits;
-  using MessageAllocator
-  [[deprecated("use PublishedTypeAllocator")]] =
-    PublishedTypeAllocator;
-  using MessageDeleter
-  [[deprecated("use PublishedTypeDeleter")]] =
-    PublishedTypeDeleter;
-  using MessageUniquePtr
-  [[deprecated("use std::unique_ptr<PublishedType, PublishedTypeDeleter>")]] =
-    std::unique_ptr<PublishedType, PublishedTypeDeleter>;
-  using MessageSharedPtr
-  [[deprecated("use std::shared_ptr<const PublishedType>")]] =
-    std::shared_ptr<const PublishedType>;
-
   using BufferSharedPtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
     ROSMessageType,
     ROSMessageTypeAllocator,
@@ -128,8 +112,8 @@ public:
    *
    * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] topic Name of the topic to publish to.
-   * \param[in] qos QoS profile for Subcription.
-   * \param[in] options Options for the subscription.
+   * \param[in] qos QoS profile for the publisher.
+   * \param[in] options Options for the publisher.
    */
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
@@ -159,34 +143,34 @@ public:
   post_init_setup(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
-    const rclcpp::QoS & qos,
-    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+    [[maybe_unused]] const rclcpp::QoS & qos,
+    [[maybe_unused]] const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
   {
-    // Topic is unused for now.
-    (void)topic;
-    (void)options;
-
     // If needed, setup intra process communication.
     if (rclcpp::detail::resolve_use_intra_process(options_, *node_base)) {
       auto context = node_base->get_context();
       // Get the intra process manager instance for this context.
       auto ipm = context->get_sub_context<rclcpp::experimental::IntraProcessManager>();
-      // Register the publisher with the intra process manager.
-      if (qos.history() != rclcpp::HistoryPolicy::KeepLast) {
+      // Check if the QoS is compatible with intra-process.
+      auto qos_profile = get_actual_qos();
+      if (qos_profile.history() != rclcpp::HistoryPolicy::KeepLast) {
         throw std::invalid_argument(
-                "intraprocess communication allowed only with keep last history qos policy");
+                "intraprocess communication on topic '" + topic +
+                "' allowed only with keep last history qos policy");
       }
-      if (qos.depth() == 0) {
+      if (qos_profile.depth() == 0) {
         throw std::invalid_argument(
-                "intraprocess communication is not allowed with a zero qos history depth value");
+                "intraprocess communication on topic '" + topic +
+                "' is not allowed with a zero qos history depth value");
       }
-      if (qos.durability() == rclcpp::DurabilityPolicy::TransientLocal) {
+      if (qos_profile.durability() == rclcpp::DurabilityPolicy::TransientLocal) {
         buffer_ = rclcpp::experimental::create_intra_process_buffer<
           ROSMessageType, ROSMessageTypeAllocator, ROSMessageTypeDeleter>(
           rclcpp::detail::resolve_intra_process_buffer_type(options_.intra_process_buffer_type),
-          qos,
+          qos_profile,
           std::make_shared<ROSMessageTypeAllocator>(ros_message_type_allocator_));
       }
+      // Register the publisher with the intra process manager.
       uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this(), buffer_);
       this->setup_intra_process(
         intra_process_publisher_id,
@@ -203,7 +187,7 @@ public:
    * the loaned message will be directly allocated in the middleware.
    * If not, the message allocator of this rclcpp::Publisher instance is being used.
    *
-   * With a call to \sa `publish` the LoanedMessage instance is being returned to the middleware
+   * With a call to `publish` the LoanedMessage instance is being returned to the middleware
    * or free'd accordingly to the allocator.
    * If the message is not being published but processed differently, the destructor of this
    * class will either return the message to the middleware or deallocate it via the internal
@@ -248,8 +232,12 @@ public:
     // interprocess publish, resulting in lower publish-to-subscribe latency.
     // It's not possible to do that with an unique_ptr,
     // as do_intra_process_publish takes the ownership of the message.
+
+    // When durability is set to TransientLocal (i.e. there is a buffer),
+    // inter process publish should always take place to ensure
+    // late joiners receive past data.
     bool inter_process_publish_needed =
-      get_subscription_count() > get_intra_process_subscription_count();
+      get_subscription_count() > get_intra_process_subscription_count() || buffer_;
 
     if (inter_process_publish_needed) {
       auto shared_msg =
@@ -326,8 +314,11 @@ public:
       return;
     }
 
+    // When durability is set to TransientLocal (i.e. there is a buffer),
+    // inter process publish should always take place to ensure
+    // late joiners receive past data.
     bool inter_process_publish_needed =
-      get_subscription_count() > get_intra_process_subscription_count();
+      get_subscription_count() > get_intra_process_subscription_count() || buffer_;
 
     if (inter_process_publish_needed) {
       auto ros_msg_ptr = std::make_shared<ROSMessageType>();
@@ -423,13 +414,6 @@ public:
     }
   }
 
-  [[deprecated("use get_published_type_allocator() or get_ros_message_type_allocator() instead")]]
-  std::shared_ptr<PublishedTypeAllocator>
-  get_allocator() const
-  {
-    return std::make_shared<PublishedTypeAllocator>(published_type_allocator_);
-  }
-
   PublishedTypeAllocator
   get_published_type_allocator() const
   {
@@ -590,6 +574,13 @@ protected:
   std::unique_ptr<PublishedType, PublishedTypeDeleter>
   duplicate_type_adapt_message_as_unique_ptr(const PublishedType & msg)
   {
+    /// Assert that the published type has no overloaded operator new since this leads to
+    /// new/delete mismatch (see https://github.com/ros2/rclcpp/issues/2951)
+    static_assert(!detail::has_overloaded_operator_new_v<PublishedType>,
+        "When publishing by value (i.e. when calling publish(const T& msg)), the published "
+    "message type must not have an overloaded operator new. In this case, please use the "
+    "publish(std::unique_ptr<T> msg) method instead.");
+
     auto ptr = PublishedTypeAllocatorTraits::allocate(published_type_allocator_, 1);
     PublishedTypeAllocatorTraits::construct(published_type_allocator_, ptr, msg);
     return std::unique_ptr<PublishedType, PublishedTypeDeleter>(ptr, published_type_deleter_);

rclcpp/include/rclcpp/publisher_base.hpp

@@ -210,7 +210,7 @@ public:
   void
   setup_intra_process(
     uint64_t intra_process_publisher_id,
-    IntraProcessManagerSharedPtr ipm);
+    const IntraProcessManagerSharedPtr & ipm);
 
   /// Get network flow endpoints
   /**
@@ -300,7 +300,7 @@ public:
    */
   void
   set_on_new_qos_event_callback(
-    std::function<void(size_t)> callback,
+    const std::function<void(size_t)> & callback,
     rcl_publisher_event_type_t event_type)
   {
     if (event_handlers_.count(event_type) == 0) {
@@ -319,7 +319,7 @@ public:
     // The on_ready_callback signature has an extra `int` argument used to disambiguate between
     // possible different entities within a generic waitable.
     // We hide that detail to users of this method.
-    std::function<void(size_t, int)> new_callback = std::bind(callback, std::placeholders::_1);
+    std::function<void(size_t, int)> new_callback = [callback] (size_t nr, int) {callback(nr);};
     event_handlers_[event_type]->set_on_ready_callback(new_callback);
   }
 

rclcpp/include/rclcpp/publisher_options.hpp

@@ -123,11 +123,20 @@ private:
   rcl_allocator_t
   get_rcl_allocator() const
   {
-    if (!plain_allocator_storage_) {
-      plain_allocator_storage_ =
-        std::make_shared<PlainAllocator>(*this->get_allocator());
+    if constexpr (std::is_same_v<Allocator, std::allocator<void>>) {
+      return rcl_get_default_allocator();
+    } else {
+      if constexpr (rclcpp::allocator::has_get_rcl_allocator_v<Allocator>) {
+        return get_allocator()->get_rcl_allocator();
+      } else {
+        if (!plain_allocator_storage_) {
+          plain_allocator_storage_ =
+            std::make_shared<PlainAllocator>(*this->get_allocator());
+        }
+
+        return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
+      }
     }
-    return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
   }
 
   // This is a temporal workaround, to make sure that get_allocator()

rclcpp/include/rclcpp/qos.hpp

@@ -146,10 +146,18 @@ public:
   QoS(size_t history_depth);  // NOLINT(runtime/explicit): conversion constructor
 
   /// Return the rmw qos profile.
+  /**
+   * The profile consists of various QoS policies such as history, reliability, and durability.
+   * Use the corresponding getter functions to retrieve individual policies.
+   */
   rmw_qos_profile_t &
   get_rmw_qos_profile();
 
   /// Return the rmw qos profile.
+  /**
+   * The profile consists of various QoS policies such as history, reliability, and durability.
+   * Use the corresponding getter functions to retrieve individual policies.
+   */
   const rmw_qos_profile_t &
   get_rmw_qos_profile() const;
 
@@ -475,7 +483,7 @@ public:
   explicit
   RosoutQoS(
     const QoSInitialization & rosout_qos_initialization = (
-      QoSInitialization::from_rmw(rcl_qos_profile_rosout_default)
+      QoSInitialization::from_rmw(rmw_qos_profile_rosout_default)
   ));
 };
 

rclcpp/include/rclcpp/rate.hpp

@@ -39,10 +39,6 @@ public:
   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;
 
@@ -54,82 +50,6 @@ using std::chrono::duration;
 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
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(GenericRate)
-
-  explicit GenericRate(double rate)
-  : period_(duration_cast<nanoseconds>(duration<double>(1.0 / rate))), last_interval_(Clock::now())
-  {}
-  explicit GenericRate(std::chrono::nanoseconds period)
-  : period_(period), last_interval_(Clock::now())
-  {}
-
-  virtual bool
-  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_;
-    }
-    // Calculate the time to sleep
-    auto time_to_sleep = next_interval - now;
-    // Update the interval
-    last_interval_ += period_;
-    // If the time_to_sleep is negative or zero, don't sleep
-    if (time_to_sleep <= std::chrono::seconds(0)) {
-      // 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;
-    }
-    // Sleep (will get interrupted by ctrl-c, may not sleep full time)
-    rclcpp::sleep_for(time_to_sleep);
-    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()
-  {
-    last_interval_ = Clock::now();
-  }
-
-  std::chrono::nanoseconds period() const
-  {
-    return period_;
-  }
-
-private:
-  RCLCPP_DISABLE_COPY(GenericRate)
-
-  std::chrono::nanoseconds period_;
-  using ClockDurationNano = std::chrono::duration<typename Clock::rep, std::nano>;
-  std::chrono::time_point<Clock, ClockDurationNano> last_interval_;
-};
-
 class Rate : public RateBase
 {
 public:
@@ -138,22 +58,17 @@ public:
   RCLCPP_PUBLIC
   explicit Rate(
     const double rate,
-    Clock::SharedPtr clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));
+    const 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));
+    const 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/include/rclcpp/rclcpp.hpp

@@ -68,8 +68,6 @@
  *
  * - Executors (responsible for execution of callbacks through a blocking spin):
  *   - rclcpp::spin()
- *   - rclcpp::spin_some()
- *   - rclcpp::spin_until_future_complete()
  *   - rclcpp::executors::SingleThreadedExecutor
  *   - rclcpp::executors::SingleThreadedExecutor::add_node()
  *   - rclcpp::executors::SingleThreadedExecutor::spin()
@@ -177,6 +175,7 @@
 #include "rclcpp/parameter_event_handler.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/parameter_service.hpp"
+#include "rclcpp/parameter_descriptor_wrapper.hpp"
 #include "rclcpp/rate.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/utilities.hpp"

rclcpp/include/rclcpp/serialized_message.hpp

@@ -58,10 +58,10 @@ public:
   explicit SerializedMessage(const rcl_serialized_message_t & other);
 
