changed type

Signed-off-by: Pedro Pena <peter.a.pena@gmail.com>

rclcpp/CHANGELOG.rst

@@ -2,185 +2,6 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-6.3.0 (2021-01-25)
-------------------
-* Add instrumentation for linking a timer to a node (`#1500 <https://github.com/ros2/rclcpp/issues/1500>`_)
-* Fix error when using IPC with StaticSingleThreadExecutor (`#1520 <https://github.com/ros2/rclcpp/issues/1520>`_)
-* Change to using unique_ptrs for DummyExecutor. (`#1517 <https://github.com/ros2/rclcpp/issues/1517>`_)
-* Allow reconfiguring 'clock' topic qos (`#1512 <https://github.com/ros2/rclcpp/issues/1512>`_)
-* Allow to add/remove nodes thread safely in rclcpp::Executor  (`#1505 <https://github.com/ros2/rclcpp/issues/1505>`_)
-* Call rclcpp::shutdown in test_node for clean shutdown on Windows (`#1515 <https://github.com/ros2/rclcpp/issues/1515>`_)
-* Reapply "Add get_logging_directory method to rclcpp::Logger (`#1509 <https://github.com/ros2/rclcpp/issues/1509>`_)" (`#1513 <https://github.com/ros2/rclcpp/issues/1513>`_)
-* use describe_parameters of parameter client for test (`#1499 <https://github.com/ros2/rclcpp/issues/1499>`_)
-* Revert "Add get_logging_directory method to rclcpp::Logger (`#1509 <https://github.com/ros2/rclcpp/issues/1509>`_)" (`#1511 <https://github.com/ros2/rclcpp/issues/1511>`_)
-* Add get_logging_directory method to rclcpp::Logger (`#1509 <https://github.com/ros2/rclcpp/issues/1509>`_)
-* Contributors: Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, eboasson, mauropasse, tomoya
-
-6.2.0 (2021-01-08)
-------------------
-* Better documentation for the QoS class (`#1508 <https://github.com/ros2/rclcpp/issues/1508>`_)
-* Modify excluding callback duration from topic statistics (`#1492 <https://github.com/ros2/rclcpp/issues/1492>`_)
-* Make the test of graph users more robust. (`#1504 <https://github.com/ros2/rclcpp/issues/1504>`_)
-* Make sure to wait for graph change events in test_node_graph. (`#1503 <https://github.com/ros2/rclcpp/issues/1503>`_)
-* add timeout to SyncParametersClient methods (`#1493 <https://github.com/ros2/rclcpp/issues/1493>`_)
-* Fix wrong test expectations (`#1497 <https://github.com/ros2/rclcpp/issues/1497>`_)
-* Update create_publisher/subscription documentation, clarifying when a parameters interface is required (`#1494 <https://github.com/ros2/rclcpp/issues/1494>`_)
-* Fix string literal warnings (`#1442 <https://github.com/ros2/rclcpp/issues/1442>`_)
-* support describe_parameters methods to parameter client. (`#1453 <https://github.com/ros2/rclcpp/issues/1453>`_)
-* Contributors: Audrow Nash, Chris Lalancette, Ivan Santiago Paunovic, Nikolai Morin, hsgwa, tomoya
-
-6.1.0 (2020-12-10)
-------------------
-* Add getters to rclcpp::qos and rclcpp::Policy enum classes (`#1467 <https://github.com/ros2/rclcpp/issues/1467>`_)
-* Change nullptr checks to use ASSERT_TRUE. (`#1486 <https://github.com/ros2/rclcpp/issues/1486>`_)
-* Adjust logic around finding and erasing guard_condition (`#1474 <https://github.com/ros2/rclcpp/issues/1474>`_)
-* Update QDs to QL 1 (`#1477 <https://github.com/ros2/rclcpp/issues/1477>`_)
-* Add performance tests for parameter transport (`#1463 <https://github.com/ros2/rclcpp/issues/1463>`_)
-* Contributors: Chris Lalancette, Ivan Santiago Paunovic, Scott K Logan, Stephen Brawner
-
-6.0.0 (2020-11-18)
-------------------
-* Move ownership of shutdown_guard_condition to executors/graph_listener (`#1404 <https://github.com/ros2/rclcpp/issues/1404>`_)
-* Add options to automatically declare qos parameters when creating a publisher/subscription (`#1465 <https://github.com/ros2/rclcpp/issues/1465>`_)
-* Add `take_data` to `Waitable` and `data` to `AnyExecutable` (`#1241 <https://github.com/ros2/rclcpp/issues/1241>`_)
-* Add benchmarks for node parameters interface (`#1444 <https://github.com/ros2/rclcpp/issues/1444>`_)
-* Remove allocation from executor::remove_node() (`#1448 <https://github.com/ros2/rclcpp/issues/1448>`_)
-* Fix test crashes on CentOS 7 (`#1449 <https://github.com/ros2/rclcpp/issues/1449>`_)
-* Bump rclcpp packages to Quality Level 2 (`#1445 <https://github.com/ros2/rclcpp/issues/1445>`_)
-* Added executor benchmark tests (`#1413 <https://github.com/ros2/rclcpp/issues/1413>`_)
-* Add fully-qualified namespace to WeakCallbackGroupsToNodesMap (`#1435 <https://github.com/ros2/rclcpp/issues/1435>`_)
-* Contributors: Alejandro Hernández Cordero, Audrow Nash, Chris Lalancette, Ivan Santiago Paunovic, Louise Poubel, Scott K Logan, brawner
-
-5.1.0 (2020-11-02)
-------------------
-* Deprecate Duration(rcl_duration_value_t) in favor of static Duration::from_nanoseconds(rcl_duration_value_t) (`#1432 <https://github.com/ros2/rclcpp/issues/1432>`_)
-* Avoid parsing arguments twice in `rclcpp::init_and_remove_ros_arguments` (`#1415 <https://github.com/ros2/rclcpp/issues/1415>`_)
-* Add service and client benchmarks (`#1425 <https://github.com/ros2/rclcpp/issues/1425>`_)
-* Set CMakeLists to only use default rmw for benchmarks (`#1427 <https://github.com/ros2/rclcpp/issues/1427>`_)
-* Update tracetools' QL in rclcpp's QD (`#1428 <https://github.com/ros2/rclcpp/issues/1428>`_)
-* Add missing locking to the rclcpp_action::ServerBase. (`#1421 <https://github.com/ros2/rclcpp/issues/1421>`_)
-* Initial benchmark tests for rclcpp::init/shutdown create/destroy node (`#1411 <https://github.com/ros2/rclcpp/issues/1411>`_)
-* Refactor test CMakeLists in prep for benchmarks (`#1422 <https://github.com/ros2/rclcpp/issues/1422>`_)
-* Add methods in topic and service interface to resolve a name (`#1410 <https://github.com/ros2/rclcpp/issues/1410>`_)
-* Update deprecated gtest macros (`#1370 <https://github.com/ros2/rclcpp/issues/1370>`_)
-* Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency (`#1303 <https://github.com/ros2/rclcpp/issues/1303>`_)
-* Increase test timeouts of slow running tests with rmw_connext_cpp (`#1400 <https://github.com/ros2/rclcpp/issues/1400>`_)
-* Avoid self dependency that not destoryed (`#1301 <https://github.com/ros2/rclcpp/issues/1301>`_)
-* Update maintainers (`#1384 <https://github.com/ros2/rclcpp/issues/1384>`_)
-* Add clock qos to node options (`#1375 <https://github.com/ros2/rclcpp/issues/1375>`_)
-* Fix NodeOptions copy constructor (`#1376 <https://github.com/ros2/rclcpp/issues/1376>`_)
-* Make sure to clean the external client/service handle. (`#1296 <https://github.com/ros2/rclcpp/issues/1296>`_)
-* Increase coverage of WaitSetTemplate (`#1368 <https://github.com/ros2/rclcpp/issues/1368>`_)
-* Increase coverage of guard_condition.cpp to 100% (`#1369 <https://github.com/ros2/rclcpp/issues/1369>`_)
-* Add coverage statement (`#1367 <https://github.com/ros2/rclcpp/issues/1367>`_)
-* Tests for LoanedMessage with mocked loaned message publisher (`#1366 <https://github.com/ros2/rclcpp/issues/1366>`_)