   /// Move Constructor for a SerializedMessage
-  SerializedMessage(SerializedMessage && other);
+  SerializedMessage(SerializedMessage && other) noexcept;
 
   /// Constructor for a SerializedMessage from a moved rcl_serialized_message_t
-  explicit SerializedMessage(rcl_serialized_message_t && other);
+  explicit SerializedMessage(rcl_serialized_message_t && other) noexcept;
 
   /// Copy assignment operator
   SerializedMessage & operator=(const SerializedMessage & other);
@@ -70,10 +70,10 @@ public:
   SerializedMessage & operator=(const rcl_serialized_message_t & other);
 
   /// Move assignment operator
-  SerializedMessage & operator=(SerializedMessage && other);
+  SerializedMessage & operator=(SerializedMessage && other) noexcept;
 
   /// Move assignment operator from a rcl_serialized_message_t
-  SerializedMessage & operator=(rcl_serialized_message_t && other);
+  SerializedMessage & operator=(rcl_serialized_message_t && other) noexcept;
 
   /// Destructor for a SerializedMessage
   virtual ~SerializedMessage();

rclcpp/include/rclcpp/service.hpp

@@ -22,6 +22,7 @@
 #include <mutex>
 #include <sstream>
 #include <string>
+#include <utility>
 
 #include "rcl/error_handling.h"
 #include "rcl/event_callback.h"
@@ -54,7 +55,7 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase)
 
   RCLCPP_PUBLIC
-  explicit ServiceBase(std::shared_ptr<rcl_node_t> node_handle);
+  explicit ServiceBase(const std::shared_ptr<rcl_node_t> & node_handle);
 
   RCLCPP_PUBLIC
   virtual ~ServiceBase() = default;
@@ -113,8 +114,8 @@ public:
   virtual
   void
   handle_request(
-    std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<void> request) = 0;
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & request) = 0;
 
   /// Exchange the "in use by wait set" state for this service.
   /**
@@ -190,7 +191,7 @@ public:
    * \param[in] callback functor to be called when a new request is received
    */
   void
-  set_on_new_request_callback(std::function<void(size_t)> callback)
+  set_on_new_request_callback(const std::function<void(size_t)> & callback)
   {
     if (!callback) {
       throw std::invalid_argument(
@@ -286,6 +287,7 @@ class Service
   public std::enable_shared_from_this<Service<ServiceT>>
 {
 public:
+  using ServiceType = ServiceT;
   using CallbackType = std::function<
     void (
       const std::shared_ptr<typename ServiceT::Request>,
@@ -307,7 +309,7 @@ public:
    * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] service_name Name of the topic to publish to.
    * \param[in] any_callback User defined callback to call when a client request is received.
-   * \param[in] service_options options for the subscription.
+   * \param[in] service_options options for the service.
    */
   Service(
     std::shared_ptr<rcl_node_t> node_handle,
@@ -372,10 +374,10 @@ public:
    * \param[in] any_callback User defined callback to call when a client request is received.
    */
   Service(
-    std::shared_ptr<rcl_node_t> node_handle,
-    std::shared_ptr<rcl_service_t> service_handle,
+    const std::shared_ptr<rcl_node_t> & node_handle,
+    const std::shared_ptr<rcl_service_t> & service_handle,
     AnyServiceCallback<ServiceT> any_callback)
-  : ServiceBase(node_handle), any_callback_(any_callback),
+  : ServiceBase(node_handle), any_callback_(std::move(any_callback)),
     srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
   {
     // check if service handle was initialized
@@ -407,10 +409,10 @@ public:
    * \param[in] any_callback User defined callback to call when a client request is received.
    */
   Service(
-    std::shared_ptr<rcl_node_t> node_handle,
+    const std::shared_ptr<rcl_node_t> & node_handle,
     rcl_service_t * service_handle,
     AnyServiceCallback<ServiceT> any_callback)
-  : ServiceBase(node_handle), any_callback_(any_callback),
+  : ServiceBase(node_handle), any_callback_(std::move(any_callback)),
     srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
   {
     // check if service handle was initialized
@@ -471,8 +473,8 @@ public:
 
   void
   handle_request(
-    std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<void> request) override
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & request) override
   {
     auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request);
     auto response = any_callback_.dispatch(this->shared_from_this(), request_header, typed_request);
@@ -499,15 +501,18 @@ public:
     }
   }
 
-  /// Configure client introspection.
+  /// Configure service introspection.
   /**
    * \param[in] clock clock to use to generate introspection timestamps
    * \param[in] qos_service_event_pub QoS settings to use when creating the introspection publisher
    * \param[in] introspection_state the state to set introspection to
+   *
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw if
+   *   it failed to configure introspection.
    */
   void
   configure_introspection(
-    Clock::SharedPtr clock, const QoS & qos_service_event_pub,
+    const Clock::SharedPtr & clock, const QoS & qos_service_event_pub,
     rcl_service_introspection_state_t introspection_state)
   {
     rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -99,49 +99,92 @@ public:
     // Important to use subscription_handles_.size() instead of wait set's size since
     // there may be more subscriptions in the wait set due to Waitables added to the end.
     // The same logic applies for other entities.
+
+    // Mark corresponding weak_ptr as expired for entities that are null in the wait set
+    size_t valid_subscription_count = 0;
     for (size_t i = 0; i < subscription_handles_.size(); ++i) {
-      if (!wait_set->subscriptions[i]) {
-        subscription_handles_[i].reset();
+      if (valid_subscription_count < wait_set->size_of_subscriptions &&
+        !wait_set->subscriptions[valid_subscription_count])
+      {
+        subscription_handles_[i] = std::weak_ptr<const rcl_subscription_t>{};
+      }
+      if (subscription_handles_[i].lock()) {
+        ++valid_subscription_count;
       }
     }
+
+    size_t valid_service_count = 0;
     for (size_t i = 0; i < service_handles_.size(); ++i) {
-      if (!wait_set->services[i]) {
-        service_handles_[i].reset();
+      if (valid_service_count < wait_set->size_of_services &&
+        !wait_set->services[valid_service_count])
+      {
+        service_handles_[i] = std::weak_ptr<const rcl_service_t>{};
+      }
+      if (service_handles_[i].lock()) {
+        ++valid_service_count;
       }
     }
+
+    size_t valid_client_count = 0;
     for (size_t i = 0; i < client_handles_.size(); ++i) {
-      if (!wait_set->clients[i]) {
-        client_handles_[i].reset();
+      if (valid_client_count < wait_set->size_of_clients &&
+        !wait_set->clients[valid_client_count])
+      {
+        client_handles_[i] = std::weak_ptr<const rcl_client_t>{};
+      }
+      if (client_handles_[i].lock()) {
+        ++valid_client_count;
       }
     }
+
+    size_t valid_timer_count = 0;
     for (size_t i = 0; i < timer_handles_.size(); ++i) {
-      if (!wait_set->timers[i]) {
-        timer_handles_[i].reset();
+      if (valid_timer_count < wait_set->size_of_timers &&
+        !wait_set->timers[valid_timer_count])
+      {
+        timer_handles_[i] = std::weak_ptr<const rcl_timer_t>{};
+      }
+      if (timer_handles_[i].lock()) {
+        ++valid_timer_count;
       }
     }
+
     for (size_t i = 0; i < waitable_handles_.size(); ++i) {
       if (!waitable_handles_[i]->is_ready(*wait_set)) {
         waitable_handles_[i].reset();
       }
     }
 
+    // Remove expired weak_ptr instances
     subscription_handles_.erase(
-      std::remove(subscription_handles_.begin(), subscription_handles_.end(), nullptr),
+      std::remove_if(subscription_handles_.begin(), subscription_handles_.end(),
+      [](const std::weak_ptr<const rcl_subscription_t> & weak_ptr) {
+        return weak_ptr.expired();
+        }),
       subscription_handles_.end()
     );
 
     service_handles_.erase(
-      std::remove(service_handles_.begin(), service_handles_.end(), nullptr),
+      std::remove_if(service_handles_.begin(), service_handles_.end(),
+      [](const std::weak_ptr<const rcl_service_t> & weak_ptr) {
+        return weak_ptr.expired();
+        }),
       service_handles_.end()
     );
 
     client_handles_.erase(
-      std::remove(client_handles_.begin(), client_handles_.end(), nullptr),
+      std::remove_if(client_handles_.begin(), client_handles_.end(),
+      [](const std::weak_ptr<const rcl_client_t> & weak_ptr) {
+        return weak_ptr.expired();
+        }),
       client_handles_.end()
     );
 
     timer_handles_.erase(
-      std::remove(timer_handles_.begin(), timer_handles_.end(), nullptr),
+      std::remove_if(timer_handles_.begin(), timer_handles_.end(),
+      [](const std::weak_ptr<const rcl_timer_t> & weak_ptr) {
+        return weak_ptr.expired();
+        }),
       timer_handles_.end()
     );
 
@@ -196,38 +239,60 @@ public:
 
   bool add_handles_to_wait_set(rcl_wait_set_t * wait_set) override
   {
-    for (const std::shared_ptr<const rcl_subscription_t> & subscription : subscription_handles_) {
+    for (const std::weak_ptr<const rcl_subscription_t> & weak_subscription :
+      subscription_handles_)
+    {
+      auto subscription = weak_subscription.lock();
+      if (!subscription) {
+        continue;  // Skip expired handles
+      }
       if (rcl_wait_set_add_subscription(wait_set, subscription.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
           "Couldn't add subscription to wait set: %s", rcl_get_error_string().str);
+        rcl_reset_error();
         return false;
       }
     }
 
-    for (const std::shared_ptr<const rcl_client_t> & client : client_handles_) {
+    for (const std::weak_ptr<const rcl_client_t> & weak_client : client_handles_) {
+      auto client = weak_client.lock();
+      if (!client) {
+        continue;  // Skip expired handles
+      }
       if (rcl_wait_set_add_client(wait_set, client.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
           "Couldn't add client to wait set: %s", rcl_get_error_string().str);
+        rcl_reset_error();
         return false;
       }
     }
 
-    for (const std::shared_ptr<const rcl_service_t> & service : service_handles_) {
+    for (const std::weak_ptr<const rcl_service_t> & weak_service : service_handles_) {
+      auto service = weak_service.lock();
+      if (!service) {
+        continue;  // Skip expired handles
+      }
       if (rcl_wait_set_add_service(wait_set, service.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
           "Couldn't add service to wait set: %s", rcl_get_error_string().str);
+        rcl_reset_error();
         return false;
       }
     }
 