-* Add unit tests for qos and qos_event files (`#1352 <https://github.com/ros2/rclcpp/issues/1352>`_)
-* Finish coverage of publisher API (`#1365 <https://github.com/ros2/rclcpp/issues/1365>`_)
-* Finish API coverage on executors. (`#1364 <https://github.com/ros2/rclcpp/issues/1364>`_)
-* Add test for ParameterService (`#1355 <https://github.com/ros2/rclcpp/issues/1355>`_)
-* Add time API coverage tests (`#1347 <https://github.com/ros2/rclcpp/issues/1347>`_)
-* Add timer coverage tests (`#1363 <https://github.com/ros2/rclcpp/issues/1363>`_)
-* Add in additional tests for parameter_client.cpp coverage.
-* Minor fixes to the parameter_service.cpp file.
-* reset rcl_context shared_ptr after calling rcl_init sucessfully (`#1357 <https://github.com/ros2/rclcpp/issues/1357>`_)
-* Improved test publisher - zero qos history depth value exception (`#1360 <https://github.com/ros2/rclcpp/issues/1360>`_)
-* Covered resolve_use_intra_process (`#1359 <https://github.com/ros2/rclcpp/issues/1359>`_)
-* Improve test_subscription_options (`#1358 <https://github.com/ros2/rclcpp/issues/1358>`_)
-* Add in more tests for init_options coverage. (`#1353 <https://github.com/ros2/rclcpp/issues/1353>`_)
-* Test the remaining node public API (`#1342 <https://github.com/ros2/rclcpp/issues/1342>`_)
-* Complete coverage of Parameter and ParameterValue API (`#1344 <https://github.com/ros2/rclcpp/issues/1344>`_)
-* Add in more tests for the utilities. (`#1349 <https://github.com/ros2/rclcpp/issues/1349>`_)
-* Add in two more tests for expand_topic_or_service_name. (`#1350 <https://github.com/ros2/rclcpp/issues/1350>`_)
-* Add tests for node_options API (`#1343 <https://github.com/ros2/rclcpp/issues/1343>`_)
-* Add in more coverage for expand_topic_or_service_name. (`#1346 <https://github.com/ros2/rclcpp/issues/1346>`_)
-* Test exception in spin_until_future_complete. (`#1345 <https://github.com/ros2/rclcpp/issues/1345>`_)
-* Add coverage tests graph_listener (`#1330 <https://github.com/ros2/rclcpp/issues/1330>`_)
-* Add in unit tests for the Executor class.
-* Allow mimick patching of methods with up to 9 arguments.
-* Improve the error messages in the Executor class.
-* Add coverage for client API (`#1329 <https://github.com/ros2/rclcpp/issues/1329>`_)
-* Increase service coverage (`#1332 <https://github.com/ros2/rclcpp/issues/1332>`_)
-* Make more of the static entity collector API private.
-* Const-ify more of the static executor.
-* Add more tests for the static single threaded executor.
-* Many more tests for the static_executor_entities_collector.
-* Get one more line of code coverage in memory_strategy.cpp
-* Bugfix when adding callback group.
-* Fix typos in comments.
-* Remove deprecated executor::FutureReturnCode APIs. (`#1327 <https://github.com/ros2/rclcpp/issues/1327>`_)
-* Increase coverage of publisher/subscription API (`#1325 <https://github.com/ros2/rclcpp/issues/1325>`_)
-* Not finalize guard condition while destructing SubscriptionIntraProcess (`#1307 <https://github.com/ros2/rclcpp/issues/1307>`_)
-* Expose qos setting for /rosout (`#1247 <https://github.com/ros2/rclcpp/issues/1247>`_)
-* Add coverage for missing API (except executors) (`#1326 <https://github.com/ros2/rclcpp/issues/1326>`_)
-* Include topic name in QoS mismatch warning messages (`#1286 <https://github.com/ros2/rclcpp/issues/1286>`_)
-* Add coverage tests context functions (`#1321 <https://github.com/ros2/rclcpp/issues/1321>`_)