-    for (const std::shared_ptr<const rcl_timer_t> & timer : timer_handles_) {
+    for (const std::weak_ptr<const rcl_timer_t> & weak_timer : timer_handles_) {
+      auto timer = weak_timer.lock();
+      if (!timer) {
+        continue;  // Skip expired handles
+      }
       if (rcl_wait_set_add_timer(wait_set, timer.get(), NULL) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
           "Couldn't add timer to wait set: %s", rcl_get_error_string().str);
+        rcl_reset_error();
         return false;
       }
     }
@@ -249,7 +314,13 @@ public:
   {
     auto it = subscription_handles_.begin();
     while (it != subscription_handles_.end()) {
-      auto subscription = get_subscription_by_handle(*it, weak_groups_to_nodes);
+      auto subscription_handle = it->lock();
+      if (!subscription_handle) {
+        // Handle expired, remove it and continue
+        it = subscription_handles_.erase(it);
+        continue;
+      }
+      auto subscription = get_subscription_by_handle(subscription_handle, weak_groups_to_nodes);
       if (subscription) {
         // Find the group for this handle and see if it can be serviced
         auto group = get_group_by_subscription(subscription, weak_groups_to_nodes);
@@ -284,7 +355,13 @@ public:
   {
     auto it = service_handles_.begin();
     while (it != service_handles_.end()) {
-      auto service = get_service_by_handle(*it, weak_groups_to_nodes);
+      auto service_handle = it->lock();
+      if (!service_handle) {
+        // Handle expired, remove it and continue
+        it = service_handles_.erase(it);
+        continue;
+      }
+      auto service = get_service_by_handle(service_handle, weak_groups_to_nodes);
       if (service) {
         // Find the group for this handle and see if it can be serviced
         auto group = get_group_by_service(service, weak_groups_to_nodes);
@@ -319,7 +396,13 @@ public:
   {
     auto it = client_handles_.begin();
     while (it != client_handles_.end()) {
-      auto client = get_client_by_handle(*it, weak_groups_to_nodes);
+      auto client_handle = it->lock();
+      if (!client_handle) {
+        // Handle expired, remove it and continue
+        it = client_handles_.erase(it);
+        continue;
+      }
+      auto client = get_client_by_handle(client_handle, weak_groups_to_nodes);
       if (client) {
         // Find the group for this handle and see if it can be serviced
         auto group = get_group_by_client(client, weak_groups_to_nodes);
@@ -354,7 +437,13 @@ public:
   {
     auto it = timer_handles_.begin();
     while (it != timer_handles_.end()) {
-      auto timer = get_timer_by_handle(*it, weak_groups_to_nodes);
+      auto timer_handle = it->lock();
+      if (!timer_handle) {
+        // Handle expired, remove it and continue
+        it = timer_handles_.erase(it);
+        continue;
+      }
+      auto timer = get_timer_by_handle(timer_handle, weak_groups_to_nodes);
       if (timer) {
         // Find the group for this handle and see if it can be serviced
         auto group = get_group_by_timer(timer, weak_groups_to_nodes);
@@ -426,12 +515,22 @@ public:
 
   rcl_allocator_t get_allocator() override
   {
-    return rclcpp::allocator::get_rcl_allocator<void *, VoidAlloc>(*allocator_.get());
+    if constexpr (std::is_same_v<Alloc, std::allocator<void>>) {
+      return rcl_get_default_allocator();
+    } else {
+      return rclcpp::allocator::get_rcl_allocator<void *, VoidAlloc>(*allocator_.get());
+    }
   }
 
   size_t number_of_ready_subscriptions() const override
   {
-    size_t number_of_subscriptions = subscription_handles_.size();
+    size_t number_of_subscriptions = 0;
+    // Count only non-expired weak_ptr references
+    for (const auto & weak_subscription : subscription_handles_) {
+      if (!weak_subscription.expired()) {
+        ++number_of_subscriptions;
+      }
+    }
     for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       number_of_subscriptions += waitable->get_number_of_ready_subscriptions();
     }
@@ -440,7 +539,13 @@ public:
 
   size_t number_of_ready_services() const override
   {
-    size_t number_of_services = service_handles_.size();
+    size_t number_of_services = 0;
+    // Count only non-expired weak_ptr references
+    for (const auto & weak_service : service_handles_) {
+      if (!weak_service.expired()) {
+        ++number_of_services;
+      }
+    }
     for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       number_of_services += waitable->get_number_of_ready_services();
     }
@@ -458,7 +563,13 @@ public:
 
   size_t number_of_ready_clients() const override
   {
-    size_t number_of_clients = client_handles_.size();
+    size_t number_of_clients = 0;
+    // Count only non-expired weak_ptr references
+    for (const auto & weak_client : client_handles_) {
+      if (!weak_client.expired()) {
+        ++number_of_clients;
+      }
+    }
     for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       number_of_clients += waitable->get_number_of_ready_clients();
     }
@@ -476,7 +587,13 @@ public:
 
   size_t number_of_ready_timers() const override
   {
-    size_t number_of_timers = timer_handles_.size();
+    size_t number_of_timers = 0;
+    // Count only non-expired weak_ptr references
+    for (const auto & weak_timer : timer_handles_) {
+      if (!weak_timer.expired()) {
+        ++number_of_timers;
+      }
+    }
     for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
       number_of_timers += waitable->get_number_of_ready_timers();
     }
@@ -495,10 +612,10 @@ private:
 
   VectorRebind<const rclcpp::GuardCondition *> guard_conditions_;
 
-  VectorRebind<std::shared_ptr<const rcl_subscription_t>> subscription_handles_;
-  VectorRebind<std::shared_ptr<const rcl_service_t>> service_handles_;
-  VectorRebind<std::shared_ptr<const rcl_client_t>> client_handles_;
-  VectorRebind<std::shared_ptr<const rcl_timer_t>> timer_handles_;
+  VectorRebind<std::weak_ptr<const rcl_subscription_t>> subscription_handles_;
+  VectorRebind<std::weak_ptr<const rcl_service_t>> service_handles_;
+  VectorRebind<std::weak_ptr<const rcl_client_t>> client_handles_;
+  VectorRebind<std::weak_ptr<const rcl_timer_t>> timer_handles_;
   VectorRebind<std::shared_ptr<Waitable>> waitable_handles_;
 
   std::shared_ptr<VoidAlloc> allocator_;

rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp

@@ -114,9 +114,9 @@ public:
    * all references.
    * \param[in] msg Shared pointer to the message to return.
    */
-  void return_message(std::shared_ptr<MessageT> & msg)
+  void return_message([[maybe_unused]] std::shared_ptr<MessageT> & msg)
   {
-    (void)msg;
+    // This function is intentionally left empty.
   }
 
 protected:

rclcpp/include/rclcpp/subscription.hpp

@@ -90,18 +90,6 @@ public:
   using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
   using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
 
-  using MessageAllocatorTraits [[deprecated("use ROSMessageTypeAllocatorTraits")]] =
-    ROSMessageTypeAllocatorTraits;
-  using MessageAllocator [[deprecated("use ROSMessageTypeAllocator")]] =
-    ROSMessageTypeAllocator;
-  using MessageDeleter [[deprecated("use ROSMessageTypeDeleter")]] =
-    ROSMessageTypeDeleter;
-
-  using ConstMessageSharedPtr [[deprecated]] = std::shared_ptr<const ROSMessageType>;
-  using MessageUniquePtr
-  [[deprecated("use std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter> instead")]] =
-    std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>;
-
 private:
   using SubscriptionTopicStatisticsSharedPtr =
     std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics>;
@@ -159,11 +147,13 @@ public:
       auto qos_profile = get_actual_qos();
       if (qos_profile.history() != rclcpp::HistoryPolicy::KeepLast) {
         throw std::invalid_argument(
-                "intraprocess communication allowed only with keep last history qos policy");
+                "intraprocess communication on topic '" + topic_name +
+                "' allowed only with keep last history qos policy");
       }
       if (qos_profile.depth() == 0) {
         throw std::invalid_argument(
-                "intraprocess communication is not allowed with 0 depth qos policy");
+                "intraprocess communication on topic '" + topic_name +
+                "' is not allowed with 0 depth qos policy");
       }
 
       using SubscriptionIntraProcessT = rclcpp::experimental::SubscriptionIntraProcess<
@@ -219,13 +209,11 @@ public:
   /// Called after construction to continue setup that requires shared_from_this().
   void
   post_init_setup(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    const rclcpp::QoS & qos,
-    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
+    [[maybe_unused]] rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    [[maybe_unused]] const rclcpp::QoS & qos,
+    [[maybe_unused]] const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
   {
-    (void)node_base;
-    (void)qos;
-    (void)options;
+    // This function is intentionally left empty.
   }
 
   /// Take the next message from the inter-process subscription.
@@ -291,6 +279,50 @@ public:
     return message_memory_strategy_->borrow_serialized_message();
   }
 
+  /// Disable callbacks from being called
+  /**
+    * This method will block, until any subscription's callbacks provided during construction
+    * currently being executed are finished.
+    * \note This method also temporary removes the on new message callback and all
+    * on new event callbacks from the rmw layer to prevent them from being called. However, this
+    * method will not block and wait until the currently executing on_new_[message]event callbacks
+    * are finished.
+    */
+  void
+  disable_callbacks() override
+  {
+    SubscriptionBase::disable_callbacks();
+    any_callback_.disable();
+    if (subscription_intra_process_) {
+      subscription_intra_process_->disable_callbacks();
+    }
+    for (const auto & [_, event_ptr] : event_handlers_) {
+      if (event_ptr) {
+        event_ptr->disable();
+      }
+    }
+  }
+
+  /// Enable the callbacks to be called
+  /**
+    * This method is thread safe, and provides a safe way to atomically enable the callbacks
+    * in a multithreaded environment.
+    */
+  void
+  enable_callbacks() override
+  {
+    SubscriptionBase::enable_callbacks();
+    any_callback_.enable();
+    if (subscription_intra_process_) {
+      subscription_intra_process_->enable_callbacks();
+    }
+    for (const auto & [_, event_ptr] : event_handlers_) {
+      if (event_ptr) {
+        event_ptr->enable();
+      }
+    }
+  }
+
   void
   handle_message(
     std::shared_ptr<void> & message,
@@ -432,20 +464,17 @@ public:
 
   void
   return_dynamic_message(
-    rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) override
+    [[maybe_unused]] 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
+    [[maybe_unused]] const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+    [[maybe_unused]] const rclcpp::MessageInfo & message_info) override
   {
-    (void) message;
-    (void) message_info;
     throw rclcpp::exceptions::UnimplementedError(
             "handle_dynamic_message is not implemented for Subscription");
   }

rclcpp/include/rclcpp/subscription_base.hpp

@@ -20,8 +20,8 @@
 #include <mutex>
 #include <string>
 #include <unordered_map>
-#include <vector>
 #include <utility>
+#include <vector>
 
 #include "rcl/event_callback.h"
 #include "rcl/subscription.h"
@@ -212,6 +212,23 @@ public:
   std::shared_ptr<rclcpp::SerializedMessage>
   create_serialized_message() = 0;
 
+  /// Disable callbacks from being called
+  /**
+   * This function temporary removes the on_new_message_callback to prevent it from being called.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void disable_callbacks();
+
+  /// Enable the callbacks to be called
+  /**
+    * This function sets back the on_new_message_callback if it was previously removed in
+    * disable_callbacks().
+    */
+  RCLCPP_PUBLIC
+  virtual
+  void enable_callbacks();
+
   /// Check if we need to handle the message, and execute the callback if we do.
   /**
    * \param[in] message Shared pointer to the message to handle.
@@ -355,7 +372,7 @@ public:
    * \param[in] callback functor to be called when a new message is received
    */
   void
-  set_on_new_message_callback(std::function<void(size_t)> callback)
+  set_on_new_message_callback(const std::function<void(size_t)> & callback)
   {
     if (!callback) {
       throw std::invalid_argument(
@@ -383,7 +400,7 @@ public:
         }
       };
 
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_new_message_callback_mutex_);
 
     // Set it temporarily to the new callback, while we replace the old one.
     // This two-step setting, prevents a gap where the old std::function has
@@ -406,7 +423,7 @@ public:
   void
   clear_on_new_message_callback()
   {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_new_message_callback_mutex_);
 
     if (on_new_message_callback_) {
       set_on_new_message_callback(nullptr, nullptr);
@@ -433,7 +450,7 @@ public:
    * \param[in] callback functor to be called when a new message is received
    */
   void
-  set_on_new_intra_process_message_callback(std::function<void(size_t)> callback)
+  set_on_new_intra_process_message_callback(const std::function<void(size_t)> & callback)
   {
     if (!use_intra_process_) {
       RCLCPP_WARN(
@@ -451,7 +468,7 @@ public:
     // The on_ready_callback signature has an extra `int` argument used to disambiguate between
     // possible different entities within a generic waitable.
     // We hide that detail to users of this method.
-    std::function<void(size_t, int)> new_callback = std::bind(callback, std::placeholders::_1);
+    std::function<void(size_t, int)> new_callback = [callback] (size_t nr, int) {callback(nr);};
     subscription_intra_process_->set_on_ready_callback(new_callback);
   }
 