-* Increase coverage of node_interfaces, including with mocking rcl errors (`#1322 <https://github.com/ros2/rclcpp/issues/1322>`_)
-* Contributors: Ada-King, Alejandro Hernández Cordero, Audrow Nash, Barry Xu, Chen Lihui, Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, Jorge Perez, Morgan Quigley, brawner
-
-5.0.0 (2020-09-18)
-------------------
-* Make node_graph::count_graph_users() const (`#1320 <https://github.com/ros2/rclcpp/issues/1320>`_)
-* Add coverage for wait_set_policies (`#1316 <https://github.com/ros2/rclcpp/issues/1316>`_)
-* Only exchange intra_process waitable if nonnull (`#1317 <https://github.com/ros2/rclcpp/issues/1317>`_)
-* Check waitable for nullptr during constructor (`#1315 <https://github.com/ros2/rclcpp/issues/1315>`_)
-* Call vector.erase with end iterator overload (`#1314 <https://github.com/ros2/rclcpp/issues/1314>`_)
-* Use best effort, keep last, history depth 1 QoS Profile for '/clock' subscriptions (`#1312 <https://github.com/ros2/rclcpp/issues/1312>`_)
-* Add tests type_support module (`#1308 <https://github.com/ros2/rclcpp/issues/1308>`_)
-* Replace std_msgs with test_msgs in executors test (`#1310 <https://github.com/ros2/rclcpp/issues/1310>`_)
-* Add set_level for rclcpp::Logger (`#1284 <https://github.com/ros2/rclcpp/issues/1284>`_)
-* Remove unused private function (rclcpp::Node and rclcpp_lifecycle::Node) (`#1294 <https://github.com/ros2/rclcpp/issues/1294>`_)
-* Adding tests basic getters (`#1291 <https://github.com/ros2/rclcpp/issues/1291>`_)
-* Adding callback groups in executor (`#1218 <https://github.com/ros2/rclcpp/issues/1218>`_)
-* Refactor Subscription Topic Statistics Tests (`#1281 <https://github.com/ros2/rclcpp/issues/1281>`_)
-* Add operator!= for duration (`#1236 <https://github.com/ros2/rclcpp/issues/1236>`_)
-* Fix clock thread issue (`#1266 <https://github.com/ros2/rclcpp/issues/1266>`_) (`#1267 <https://github.com/ros2/rclcpp/issues/1267>`_)
-* Fix topic stats test, wait for more messages, only check the ones with samples (`#1274 <https://github.com/ros2/rclcpp/issues/1274>`_)
-* Add get_domain_id method to rclcpp::Context (`#1271 <https://github.com/ros2/rclcpp/issues/1271>`_)
-* Fixes for unit tests that fail under cyclonedds (`#1270 <https://github.com/ros2/rclcpp/issues/1270>`_)
-* initialize_logging\_ should be copied (`#1272 <https://github.com/ros2/rclcpp/issues/1272>`_)
-* Use static_cast instead of C-style cast for instrumentation (`#1263 <https://github.com/ros2/rclcpp/issues/1263>`_)
-* Make parameter clients use template constructors (`#1249 <https://github.com/ros2/rclcpp/issues/1249>`_)
-* Ability to configure domain_id via InitOptions. (`#1165 <https://github.com/ros2/rclcpp/issues/1165>`_)
-* Simplify and fix allocator memory strategy unit test for connext (`#1252 <https://github.com/ros2/rclcpp/issues/1252>`_)
-* Use global namespace for parameter events subscription topic (`#1257 <https://github.com/ros2/rclcpp/issues/1257>`_)
-* Increase timeouts for connext for long tests (`#1253 <https://github.com/ros2/rclcpp/issues/1253>`_)
-* Adjust test_static_executor_entities_collector for rmw_connext_cpp (`#1251 <https://github.com/ros2/rclcpp/issues/1251>`_)
-* Fix failing test with Connext since it doesn't wait for discovery (`#1246 <https://github.com/ros2/rclcpp/issues/1246>`_)
-* Fix node graph test with Connext and CycloneDDS returning actual data (`#1245 <https://github.com/ros2/rclcpp/issues/1245>`_)
-* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_)
-* Unittests for memory strategy files, except allocator_memory_strategy (`#1189 <https://github.com/ros2/rclcpp/issues/1189>`_)
-* EXPECT_THROW_EQ and ASSERT_THROW_EQ macros for unittests (`#1232 <https://github.com/ros2/rclcpp/issues/1232>`_)
-* Add unit test for static_executor_entities_collector (`#1221 <https://github.com/ros2/rclcpp/issues/1221>`_)
-* Parameterize test executors for all executor types (`#1222 <https://github.com/ros2/rclcpp/issues/1222>`_)
-* Unit tests for allocator_memory_strategy.cpp part 2 (`#1198 <https://github.com/ros2/rclcpp/issues/1198>`_)
-* Unit tests for allocator_memory_strategy.hpp (`#1197 <https://github.com/ros2/rclcpp/issues/1197>`_)
-* Derive and throw exception in spin_some spin_all for StaticSingleThreadedExecutor (`#1220 <https://github.com/ros2/rclcpp/issues/1220>`_)
-* Make ring buffer thread-safe (`#1213 <https://github.com/ros2/rclcpp/issues/1213>`_)
-* Add missing RCLCPP_PUBLIC to ~StaticExecutorEntitiesCollector (`#1227 <https://github.com/ros2/rclcpp/issues/1227>`_)
-* Document graph functions don't apply remap rules (`#1225 <https://github.com/ros2/rclcpp/issues/1225>`_)
-* Remove recreation of entities_collector (`#1217 <https://github.com/ros2/rclcpp/issues/1217>`_)
-* Contributors: Audrow Nash, Chen Lihui, Christophe Bedard, Daisuke Sato, Devin Bonnie, Dirk Thomas, Ivan Santiago Paunovic, Jacob Perron, Jannik Abbenseth, Jorge Perez, Pedro Pena, Shane Loretz, Stephen Brawner, Tomoya Fujita
-
-4.0.0 (2020-07-09)
-------------------
-* Fix rclcpp::NodeOptions::operator= (`#1211 <https://github.com/ros2/rclcpp/issues/1211>`_)
-* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_)
-* Unit tests for node interfaces (`#1202 <https://github.com/ros2/rclcpp/issues/1202>`_)
-* Remove usage of domain id in node options (`#1205 <https://github.com/ros2/rclcpp/issues/1205>`_)
-* Remove deprecated set_on_parameters_set_callback function (`#1199 <https://github.com/ros2/rclcpp/issues/1199>`_)
-* Fix conversion of negative durations to messages (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_)
-* Fix implementation of NodeOptions::use_global_arguments() (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_)
-* Bump to QD to level 3 and fixed links (`#1158 <https://github.com/ros2/rclcpp/issues/1158>`_)
-* Fix pub/sub count API tests (`#1203 <https://github.com/ros2/rclcpp/issues/1203>`_)
-* Update tracetools' QL to 2 in rclcpp's QD (`#1187 <https://github.com/ros2/rclcpp/issues/1187>`_)
-* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_)
-* Throw exception if rcl_timer_init fails (`#1179 <https://github.com/ros2/rclcpp/issues/1179>`_)
-* Unit tests for some header-only functions/classes (`#1181 <https://github.com/ros2/rclcpp/issues/1181>`_)
-* Callback should be perfectly-forwarded (`#1183 <https://github.com/ros2/rclcpp/issues/1183>`_)
-* Add unit tests for logging functionality (`#1184 <https://github.com/ros2/rclcpp/issues/1184>`_)
-* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_)
-* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Claire Wang, Dirk Thomas, Ivan Santiago Paunovic, Johannes Meyer, Michel Hidalgo, Stephen Brawner, tomoya
-
 3.0.0 (2020-06-18)
 ------------------
 * Check period duration in create_wall_timer (`#1178 <https://github.com/ros2/rclcpp/issues/1178>`_)