@@ -497,7 +514,7 @@ public:
    */
   void
   set_on_new_qos_event_callback(
-    std::function<void(size_t)> callback,
+    const std::function<void(size_t)> & callback,
     rcl_subscription_event_type_t event_type)
   {
     if (event_handlers_.count(event_type) == 0) {
@@ -516,7 +533,7 @@ public:
     // The on_ready_callback signature has an extra `int` argument used to disambiguate between
     // possible different entities within a generic waitable.
     // We hide that detail to users of this method.
-    std::function<void(size_t, int)> new_callback = std::bind(callback, std::placeholders::_1);
+    std::function<void(size_t, int)> new_callback = [callback] (size_t nr, int) {callback(nr);};
     event_handlers_[event_type]->set_on_ready_callback(new_callback);
   }
 
@@ -646,7 +663,7 @@ protected:
 
   std::shared_ptr<rcl_node_t> node_handle_;
 
-  std::recursive_mutex callback_mutex_;
+  std::recursive_mutex on_new_message_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

rclcpp/include/rclcpp/subscription_options.hpp

@@ -80,7 +80,8 @@ struct SubscriptionOptionsBase
 
     // An optional QoS which can provide topic_statistics with a stable QoS separate from
     // the subscription's current QoS settings which could be unstable.
-    rclcpp::QoS qos = SystemDefaultsQoS();
+    // Explicitly set the enough depth to avoid missing the statistics messages.
+    rclcpp::QoS qos = SystemDefaultsQoS().keep_last(10);
   };
 
   TopicStatisticsOptions topic_stats_options;
@@ -88,6 +89,15 @@ struct SubscriptionOptionsBase
   QosOverridingOptions qos_overriding_options;
 
   ContentFilterOptions content_filter_options;
+
+  /// Acceptable buffer backend names for this subscription.
+  /**
+   * Empty string or "cpu" means CPU-only (default for backward compatibility).
+   * "any" means all installed backends are acceptable.
+   * Comma-separated for specific backends, e.g. "cuda,demo".
+   * CPU is always implicitly acceptable regardless of this value.
+   */
+  std::string acceptable_buffer_backends{"cpu"};
 };
 
 /// Structure containing optional configuration for Subscriptions.
@@ -144,6 +154,11 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
       }
     }
 
+    if (!acceptable_buffer_backends.empty()) {
+      result.rmw_subscription_options.acceptable_buffer_backends =
+        acceptable_buffer_backends.c_str();
+    }
+
     return result;
   }
 
@@ -166,11 +181,20 @@ private:
   rcl_allocator_t
   get_rcl_allocator() const
   {
-    if (!plain_allocator_storage_) {
-      plain_allocator_storage_ =
-        std::make_shared<PlainAllocator>(*this->get_allocator());
+    if constexpr (std::is_same_v<Allocator, std::allocator<void>>) {
+      return rcl_get_default_allocator();
+    } else {
+      if constexpr (rclcpp::allocator::has_get_rcl_allocator_v<Allocator>) {
+        return get_allocator()->get_rcl_allocator();
+      } else {
+        if (!plain_allocator_storage_) {
+          plain_allocator_storage_ =
+            std::make_shared<PlainAllocator>(*this->get_allocator());
+        }
+
+        return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
+      }
     }
-    return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
   }
 
   // This is a temporal workaround, to make sure that get_allocator()

rclcpp/include/rclcpp/time.hpp

@@ -33,12 +33,11 @@ class Time
 public:
   /// Time constructor
   /**
-   * Initializes the time values for seconds and nanoseconds individually.
-   * Large values for nanoseconds are wrapped automatically with the remainder added to seconds.
-   * Both inputs must be integers.
+   * Indicates a specific point in time, relative to a clock's 0 point (its epoch).
+   * The total time since the epoch is given by seconds + nanoseconds.
    *
-   * \param seconds part of the time in seconds since time epoch
-   * \param nanoseconds part of the time in nanoseconds since time epoch
+   * \param seconds the seconds component, valid only if positive
+   * \param nanoseconds the nanoseconds component, to be added to the seconds component
    * \param clock_type clock type
    * \throws std::runtime_error if seconds are negative
    */
@@ -47,8 +46,9 @@ public:
 
   /// Time constructor
   /**
-   * \param nanoseconds since time epoch
+   * \param nanoseconds the total time since the epoch in nanoseconds
    * \param clock_type clock type
+   * \throws std::runtime_error if nanoseconds are negative
    */
   RCLCPP_PUBLIC
   explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
@@ -189,7 +189,7 @@ public:
 
   /// Get the nanoseconds since epoch
   /**
-   * \return the nanoseconds since epoch as a rcl_time_point_value_t structure.
+   * \return the total time since the epoch in nanoseconds, as a rcl_time_point_value_t structure.
    */
   RCLCPP_PUBLIC
   rcl_time_point_value_t
@@ -208,7 +208,7 @@ public:
    * \warning Depending on sizeof(double) there could be significant precision loss.
    * When an exact time is required use nanoseconds() instead.
    *
-   * \return the seconds since epoch as a floating point number.
+   * \return the total time since the epoch in seconds, as a floating point number.
    */
   RCLCPP_PUBLIC
   double

rclcpp/include/rclcpp/time_source.hpp

@@ -60,7 +60,7 @@ public:
    */
   RCLCPP_PUBLIC
   explicit TimeSource(
-    rclcpp::Node::SharedPtr node,
+    const rclcpp::Node::SharedPtr & node,
     const rclcpp::QoS & qos = rclcpp::ClockQoS(),
     bool use_clock_thread = true);
 
@@ -89,7 +89,7 @@ public:
    * \param node std::shared pointer to a initialized node
    */
   RCLCPP_PUBLIC
-  void attachNode(rclcpp::Node::SharedPtr node);
+  void attachNode(const rclcpp::Node::SharedPtr & node);
 
   /// Attach node to the time source.
   /**
@@ -124,11 +124,11 @@ public:
    * \throws std::invalid_argument the time source must be a RCL_ROS_TIME otherwise throws an exception
    */
   RCLCPP_PUBLIC
-  void attachClock(rclcpp::Clock::SharedPtr clock);
+  void attachClock(const rclcpp::Clock::SharedPtr & clock);
 
   /// Detach a clock from the time source
   RCLCPP_PUBLIC
-  void detachClock(rclcpp::Clock::SharedPtr clock);
+  void detachClock(const rclcpp::Clock::SharedPtr & clock);
 
   /// Get whether a separate clock thread is used or not
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/timer.hpp

@@ -183,7 +183,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  set_on_reset_callback(std::function<void(size_t)> callback);
+  set_on_reset_callback(const std::function<void(size_t)> & callback);
 
   /// Unset the callback registered for reset timer
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp

@@ -172,12 +172,11 @@ private:
   {
     auto received_message_age = std::make_unique<ReceivedMessageAge>();
     received_message_age->Start();
-    subscriber_statistics_collectors_.emplace_back(std::move(received_message_age));
-
     auto received_message_period = std::make_unique<ReceivedMessagePeriod>();
     received_message_period->Start();
     {
       std::lock_guard<std::mutex> lock(mutex_);
+      subscriber_statistics_collectors_.emplace_back(std::move(received_message_age));
       subscriber_statistics_collectors_.emplace_back(std::move(received_message_period));
     }
 

rclcpp/include/rclcpp/type_adapter.hpp

@@ -16,6 +16,7 @@
 #define RCLCPP__TYPE_ADAPTER_HPP_
 
 #include <type_traits>
+#include <new>
 
 namespace rclcpp
 {
@@ -128,6 +129,24 @@ struct assert_type_pair_is_specialized_type_adapter
     "No type adapter for this custom type/ros message type pair");
 };
 
+template<typename, typename = void>
+struct has_overloaded_operator_new : std::false_type {};
+template<typename T>
+struct has_overloaded_operator_new<T, std::void_t<
+    decltype(T::operator new(std::size_t()))
+  >>: std::true_type {};
+
+template<typename, typename = void>
+struct has_overloaded_aligned_operator_new : std::false_type {};
+template<typename T>
+struct has_overloaded_aligned_operator_new<T,
+  std::void_t<decltype( T::operator new(std::size_t(), std::align_val_t()) )>>
+  : std::true_type {};
+
+template<typename T>
+inline constexpr bool has_overloaded_operator_new_v = has_overloaded_operator_new<T>::value ||
+  has_overloaded_aligned_operator_new<T>::value;
+
 }  // namespace detail
 
 /// Template metafunction that can make the type being adapted explicit.

rclcpp/include/rclcpp/typesupport_helpers.hpp

@@ -21,6 +21,7 @@
 #include <tuple>
 
 #include "rcpputils/shared_library.hpp"
+#include "rosidl_runtime_cpp/action_type_support_decl.hpp"
 #include "rosidl_runtime_cpp/message_type_support_decl.hpp"
 #include "rosidl_runtime_cpp/service_type_support_decl.hpp"
 
@@ -28,45 +29,48 @@
 
 namespace rclcpp
 {
-/// Load the type support library for the given type.
-/**
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \return A shared library
- */
+
+/// \brief Extract the package name, middle module, and type name from a full type string.
+/// \details This function takes a full type string (e.g., "std_msgs/msg/String") and extracts
+/// the package name, middle module (if any), and type name. The middle module is the part
+/// between the package name and the type name, which is typically used for message types.
+/// For example, for "std_msgs/msg/String", it returns ("std_msgs", "msg", "String").
+/// \param[in] full_type
+/// \throws std::runtime_error if the input full type string is malformed or does not follow the
+/// expected format.
+/// \return A tuple containing the package name, middle module (if any), and type name.
+RCLCPP_PUBLIC
+std::tuple<std::string, std::string, std::string>
+extract_type_identifier(const std::string & full_type);
+
+/// \brief Look for the library in the ament prefix paths and return the path to the type support
+/// library.
+/// \param[in] package_name The name of the package containing the type support library,
+/// e.g. "std_msgs".
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \throws std::runtime_error if the library is not found.
+/// \return The path to the type support library.
+RCLCPP_PUBLIC
+std::string get_typesupport_library_path(
+  const std::string & package_name, const std::string & typesupport_identifier);
+
+/// \brief Load the type support library for the given type.
+/// \param[in] type The topic type, e.g. "std_msgs/msg/String"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \throws std::runtime_error if the library is not found or cannot be loaded.
+/// \return A shared library
 RCLCPP_PUBLIC
 std::shared_ptr<rcpputils::SharedLibrary>
 get_typesupport_library(const std::string & type, const std::string & typesupport_identifier);
 
-/// Extract the type support handle from the library.
-/**
- * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
- *
- * \deprecated Use get_message_typesupport_handle() instead
- *
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \return A type support handle
- */
-[[deprecated("Use `get_message_typesupport_handle` instead")]]
-RCLCPP_PUBLIC
-const rosidl_message_type_support_t *
-get_typesupport_handle(
-  const std::string & type,
-  const std::string & typesupport_identifier,
-  rcpputils::SharedLibrary & library);
-
-/// Extract the message type support handle from the library.
-/**
- * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
- *
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \throws std::runtime_error if the symbol of type not found in the library.
- * \return A message type support handle
- */
+/// \brief Extracts the message type support handle from the library.
+/// \note The library needs to match the topic type. The shared library must stay loaded for the
+/// lifetime of the result.
+/// \param[in] type The topic type, e.g. "std_msgs/msg/String"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \param[in] library The shared type support library
+/// \throws std::runtime_error if the symbol of type not found in the library.
+/// \return A message type support handle
 RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
 get_message_typesupport_handle(
@@ -74,16 +78,14 @@ get_message_typesupport_handle(
   const std::string & typesupport_identifier,
   rcpputils::SharedLibrary & library);
 
-/// Extract the service type support handle from the library.
-/**
- * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
- *
- * \param[in] type The service type, e.g. "std_srvs/srv/Empty"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \throws std::runtime_error if the symbol of type not found in the library.
- * \return A service type support handle
- */
+/// \brief Extracts the service type support handle from the library.
+/// \note The library needs to match the service type. The shared library must stay loaded for the
+/// lifetime of the result.
+/// \param[in] type The service type, e.g. "std_srvs/srv/Empty"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \param[in] library The shared type support library
+/// \throws std::runtime_error if the symbol of type not found in the library.
+/// \return A service type support handle
 RCLCPP_PUBLIC
 const rosidl_service_type_support_t *
 get_service_typesupport_handle(
@@ -91,6 +93,21 @@ get_service_typesupport_handle(
   const std::string & typesupport_identifier,
   rcpputils::SharedLibrary & library);
 
+/// \brief Extracts the action type support handle from the library.
+/// \note The library needs to match the action type. The shared library must stay loaded for the
+/// lifetime of the result.
+/// \param[in] type The action type, e.g. "example_interfaces/action/Fibonacci"
+/// \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+/// \param[in] library The shared type support library
+/// \throws std::runtime_error if the symbol of type not found in the library.
+/// \return A action type support handle
+RCLCPP_PUBLIC
+const rosidl_action_type_support_t *
+get_action_typesupport_handle(
+  const std::string & type,
+  const std::string & typesupport_identifier,
+  rcpputils::SharedLibrary & library);
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__TYPESUPPORT_HELPERS_HPP_

rclcpp/include/rclcpp/utilities.hpp

@@ -22,6 +22,7 @@
 #include <vector>
 
 #include "rclcpp/context.hpp"
+#include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/init_options.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -173,7 +174,7 @@ remove_ros_arguments(int argc, char const * const * argv);
  */
 RCLCPP_PUBLIC
 bool
-ok(rclcpp::Context::SharedPtr context = nullptr);
+ok(const rclcpp::Context::SharedPtr & context = rclcpp::contexts::get_global_default_context());
 
 /// Shutdown rclcpp context, invalidating it for derived entities.
 /**
@@ -192,7 +193,7 @@ ok(rclcpp::Context::SharedPtr context = nullptr);
 RCLCPP_PUBLIC
 bool
 shutdown(
-  rclcpp::Context::SharedPtr context = nullptr,
+  const rclcpp::Context::SharedPtr & context = rclcpp::contexts::get_global_default_context(),
   const std::string & reason = "user called rclcpp::shutdown()");
 
 /// Register a function to be called when shutdown is called on the context.
@@ -212,7 +213,9 @@ shutdown(
  */
 RCLCPP_PUBLIC
 void
-on_shutdown(std::function<void()> callback, rclcpp::Context::SharedPtr context = nullptr);
+on_shutdown(
+  const std::function<void()> & callback,
+  const rclcpp::Context::SharedPtr & context = rclcpp::contexts::get_global_default_context());
 
 /// Use the global condition variable to block for the specified amount of time.
 /**
@@ -231,7 +234,7 @@ RCLCPP_PUBLIC
 bool
 sleep_for(
   const std::chrono::nanoseconds & nanoseconds,
-  rclcpp::Context::SharedPtr context = nullptr);
+  const rclcpp::Context::SharedPtr & context = rclcpp::contexts::get_global_default_context());
 
 /// Safely check if addition will overflow.
 /**

rclcpp/include/rclcpp/wait_for_message.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__WAIT_FOR_MESSAGE_HPP_
 #define RCLCPP__WAIT_FOR_MESSAGE_HPP_
 
+#include <future>
 #include <memory>
 #include <string>
 
@@ -23,6 +24,7 @@
 #include "rclcpp/node.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/wait_set.hpp"
+#include "rclcpp/qos.hpp"
 
 namespace rclcpp
 {
@@ -54,7 +56,7 @@ bool wait_for_message(
       }
     });
 
-  rclcpp::WaitSet wait_set;
+  rclcpp::WaitSet wait_set({}, {}, {}, {}, {}, {}, context);
   wait_set.add_subscription(subscription);
   RCPPUTILS_SCOPE_EXIT(wait_set.remove_subscription(subscription); );
   wait_set.add_guard_condition(gc);
@@ -79,10 +81,11 @@ bool wait_for_message(
 /**
  * Wait for the next incoming message to arrive on a specified topic before the specified timeout.
  *
- * \param[out] out is the message to be filled when a new message is arriving.
+ * \param[out] out is the message to be filled when a new message is arriving
  * \param[in] node the node pointer to initialize the subscription on.
  * \param[in] topic the topic to wait for messages.
  * \param[in] time_to_wait parameter specifying the timeout before returning.
+ * \param[in] qos parameter specifying QoS settings for the subscription.
  * \return true if a message was successfully received, false if message could not
  * be obtained or shutdown was triggered asynchronously on the context.
  */
@@ -91,9 +94,10 @@ bool wait_for_message(
   MsgT & out,
   rclcpp::Node::SharedPtr node,
   const std::string & topic,
-  std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1))
+  std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1),
+  const rclcpp::QoS & qos = rclcpp::SystemDefaultsQoS())
 {
-  auto sub = node->create_subscription<MsgT>(topic, 1, [](const std::shared_ptr<const MsgT>) {});
+  auto sub = node->create_subscription<MsgT>(topic, qos, [](const std::shared_ptr<const MsgT>) {});
   return wait_for_message<MsgT, Rep, Period>(
     out, sub, node->get_node_options().context(), time_to_wait);
 }

rclcpp/include/rclcpp/wait_result.hpp

@@ -176,7 +176,9 @@ public:
       for (; ii < wait_set.size_of_timers(); ++ii) {
         if (rcl_wait_set.timers[ii] != nullptr) {
           ret = wait_set.timers(ii);
-          break;
+          if (ret) {
+            break;
+          }
         }
       }
     }
@@ -217,7 +219,9 @@ public:
         if (rcl_wait_set.subscriptions[ii] != nullptr) {
           ret = wait_set.subscriptions(ii);
           rcl_wait_set.subscriptions[ii] = nullptr;
-          break;
+          if (ret) {
+            break;
+          }
         }
       }
     }
@@ -237,7 +241,9 @@ public:
         if (rcl_wait_set.services[ii] != nullptr) {
           ret = wait_set.services(ii);
           rcl_wait_set.services[ii] = nullptr;
-          break;
+          if (ret) {
+            break;
+          }
         }
       }
     }
@@ -257,7 +263,9 @@ public:
         if (rcl_wait_set.clients[ii] != nullptr) {
           ret = wait_set.clients(ii);
           rcl_wait_set.clients[ii] = nullptr;
-          break;
+          if (ret) {
+            break;
+          }
         }
       }
     }

rclcpp/include/rclcpp/wait_set_policies/dynamic_storage.hpp

@@ -216,6 +216,11 @@ public:
       shared_waitables_
     );
 
+    if (this->needs_pruning_) {
+      this->storage_prune_deleted_entities();
+      this->needs_pruning_ = false;
+    }
+
     this->storage_release_ownerships();
   }
 
@@ -455,59 +460,60 @@ public:
 
   size_t size_of_subscriptions() const
   {
-    return shared_subscriptions_.size();
+    return subscriptions_.size();
   }
 
   size_t size_of_timers() const
   {
-    return shared_timers_.size();
+    return timers_.size();
   }
 
   size_t size_of_clients() const
   {
-    return shared_clients_.size();
+    return clients_.size();
   }
 
   size_t size_of_services() const
   {
-    return shared_services_.size();
+    return services_.size();
   }
 
   size_t size_of_waitables() const
   {
-    return shared_waitables_.size();
+    return waitables_.size();
   }
 
   std::shared_ptr<rclcpp::SubscriptionBase>
   subscriptions(size_t ii) const
   {
-    return shared_subscriptions_[ii].subscription;
+    return subscriptions_[ii].lock();
   }
 
   std::shared_ptr<rclcpp::TimerBase>
   timers(size_t ii) const
   {
-    return shared_timers_[ii];
+    return timers_[ii].lock();
   }
 
   std::shared_ptr<rclcpp::ClientBase>
   clients(size_t ii) const
   {
-    return shared_clients_[ii];
+    return clients_[ii].lock();
   }
 
   std::shared_ptr<rclcpp::ServiceBase>
   services(size_t ii) const
   {
-    return shared_services_[ii];
+    return services_[ii].lock();
   }
 
   std::shared_ptr<rclcpp::Waitable>
   waitables(size_t ii) const
   {
-    return shared_waitables_[ii].waitable;
+    return waitables_[ii].lock();
   }
 
+private:
   size_t ownership_reference_counter_ = 0;
 
   SequenceOfWeakSubscriptions subscriptions_;

rclcpp/include/rclcpp/wait_set_policies/static_storage.hpp

@@ -160,6 +160,15 @@ public:
       services_,
       waitables_
     );
+
+    if(this->needs_pruning_) {
+      // we need to throw here, as the indexing of the rcl_waitset is broken,
+      // in case of invalid entries
+
+      throw std::runtime_error(
+            "StaticStorage::storage_rebuild_rcl_wait_set(): entity weak_ptr "
+            "unexpectedly expired in static entity storage");
+    }
   }
 
   // storage_add_subscription() explicitly not declared here

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -704,10 +704,12 @@ public:
             return WaitResult<WaitSetTemplate>::from_timeout_wait_result_kind();
           case WaitResultKind::Empty:
             return WaitResult<WaitSetTemplate>::from_empty_wait_result_kind();
-          default:
-            auto msg = "unknown WaitResultKind with value: " + std::to_string(wait_result_kind);
+          case WaitResultKind::Invalid:
+            auto msg = "invalid WaitResultKind with value: " + std::to_string(wait_result_kind);
             throw std::runtime_error(msg);
         }
+        // This should never be reached, but is needed to satisfy the compiler
+        throw std::runtime_error("unreachable code in wait result kind switch");
       }
     );
   }
@@ -734,8 +736,6 @@ private:
     wait_result_dirty_ = false;
     // this method comes from the SynchronizationPolicy
     this->sync_wait_result_acquire();
-    // this method comes from the StoragePolicy
-    this->storage_acquire_ownerships();
   }
 
   /// Called by the WaitResult's destructor to release resources.
@@ -752,8 +752,6 @@ private:
     }
     wait_result_holding_ = false;
     wait_result_dirty_ = false;
-    // this method comes from the StoragePolicy
-    this->storage_release_ownerships();
     // this method comes from the SynchronizationPolicy
     this->sync_wait_result_release();
   }

rclcpp/include/rclcpp/waitable.hpp

@@ -18,6 +18,7 @@
 #include <atomic>
 #include <functional>
 #include <memory>
+#include <vector>
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -27,6 +28,8 @@
 namespace rclcpp
 {
 
+class TimerBase;
+
 class Waitable
 {
 public:
@@ -101,23 +104,6 @@ public:
   size_t
   get_number_of_ready_guard_conditions();
 
-#ifdef __GNUC__
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Woverloaded-virtual"
-#endif
-  /// Deprecated.
-  /**
-   * \sa add_to_wait_set(rcl_wait_set_t &)
-   */
-  [[deprecated("Use add_to_wait_set(rcl_wait_set_t & wait_set) signature")]]
-  RCLCPP_PUBLIC
-  virtual
-  void
-  add_to_wait_set(rcl_wait_set_t * wait_set);
-#ifdef __GNUC__
-#pragma GCC diagnostic pop
-#endif
-
   /// Add the Waitable to a wait set.
   /**
    * \param[in] wait_set A handle to the wait set to add the Waitable to.
@@ -126,24 +112,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   void
-  add_to_wait_set(rcl_wait_set_t & wait_set);
-
-#ifdef __GNUC__
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Woverloaded-virtual"
-#endif
-  /// Deprecated.
-  /**
-   * \sa is_ready(const rcl_wait_set_t &)
-   */
-  [[deprecated("Use is_ready(const rcl_wait_set_t & wait_set) signature")]]
-  RCLCPP_PUBLIC
-  virtual
-  bool
-  is_ready(rcl_wait_set_t * wait_set);
-#ifdef __GNUC__
-#pragma GCC diagnostic pop
-#endif
+  add_to_wait_set(rcl_wait_set_t & wait_set) = 0;
 