rclcpp/CMakeLists.txt

@@ -85,7 +85,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/publisher_base.cpp
   src/rclcpp/qos.cpp
   src/rclcpp/qos_event.cpp
-  src/rclcpp/qos_overriding_options.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp

rclcpp/QUALITY_DECLARATION.md

@@ -2,7 +2,7 @@ This document is a declaration of software quality for the `rclcpp` package, bas
 
 # 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.
+The package `rclcpp` claims to be in the **Quality Level 3** category.
 
 Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories) of the ROS2 developer guide.
 
@@ -82,13 +82,13 @@ The API is publicly available in its [ROS 2 API documentation](http://docs.ros2.
 
 The license for `rclcpp` is Apache 2.0, and a summary is in each source file, the type is declared in the [`package.xml`](./package.xml) manifest file, and a full copy of the license is in the [`LICENSE`](../LICENSE) file.
 
-There is an automated test which runs a linter that ensures each file has a license statement. [Here](http://build.ros2.org/view/Rpr/job/Rpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp/) can be found a list with the latest results of the various linters being run on the package.
+There is an automated test which runs a linter that ensures each file has a license statement. [Here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastSuccessfulBuild/testReport/rclcpp/) can be found a list with the latest results of the various linters being run on the package.
 
 ### Copyright Statements [3.iv]
 
 The copyright holders each provide a statement of copyright in each source code file in `rclcpp`.
 
-There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [here](http://build.ros2.org/view/Rpr/job/Rpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp/copyright/).
+There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastSuccessfulBuild/testReport/rclcpp/copyright/).
 
 ## Testing [4]
 
@@ -121,21 +121,11 @@ This includes:
 
 Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers.
 
-Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_src_rclcpp/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://index.ros.org/doc/ros2/Contributing/ROS-2-On-boarding-Guide/#note-on-coverage-runs).
-
-`rclcpp` has a line coverage `>= 95%`, which is calculated over all directories within `rclcpp` with the exception of the `experimental` directory.
+Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_coverage/lastSuccessfulBuild/cobertura/src_ros2_rclcpp_rclcpp_src_rclcpp/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://index.ros.org/doc/ros2/Contributing/ROS-2-On-boarding-Guide/#note-on-coverage-runs).
 
 ### Performance [4.iv]
 
-`rclcpp` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#performance), and opts to do performance analysis on each release rather than each change.
-
-The performance tests of `rclcpp` are located in the [test/benchmark directory](https://github.com/ros2/rclcpp/tree/master/rclcpp/test/benchmark).
-
-System level performance benchmarks that cover features of `rclcpp` can be found at:
-* [Benchmarks](http://build.ros2.org/view/Rci/job/Rci__benchmark_ubuntu_focal_amd64/BenchmarkTable/)
-* [Performance](http://build.ros2.org/view/Rci/job/Rci__nightly-performance_ubuntu_focal_amd64/lastCompletedBuild/)
-
-Changes that introduce regressions in performance must be adequately justified in order to be accepted and merged.
+It is not yet defined if this package requires performance testing and how addresses this topic.
 
 ### Linters and Static Analysis [4.v]
 
@@ -163,49 +153,49 @@ It also has several test dependencies, which do not affect the resulting quality
 
 The `libstatistics_collector` package provides lightweight aggregation utilities to collect statistics and measure message metrics.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros-tooling/libstatistics_collector/tree/master/QUALITY_DECLARATION.md).
+It is **Quality Level 3**, see its [Quality Declaration document](https://github.com/ros-tooling/libstatistics_collector/tree/master/QUALITY_DECLARATION.md).
 
 #### `rcl`
 
 `rcl` a library to support implementation of language specific ROS 2 Client Libraries.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/blob/master/rcl/QUALITY_DECLARATION.md).
+It is **Quality Level 3**, see its [Quality Declaration document](https://github.com/ros2/rcl/blob/master/rcl/QUALITY_DECLARATION.md).
 
 #### `rcl_yaml_param_parser`
 
 The `rcl_yaml_param_parser` package provides an API that is used to parse YAML configuration files which may be used to configure ROS and specific nodes.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/master/rcl_yaml_param_parser/QUALITY_DECLARATION.md).
+It is **Quality Level 3**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/master/rcl_yaml_param_parser/QUALITY_DECLARATION.md).
 
 #### `rcpputils`
 
 The `rcpputils` package provides an API which contains common utilities and data structures useful when programming in C++.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcpputils/blob/master/QUALITY_DECLARATION.md).
+It is **Quality Level 2**, see its [Quality Declaration document](https://github.com/ros2/rcpputils/blob/master/QUALITY_DECLARATION.md).
 
 #### `rcutils`
 
 The `rcutils` package provides an API which contains common utilities and data structures useful when programming in C.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md).
+It is **Quality Level 2**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md).
 
 #### `rmw`
 
 `rmw` is the ROS 2 middleware library.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/master/rmw/QUALITY_DECLARATION.md).
+It is **Quality Level 2**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/master/rmw/QUALITY_DECLARATION.md).
 