   /// Check if the Waitable is ready.
   /**
@@ -158,7 +127,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   bool
-  is_ready(const rcl_wait_set_t & wait_set);
+  is_ready(const rcl_wait_set_t & wait_set) = 0;
 
   /// Take the data so that it can be consumed with `execute`.
   /**
@@ -210,24 +179,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   std::shared_ptr<void>
-  take_data_by_entity_id(size_t id);
-
-#ifdef __GNUC__
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Woverloaded-virtual"
-#endif
-  /// Deprecated.
-  /**
-   * \sa execute(const std::shared_ptr<void> &)
-   */
-  [[deprecated("Use execute(const std::shared_ptr<void> & data) signature")]]
-  RCLCPP_PUBLIC
-  virtual
-  void
-  execute(std::shared_ptr<void> & data);
-#ifdef __GNUC__
-#pragma GCC diagnostic pop
-#endif
+  take_data_by_entity_id(size_t id) = 0;
 
   /// Execute data that is passed in.
   /**
@@ -254,7 +206,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   void
-  execute(const std::shared_ptr<void> & data);
+  execute(const std::shared_ptr<void> & data) = 0;
 
   /// Exchange the "in use by wait set" state for this timer.
   /**
@@ -297,7 +249,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   void
-  set_on_ready_callback(std::function<void(size_t, int)> callback);
+  set_on_ready_callback(std::function<void(size_t, int)> callback) = 0;
 
   /// Unset any callback registered via set_on_ready_callback.
   /**
@@ -307,7 +259,18 @@ public:
   RCLCPP_PUBLIC
   virtual
   void
-  clear_on_ready_callback();
+  clear_on_ready_callback() = 0;
+
+  /// Returns all timers used by this waitable
+  /**
+   * Must return all timers used within the waitable.
+   * Note, it is not supported, that timers are added
+   * or removed over the lifetime of the waitable.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<std::shared_ptr<rclcpp::TimerBase>>
+  get_timers() const = 0;
 
 private:
   std::atomic<bool> in_use_by_wait_set_{false};

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>28.1.0</version>
+  <version>30.1.5</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
   <buildtool_depend>python3</buildtool_depend>
+  <buildtool_depend>python3-empy</buildtool_depend>
 
   <build_depend>ament_index_cpp</build_depend>
   <build_depend>builtin_interfaces</build_depend>
@@ -46,9 +47,9 @@
   <depend>statistics_msgs</depend>
   <depend>tracetools</depend>
 
-  <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_google_benchmark</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>mimick_vendor</test_depend>

rclcpp/resource/logging.hpp.em

@@ -1,165 +0,0 @@
-// generated from rclcpp/resource/logging.hpp.em
-
-// Copyright 2017 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__LOGGING_HPP_
-#define RCLCPP__LOGGING_HPP_
-
-#include <sstream>
-#include <type_traits>
-
-#include "rclcpp/logger.hpp"
-#include "rcutils/logging_macros.h"
-#include "rclcpp/utilities.hpp"
-
-// These are used for compiling out logging macros lower than a minimum severity.
-#define RCLCPP_LOG_MIN_SEVERITY_DEBUG 0
-#define RCLCPP_LOG_MIN_SEVERITY_INFO 1
-#define RCLCPP_LOG_MIN_SEVERITY_WARN 2
-#define RCLCPP_LOG_MIN_SEVERITY_ERROR 3
-#define RCLCPP_LOG_MIN_SEVERITY_FATAL 4
-#define RCLCPP_LOG_MIN_SEVERITY_NONE 5
-
-#define RCLCPP_FIRST_ARG(N, ...) N
-#define RCLCPP_ALL_BUT_FIRST_ARGS(N, ...) __VA_ARGS__
-
-/**
- * \def RCLCPP_LOG_MIN_SEVERITY
- * Define RCLCPP_LOG_MIN_SEVERITY=RCLCPP_LOG_MIN_SEVERITY_[DEBUG|INFO|WARN|ERROR|FATAL]
- * in your build options to compile out anything below that severity.
- * Use RCLCPP_LOG_MIN_SEVERITY_NONE to compile out all macros.
- */
-#ifndef RCLCPP_LOG_MIN_SEVERITY
-#define RCLCPP_LOG_MIN_SEVERITY RCLCPP_LOG_MIN_SEVERITY_DEBUG
-#endif
-
-@{
-from collections import OrderedDict
-from copy import deepcopy
-from rcutils.logging import feature_combinations
-from rcutils.logging import get_suffix_from_features
-from rcutils.logging import severities
-from rcutils.logging import throttle_args
-from rcutils.logging import throttle_params
-
-throttle_args['condition_before'] = 'RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(clock, duration)'
-del throttle_params['get_time_point_value']
-throttle_params['clock'] = 'rclcpp::Clock that will be used to get the time point.'
-throttle_params.move_to_end('clock', last=False)
-
-rclcpp_feature_combinations = OrderedDict()
-for combinations, feature in feature_combinations.items():
-    # skip feature combinations using 'named'
-    if 'named' in combinations:
-        continue
-    rclcpp_feature_combinations[combinations] = feature
-# add a stream variant for each available feature combination
-stream_arg = 'stream_arg'
-for combinations, feature in list(rclcpp_feature_combinations.items()):
-    combinations = ('stream', ) + combinations
-    feature = deepcopy(feature)
-    feature.params[stream_arg] = 'The argument << into a stringstream'
-    rclcpp_feature_combinations[combinations] = feature
-
-def get_rclcpp_suffix_from_features(features):
-    suffix = get_suffix_from_features(features)
-    if 'stream' in features:
-        suffix = '_STREAM' + suffix
-    return suffix
-}@
-@[for severity in severities]@
-/** @@name Logging macros for severity @(severity).
- */
-///@@{
-#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_@(severity))
-// empty logging macros for severity @(severity) when being disabled at compile time
-@[ for feature_combination in rclcpp_feature_combinations.keys()]@
-@{suffix = get_rclcpp_suffix_from_features(feature_combination)}@
-/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
-#define RCLCPP_@(severity)@(suffix)(...)
-@[ end for]@
-
-#else
-@[ for feature_combination in rclcpp_feature_combinations.keys()]@
-@{suffix = get_rclcpp_suffix_from_features(feature_combination)}@
-// The RCLCPP_@(severity)@(suffix) macro is surrounded by do { .. } while (0)
-// to implement the standard C macro idiom to make the macro safe in all
-// contexts; see http://c-faq.com/cpp/multistmt.html for more information.
-/**
- * \def RCLCPP_@(severity)@(suffix)
- * Log a message with severity @(severity)@
-@[ if rclcpp_feature_combinations[feature_combination].doc_lines]@
- with the following conditions:
-@[ else]@
-.
-@[ end if]@
-@[ for doc_line in rclcpp_feature_combinations[feature_combination].doc_lines]@
- * @(doc_line)
-@[ end for]@
- * \param logger The `rclcpp::Logger` to use
-@[ for param_name, doc_line in rclcpp_feature_combinations[feature_combination].params.items()]@
- * \param @(param_name) @(doc_line)
-@[ end for]@
-@[ if 'stream' not in feature_combination]@
- * \param ... The format string, followed by the variable arguments for the format string.
-@[ end if]@
- */
-@{params = rclcpp_feature_combinations[feature_combination].params.keys()}@
-#define RCLCPP_@(severity)@(suffix)(logger@(''.join([', ' + p for p in params]))@
-@[ if 'stream' not in feature_combination]@
-, ...@
-@[ end if]@
-) \
-  do { \
-    static_assert( \
-      ::std::is_same<typename std::remove_cv_t<typename std::remove_reference_t<decltype(logger)>>, \
-      typename ::rclcpp::Logger>::value, \
-      "First argument to logging macros must be an rclcpp::Logger"); \
-@[ if 'throttle' in feature_combination]@ \
-    auto get_time_point = [&c=clock](rcutils_time_point_value_t * time_point) -> rcutils_ret_t { \
-      try { \
-        *time_point = c.now().nanoseconds(); \
-      } catch (...) { \
-        RCUTILS_SAFE_FWRITE_TO_STDERR( \
-        "[rclcpp|logging.hpp] RCLCPP_@(severity)@(suffix) could not get current time stamp\n"); \
-        return RCUTILS_RET_ERROR; \
-      } \
-        return RCUTILS_RET_OK; \
-    }; \
-@[ end if] \
-@[ if 'stream' in feature_combination]@
-    std::stringstream rclcpp_stream_ss_; \
-    rclcpp_stream_ss_ << @(stream_arg); \
-@[ end if]@
-    RCUTILS_LOG_@(severity)@(get_suffix_from_features(feature_combination))_NAMED( \
-@{params = ['get_time_point' if p == 'clock' and 'throttle' in feature_combination else p for p in params]}@
-@[ if params]@
-@(''.join(['      ' + p + ', \\\n' for p in params if p != stream_arg]))@
-@[ end if]@
-      (logger).get_name(), \
-@[ if 'stream' not in feature_combination]@
-      __VA_ARGS__); \
-@[ else]@
-      "%s", rclcpp_stream_ss_.str().c_str()); \
-@[ end if]@
-  } while (0)
-
-@[ end for]@
-#endif
-///@@}
-
-@[end for]@
-
-#endif  // RCLCPP__LOGGING_HPP_

rclcpp/src/rclcpp/callback_group.cpp

@@ -31,7 +31,7 @@ using rclcpp::CallbackGroupType;
 
 CallbackGroup::CallbackGroup(
   CallbackGroupType group_type,
-  rclcpp::Context::WeakPtr context,
+  const rclcpp::Context::WeakPtr & context,
   bool automatically_add_to_executor_with_node)
 : type_(group_type), associated_with_executor_(false),
   can_be_taken_from_(true),
@@ -59,6 +59,7 @@ CallbackGroup::type() const
 size_t
 CallbackGroup::size() const
 {
+  std::lock_guard<std::mutex> lock(mutex_);
   return
     subscription_ptrs_.size() +
     service_ptrs_.size() +
@@ -68,11 +69,11 @@ CallbackGroup::size() const
 }
 
 void CallbackGroup::collect_all_ptrs(
-  std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> sub_func,
-  std::function<void(const rclcpp::ServiceBase::SharedPtr &)> service_func,
-  std::function<void(const rclcpp::ClientBase::SharedPtr &)> client_func,
-  std::function<void(const rclcpp::TimerBase::SharedPtr &)> timer_func,
-  std::function<void(const rclcpp::Waitable::SharedPtr &)> waitable_func) const
+  const std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> & sub_func,
+  const std::function<void(const rclcpp::ServiceBase::SharedPtr &)> & service_func,
+  const std::function<void(const rclcpp::ClientBase::SharedPtr &)> & client_func,
+  const std::function<void(const rclcpp::TimerBase::SharedPtr &)> & timer_func,
+  const std::function<void(const rclcpp::Waitable::SharedPtr &)> & waitable_func) const
 {
   std::lock_guard<std::mutex> lock(mutex_);
 
@@ -149,7 +150,7 @@ CallbackGroup::trigger_notify_guard_condition()
 
 void
 CallbackGroup::add_subscription(
-  const rclcpp::SubscriptionBase::SharedPtr subscription_ptr)
+  const rclcpp::SubscriptionBase::SharedPtr & subscription_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   subscription_ptrs_.push_back(subscription_ptr);
@@ -157,12 +158,12 @@ CallbackGroup::add_subscription(
     std::remove_if(
       subscription_ptrs_.begin(),
       subscription_ptrs_.end(),
-      [](rclcpp::SubscriptionBase::WeakPtr x) {return x.expired();}),
+      [](const rclcpp::SubscriptionBase::WeakPtr & x) {return x.expired();}),
     subscription_ptrs_.end());
 }
 
 void
-CallbackGroup::add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr)
+CallbackGroup::add_timer(const rclcpp::TimerBase::SharedPtr & timer_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   timer_ptrs_.push_back(timer_ptr);
@@ -170,12 +171,12 @@ CallbackGroup::add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr)
     std::remove_if(
       timer_ptrs_.begin(),
       timer_ptrs_.end(),
-      [](rclcpp::TimerBase::WeakPtr x) {return x.expired();}),
+      [](const rclcpp::TimerBase::WeakPtr & x) {return x.expired();}),
     timer_ptrs_.end());
 }
 
 void
-CallbackGroup::add_service(const rclcpp::ServiceBase::SharedPtr service_ptr)
+CallbackGroup::add_service(const rclcpp::ServiceBase::SharedPtr & service_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   service_ptrs_.push_back(service_ptr);
@@ -183,12 +184,12 @@ CallbackGroup::add_service(const rclcpp::ServiceBase::SharedPtr service_ptr)
     std::remove_if(
       service_ptrs_.begin(),
       service_ptrs_.end(),
-      [](rclcpp::ServiceBase::WeakPtr x) {return x.expired();}),
+      [](const rclcpp::ServiceBase::WeakPtr & x) {return x.expired();}),
     service_ptrs_.end());
 }
 
 void
-CallbackGroup::add_client(const rclcpp::ClientBase::SharedPtr client_ptr)
+CallbackGroup::add_client(const rclcpp::ClientBase::SharedPtr & client_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   client_ptrs_.push_back(client_ptr);
@@ -196,12 +197,12 @@ CallbackGroup::add_client(const rclcpp::ClientBase::SharedPtr client_ptr)
     std::remove_if(
       client_ptrs_.begin(),
       client_ptrs_.end(),
-      [](rclcpp::ClientBase::WeakPtr x) {return x.expired();}),
+      [](const rclcpp::ClientBase::WeakPtr & x) {return x.expired();}),
     client_ptrs_.end());
 }
 
 void
-CallbackGroup::add_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr)
+CallbackGroup::add_waitable(const rclcpp::Waitable::SharedPtr & waitable_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   waitable_ptrs_.push_back(waitable_ptr);
@@ -209,12 +210,12 @@ CallbackGroup::add_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr)
     std::remove_if(
       waitable_ptrs_.begin(),
       waitable_ptrs_.end(),
-      [](rclcpp::Waitable::WeakPtr x) {return x.expired();}),
+      [](const rclcpp::Waitable::WeakPtr & x) {return x.expired();}),
     waitable_ptrs_.end());
 }
 
 void
-CallbackGroup::remove_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr) noexcept
+CallbackGroup::remove_waitable(const rclcpp::Waitable::SharedPtr & waitable_ptr) noexcept
 {
   std::lock_guard<std::mutex> lock(mutex_);
   for (auto iter = waitable_ptrs_.begin(); iter != waitable_ptrs_.end(); ++iter) {

rclcpp/src/rclcpp/client.cpp

@@ -37,7 +37,7 @@ using rclcpp::exceptions::throw_from_rcl_error;
 
 ClientBase::ClientBase(
   rclcpp::node_interfaces::NodeBaseInterface * node_base,
-  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph)
+  const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph)
 : node_graph_(node_graph),
   node_handle_(node_base->get_shared_rcl_node_handle()),
   context_(node_base->get_context()),

rclcpp/src/rclcpp/clock.cpp

@@ -60,8 +60,8 @@ JumpHandler::JumpHandler(
   pre_callback_t pre_callback,
   post_callback_t post_callback,
   const rcl_jump_threshold_t & threshold)
-: pre_callback(pre_callback),
-  post_callback(post_callback),
+: pre_callback(std::move(pre_callback)),
+  post_callback(std::move(post_callback)),
   notice_threshold(threshold)
 {}
 
@@ -83,20 +83,10 @@ Clock::now() const
   return now;
 }
 
-void
-Clock::cancel_sleep_or_wait()
-{
-  {
-    std::unique_lock lock(impl_->wait_mutex_);
-    impl_->stop_sleeping_ = true;
-  }
-  impl_->cv_.notify_one();
-}
-
 bool
 Clock::sleep_until(
-  Time until,
-  Context::SharedPtr context)
+  const Time & until,
+  const Context::SharedPtr & context)
 {
   if (!context || !context->is_valid()) {
     throw std::runtime_error("context cannot be slept with because it's invalid");
@@ -204,7 +194,7 @@ Clock::sleep_until(
 }
 
 bool
-Clock::sleep_for(Duration rel_time, Context::SharedPtr context)
+Clock::sleep_for(const Duration & rel_time, const Context::SharedPtr & context)
 {
   return sleep_until(now() + rel_time, context);
 }
@@ -219,7 +209,7 @@ Clock::started()
 }
 
 bool
-Clock::wait_until_started(Context::SharedPtr context)
+Clock::wait_until_started(const Context::SharedPtr & context)
 {
   if (!context || !context->is_valid()) {
     throw std::runtime_error("context cannot be slept with because it's invalid");
@@ -239,7 +229,7 @@ Clock::wait_until_started(Context::SharedPtr context)
 bool
 Clock::wait_until_started(
   const Duration & timeout,
-  Context::SharedPtr context,
+  const Context::SharedPtr & context,
   const Duration & wait_tick_ns)
 {
   if (!context || !context->is_valid()) {
@@ -328,8 +318,8 @@ Clock::on_time_jump(
 
 JumpHandler::SharedPtr
 Clock::create_jump_callback(
-  JumpHandler::pre_callback_t pre_callback,
-  JumpHandler::post_callback_t post_callback,
+  const JumpHandler::pre_callback_t & pre_callback,
+  const JumpHandler::post_callback_t & post_callback,
   const rcl_jump_threshold_t & threshold)
 {
   // Allocate a new jump handler
@@ -367,4 +357,245 @@ Clock::create_jump_callback(
   // *INDENT-ON*
 }
 
+class ClockWaiter::ClockWaiterImpl
+{
+private:
+  std::condition_variable cv_;
+
+  rclcpp::Clock::SharedPtr clock_;
+  bool time_source_changed_ = false;
+  std::function<void(const rcl_time_jump_t &)> post_time_jump_callback;
+
+  bool
+  wait_until_system_time(
+    std::unique_lock<std::mutex> & lock,
+    const rclcpp::Time & abs_time, const std::function<bool ()> & pred)
+  {
+    auto system_time = std::chrono::system_clock::time_point(
+    // Cast because system clock resolution is too big for nanoseconds on some systems
+    std::chrono::duration_cast<std::chrono::system_clock::duration>(
+        std::chrono::nanoseconds(abs_time.nanoseconds())));
+
+    return cv_.wait_until(lock, system_time, pred);
+  }
+
+  bool
+  wait_until_steady_time(
+    std::unique_lock<std::mutex> & lock,
+    const rclcpp::Time & abs_time, const std::function<bool ()> & pred)
+  {
+    // Synchronize because RCL steady clock epoch might differ from chrono::steady_clock epoch
+    const rclcpp::Time rcl_entry = clock_->now();
+    const std::chrono::steady_clock::time_point chrono_entry = std::chrono::steady_clock::now();
+    const rclcpp::Duration delta_t = abs_time - rcl_entry;
+    const std::chrono::steady_clock::time_point chrono_until =
+      chrono_entry + std::chrono::nanoseconds(delta_t.nanoseconds());
+
+    return cv_.wait_until(lock, chrono_until, pred);
+  }
+
+
+  bool
+  wait_until_ros_time(
+    std::unique_lock<std::mutex> & lock,
+    const rclcpp::Time & abs_time, const std::function<bool ()> & pred)
+  {
+    // Install jump handler for any amount of time change, for two purposes:
+    // - if ROS time is active, check if time reached on each new clock sample
+    // - Trigger via on_clock_change to detect if time source changes, to invalidate sleep
+    rcl_jump_threshold_t threshold;
+    threshold.on_clock_change = true;
+    // 0 is disable, so -1 and 1 are smallest possible time changes
+    threshold.min_backward.nanoseconds = -1;
+    threshold.min_forward.nanoseconds = 1;
+
+    time_source_changed_ = false;
+
+    post_time_jump_callback = [this, &lock] (const rcl_time_jump_t & jump)
+      {
+        if (jump.clock_change != RCL_ROS_TIME_NO_CHANGE) {
+          std::lock_guard<std::mutex> lk(*lock.mutex());
+          time_source_changed_ = true;
+        }
+        cv_.notify_one();
+      };
+
+    // Note this is a trade-off. Adding the callback for every call
+    // is expensive for high frequency calls. For low frequency waits
+    // its more overhead to have the callback being called all the time.
+    // As we expect the use case to be low frequency calls to wait_until
+    // with relative big pauses between the calls, we install it on demand.
+    auto clock_handler = clock_->create_jump_callback(
+      nullptr,
+      post_time_jump_callback,
+      threshold);
+
+    if (!clock_->ros_time_is_active()) {
+      auto system_time = std::chrono::system_clock::time_point(
+        // Cast because system clock resolution is too big for nanoseconds on some systems
+        std::chrono::duration_cast<std::chrono::system_clock::duration>(
+          std::chrono::nanoseconds(abs_time.nanoseconds())));
+
+      return cv_.wait_until(lock, system_time, [this, &pred] () {
+                 return time_source_changed_ || pred();
+      });
+    }
+
+    // RCL_ROS_TIME with ros_time_is_active.
+    // Just wait without "until" because installed
+    // jump callbacks wake the cv on every new sample.
+    cv_.wait(lock, [this, &pred, &abs_time] () {
+        return clock_->now() >= abs_time || time_source_changed_ || pred();
+    });
+
+    return clock_->now() < abs_time;
+  }
+
+public:
+  explicit ClockWaiterImpl(const rclcpp::Clock::SharedPtr & clock)
+  :clock_(clock)
+  {
+  }
+
+  bool
+  wait_until(
+    std::unique_lock<std::mutex> & lock,
+    const rclcpp::Time & abs_time, const std::function<bool ()> & pred)
+  {
+    switch(clock_->get_clock_type()) {
+      case RCL_CLOCK_UNINITIALIZED:
+        throw std::runtime_error("Error, wait on uninitialized clock called");
+      case RCL_ROS_TIME:
+        return wait_until_ros_time(lock, abs_time, pred);
+        break;
+      case RCL_STEADY_TIME:
+        return wait_until_steady_time(lock, abs_time, pred);
+        break;
+      case RCL_SYSTEM_TIME:
+        return wait_until_system_time(lock, abs_time, pred);
+        break;
+    }
+
+    return false;
+  }
+
+  void
+  notify_one()
+  {
+    cv_.notify_one();
+  }
+};
+
+ClockWaiter::ClockWaiter(const rclcpp::Clock::SharedPtr & clock)
+:impl_(std::make_unique<ClockWaiterImpl>(clock))
+{
+}
+
+ClockWaiter::~ClockWaiter() = default;
+
+bool
+ClockWaiter::wait_until(
+  std::unique_lock<std::mutex> & lock,
+  const rclcpp::Time & abs_time, const std::function<bool ()> & pred)
+{
+  return impl_->wait_until(lock, abs_time, pred);
+}
+
+void
+ClockWaiter::notify_one()
+{
+  impl_->notify_one();
+}
+
+class ClockConditionalVariable::Impl
+{
+  std::mutex pred_mutex_;
+  bool shutdown_ = false;
+  rclcpp::Context::SharedPtr context_;
+  rclcpp::OnShutdownCallbackHandle shutdown_cb_handle_;
+  ClockWaiter::UniquePtr clock_;
+
+public:
+  Impl(const rclcpp::Clock::SharedPtr & clock, const rclcpp::Context::SharedPtr & context)
+  :context_(context),
+    clock_(std::make_unique<ClockWaiter>(clock))
+  {
+    if (!context_ || !context_->is_valid()) {
+      throw std::runtime_error("context cannot be slept with because it's invalid");
+    }
+    // Wake this thread if the context is shutdown
+    shutdown_cb_handle_ = context_->add_on_shutdown_callback(
+      [this]() {
+        {
+          std::unique_lock lock(pred_mutex_);
+          shutdown_ = true;
+        }
+        clock_->notify_one();
+    });
+  }
+
+  ~Impl()
+  {
+    context_->remove_on_shutdown_callback(shutdown_cb_handle_);
+  }
+
+  bool
+  wait_until(
+    std::unique_lock<std::mutex> & lock, const rclcpp::Time & until,
+    const std::function<bool ()> & pred)
+  {
+    if(lock.mutex() != &pred_mutex_) {
+      throw std::runtime_error(
+          "ClockConditionalVariable::wait_until: Internal error, given lock does not use"
+          " mutex returned by this->mutex()");
+    }
+
+    clock_->wait_until(lock, until, [this, &pred] () -> bool {
+        return shutdown_ || pred();
+      });
+    return true;
+  }
+
+  void
+  notify_one()
+  {
+    clock_->notify_one();
+  }
+
+  std::mutex &
+  mutex()
+  {
+    return pred_mutex_;
+  }
+};
+
+ClockConditionalVariable::ClockConditionalVariable(
+  const rclcpp::Clock::SharedPtr & clock,
+  const rclcpp::Context::SharedPtr & context)
+:impl_(std::make_unique<Impl>(clock, context))
+{
+}
+
+ClockConditionalVariable::~ClockConditionalVariable() = default;
+
+void
+ClockConditionalVariable::notify_one()
+{
+  impl_->notify_one();
+}
+
+bool
+ClockConditionalVariable::wait_until(
+  std::unique_lock<std::mutex> & lock, const rclcpp::Time & until,
+  const std::function<bool ()> & pred)
+{
+  return impl_->wait_until(lock, until, pred);
+}
+
+std::mutex &
+ClockConditionalVariable::mutex()
+{
+  return impl_->mutex();
+}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/context.cpp

@@ -28,7 +28,7 @@
 #include "rclcpp/detail/utilities.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/logging.hpp"
-
+#include "rclcpp/graph_listener.hpp"
 #include "rcutils/error_handling.h"
 #include "rcutils/macros.h"
 
@@ -59,7 +59,7 @@ public:
       std::remove_if(
         weak_contexts_.begin(),
         weak_contexts_.end(),
-        [context](const Context::WeakPtr weak_context) {
+        [context](const Context::WeakPtr & weak_context) {
           auto locked_context = weak_context.lock();
           if (!locked_context) {
             // take advantage and removed expired contexts
@@ -145,7 +145,8 @@ rclcpp_logging_output_handler(
 Context::Context()
 : rcl_context_(nullptr),
   shutdown_reason_(""),
-  logging_mutex_(nullptr)
+  logging_mutex_(nullptr),
+  graph_listener_(nullptr)
 {}
 
 Context::~Context()
@@ -212,28 +213,27 @@ Context::init(
   }
   rcl_context_.reset(context, __delete_context);
 
-  if (init_options.auto_initialize_logging()) {
-    logging_mutex_ = get_global_logging_mutex();
-    std::lock_guard<std::recursive_mutex> guard(*logging_mutex_);
-    size_t & count = get_logging_reference_count();
-    if (0u == count) {
-      ret = rcl_logging_configure_with_output_handler(
-        &rcl_context_->global_arguments,
-        rcl_init_options_get_allocator(init_options.get_rcl_init_options()),
-        rclcpp_logging_output_handler);
-      if (RCL_RET_OK != ret) {
-        rcl_context_.reset();
-        rclcpp::exceptions::throw_from_rcl_error(ret, "failed to configure logging");
-      }
-    } else {
-      RCLCPP_WARN(
-        rclcpp::get_logger("rclcpp"),
-        "logging was initialized more than once");
-    }
-    ++count;
-  }
-
   try {
+    if (init_options.auto_initialize_logging()) {
+      logging_mutex_ = get_global_logging_mutex();
+      std::lock_guard<std::recursive_mutex> guard(*logging_mutex_);
+      size_t & count = get_logging_reference_count();
+      if (0u == count) {
+        ret = rcl_logging_configure_with_output_handler(
+          &rcl_context_->global_arguments,
+          rcl_init_options_get_allocator(init_options.get_rcl_init_options()),
+          rclcpp_logging_output_handler);
+        if (RCL_RET_OK != ret) {
+          rclcpp::exceptions::throw_from_rcl_error(ret, "failed to configure logging");
+        }
+      } else {
+        RCLCPP_WARN(
+          rclcpp::get_logger("rclcpp"),
+          "logging was initialized more than once");
+      }
+      ++count;
+    }
+
     std::vector<std::string> unparsed_ros_arguments = detail::get_unparsed_ros_arguments(
       argc, argv, &(rcl_context_->global_arguments), rcl_get_default_allocator());
     if (!unparsed_ros_arguments.empty()) {
@@ -244,6 +244,24 @@ Context::init(
 
     weak_contexts_ = get_weak_contexts();
     weak_contexts_->add_context(this->shared_from_this());
+
+
+    std::lock_guard<std::recursive_mutex> lock (on_shutdown_callbacks_mutex_);
+
+    graph_listener_ = std::make_shared<graph_listener::GraphListener>(shared_from_this());
+
+    if (!graph_listener_->is_started()) {
+    // Register an on_shutdown hook to shutdown the graph listener.
+    // This is important to ensure that the wait set is finalized before
+    // destruction of static objects occurs.
+      std::weak_ptr<rclcpp::graph_listener::GraphListener> weak_graph_listener = graph_listener_;
+      on_shutdown ([weak_graph_listener]() {
+          auto shared_graph_listener = weak_graph_listener.lock();
+          if(shared_graph_listener) {
+            shared_graph_listener->shutdown(std::nothrow);
+          }
+    });
+    }
   } catch (const std::exception & e) {
     ret = rcl_shutdown(rcl_context_.get());
     rcl_context_.reset();
@@ -311,9 +329,16 @@ Context::shutdown(const std::string & reason)
 
   // call each pre-shutdown callback
   {
-    std::lock_guard<std::mutex> lock{pre_shutdown_callbacks_mutex_};
-    for (const auto & callback : pre_shutdown_callbacks_) {
-      (*callback)();
+    std::lock_guard<std::recursive_mutex> lock{pre_shutdown_callbacks_mutex_};
+    // callbacks may delete other callbacks during the execution,
+    // therefore we need to save a copy and check before execution
+    // if the next callback is still present
+    auto cpy = pre_shutdown_callbacks_;
+    for (const auto & callback : cpy) {
+      auto it = std::find(pre_shutdown_callbacks_.begin(), pre_shutdown_callbacks_.end(), callback);
+      if(it != pre_shutdown_callbacks_.end()) {
+        (*callback)();
+      }
     }
   }
 
@@ -326,9 +351,16 @@ Context::shutdown(const std::string & reason)
   shutdown_reason_ = reason;
   // call each shutdown callback
   {
-    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
-    for (const auto & callback : on_shutdown_callbacks_) {
-      (*callback)();
+    std::lock_guard<std::recursive_mutex> lock(on_shutdown_callbacks_mutex_);
+    // callbacks may delete other callbacks during the execution,
+    // therefore we need to save a copy and check before execution
+    // if the next callback is still present
+    auto cpy = on_shutdown_callbacks_;
+    for (const auto & callback : cpy) {
+      auto it = std::find(on_shutdown_callbacks_.begin(), on_shutdown_callbacks_.end(), callback);
+      if(it != on_shutdown_callbacks_.end()) {
+        (*callback)();
+      }
     }
   }
 
@@ -356,14 +388,14 @@ Context::shutdown(const std::string & reason)
 }
 
 rclcpp::Context::OnShutdownCallback
-Context::on_shutdown(OnShutdownCallback callback)
+Context::on_shutdown(const OnShutdownCallback & callback)
 {
   add_on_shutdown_callback(callback);
   return callback;
 }
 
 rclcpp::OnShutdownCallbackHandle
-Context::add_on_shutdown_callback(OnShutdownCallback callback)
+Context::add_on_shutdown_callback(const OnShutdownCallback & callback)
 {
   return add_shutdown_callback<ShutdownType::on_shutdown>(callback);
 }
@@ -375,7 +407,7 @@ Context::remove_on_shutdown_callback(const OnShutdownCallbackHandle & callback_h
 }
 
 rclcpp::PreShutdownCallbackHandle
-Context::add_pre_shutdown_callback(PreShutdownCallback callback)
+Context::add_pre_shutdown_callback(const PreShutdownCallback & callback)
 {
   return add_shutdown_callback<ShutdownType::pre_shutdown>(callback);
 }
@@ -390,7 +422,7 @@ Context::remove_pre_shutdown_callback(
 template<Context::ShutdownType shutdown_type>
 rclcpp::ShutdownCallbackHandle
 Context::add_shutdown_callback(
-  ShutdownCallback callback)
+  const ShutdownCallback & callback)
 {
   auto callback_shared_ptr =
     std::make_shared<ShutdownCallbackHandle::ShutdownCallbackType>(callback);
@@ -399,10 +431,10 @@ Context::add_shutdown_callback(
     shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
 
   if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    std::lock_guard<std::mutex> lock(pre_shutdown_callbacks_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(pre_shutdown_callbacks_mutex_);
     pre_shutdown_callbacks_.emplace_back(callback_shared_ptr);
   } else {
-    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_shutdown_callbacks_mutex_);
     on_shutdown_callbacks_.emplace_back(callback_shared_ptr);
   }
 
@@ -422,7 +454,7 @@ Context::remove_shutdown_callback(
   }
 
   const auto remove_callback = [&callback_shared_ptr](auto & mutex, auto & callback_vector) {
-      const std::lock_guard<std::mutex> lock(mutex);
+      const std::lock_guard<std::recursive_mutex> lock(mutex);
       auto iter = callback_vector.begin();
       for (; iter != callback_vector.end(); iter++) {
         if ((*iter).get() == callback_shared_ptr.get()) {
@@ -463,10 +495,11 @@ std::vector<rclcpp::Context::ShutdownCallback>
 Context::get_shutdown_callback() const
 {
   const auto get_callback_vector = [](auto & mutex, auto & callback_set) {
-      const std::lock_guard<std::mutex> lock(mutex);
+      const std::lock_guard<std::recursive_mutex> lock(mutex);
       std::vector<rclcpp::Context::ShutdownCallback> callbacks;
+      callbacks.reserve(callback_set.size());
       for (auto & callback : callback_set) {
-        callbacks.push_back(*callback);
+        callbacks.emplace_back(*callback);
       }
       return callbacks;
     };
@@ -487,6 +520,12 @@ Context::get_rcl_context()
   return rcl_context_;
 }
 
+std::shared_ptr<rclcpp::graph_listener::GraphListener>
+Context::get_graph_listener()
+{
+  return graph_listener_;
+}
+
 bool
 Context::sleep_for(const std::chrono::nanoseconds & nanoseconds)
 {

rclcpp/src/rclcpp/create_generic_client.cpp

@@ -19,13 +19,13 @@ namespace rclcpp
 {
 rclcpp::GenericClient::SharedPtr
 create_generic_client(
-  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-  std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,
-  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+  const std::shared_ptr<node_interfaces::NodeBaseInterface> & node_base,
+  const std::shared_ptr<node_interfaces::NodeGraphInterface> & node_graph,
+  const std::shared_ptr<node_interfaces::NodeServicesInterface> & node_services,
   const std::string & service_name,
   const std::string & service_type,
   const rclcpp::QoS & qos,
-  rclcpp::CallbackGroup::SharedPtr group)
+  const rclcpp::CallbackGroup::SharedPtr & group)
 {
   rcl_client_options_t options = rcl_client_get_default_options();
   options.qos = qos.get_rmw_qos_profile();