 #### `statistics_msgs`
 
 The `statistics_msgs` package contains ROS 2 message definitions for reporting statistics for topics and system resources.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/master/statistics_msgs/QUALITY_DECLARATION.md).
+It is **Quality Level 3**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/master/statistics_msgs/QUALITY_DECLARATION.md).
 
 #### `tracetools`
 
 The `tracetools` package provides utilities for instrumenting the code in `rclcpp` so that it may be traced for debugging and performance analysis.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://gitlab.com/ros-tracing/ros2_tracing/-/blob/master/tracetools/QUALITY_DECLARATION.md).
+It is **Quality Level 2**, see its [Quality Declaration document](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/-/blob/master/tracetools/QUALITY_DECLARATION.md).
 
 ### Direct Runtime non-ROS Dependency [5.iii]
 

rclcpp/README.md

@@ -6,4 +6,4 @@ Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) fo
 
 ## Quality Declaration
 
-This package claims to be in the **Quality Level 1** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.
+This package claims to be in the **Quality Level 3** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.

rclcpp/include/rclcpp/any_executable.hpp

@@ -47,7 +47,6 @@ struct AnyExecutable
   // These are used to keep the scope on the containing items
   rclcpp::CallbackGroup::SharedPtr callback_group;
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
-  std::shared_ptr<void> data;
 };
 
 namespace executor

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -88,7 +88,7 @@ public:
     std::shared_ptr<typename ServiceT::Request> request,
     std::shared_ptr<typename ServiceT::Response> response)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACEPOINT(callback_start, (const void *)this, false);
     if (shared_ptr_callback_ != nullptr) {
       (void)request_header;
       shared_ptr_callback_(request, response);
@@ -97,7 +97,7 @@ public:
     } else {
       throw std::runtime_error("unexpected request without any callback set");
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
   void register_callback_for_tracing()
@@ -106,12 +106,12 @@ public:
     if (shared_ptr_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(shared_ptr_callback_));
     } else if (shared_ptr_with_request_header_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(shared_ptr_with_request_header_callback_));
     }
 #endif  // TRACETOOLS_DISABLED

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -158,7 +158,7 @@ public:
   void dispatch(
     std::shared_ptr<MessageT> message, const rclcpp::MessageInfo & message_info)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACEPOINT(callback_start, (const void *)this, false);
     if (shared_ptr_callback_) {
       shared_ptr_callback_(message);
     } else if (shared_ptr_with_info_callback_) {
@@ -178,13 +178,13 @@ public:
     } else {
       throw std::runtime_error("unexpected message without any callback set");
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
   void dispatch_intra_process(
     ConstMessageSharedPtr message, const rclcpp::MessageInfo & message_info)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    TRACEPOINT(callback_start, (const void *)this, true);
     if (const_shared_ptr_callback_) {
       const_shared_ptr_callback_(message);
     } else if (const_shared_ptr_with_info_callback_) {
@@ -201,13 +201,13 @@ public:
         throw std::runtime_error("unexpected message without any callback set");
       }
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
   void dispatch_intra_process(
     MessageUniquePtr message, const rclcpp::MessageInfo & message_info)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    TRACEPOINT(callback_start, (const void *)this, true);
     if (shared_ptr_callback_) {
       typename std::shared_ptr<MessageT> shared_message = std::move(message);
       shared_ptr_callback_(shared_message);
@@ -225,7 +225,7 @@ public:
     } else {
       throw std::runtime_error("unexpected message without any callback set");
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
   bool use_take_shared_method() const
@@ -239,22 +239,22 @@ public:
     if (shared_ptr_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(shared_ptr_callback_));
     } else if (shared_ptr_with_info_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(shared_ptr_with_info_callback_));
     } else if (unique_ptr_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(unique_ptr_callback_));
     } else if (unique_ptr_with_info_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(unique_ptr_with_info_callback_));
     }
 #endif  // TRACETOOLS_DISABLED

rclcpp/include/rclcpp/callback_group.hpp

@@ -56,44 +56,8 @@ 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 They type of the callback group.
-   * \param[in] automatically_add_to_executor_with_node a boolean which
-   *   determines whether a callback group is automatically added to an executor
-   *   with the node with which it is associated.
-   */
   RCLCPP_PUBLIC
-  explicit CallbackGroup(
-    CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true);
+  explicit CallbackGroup(CallbackGroupType group_type);
 
   template<typename Function>
   rclcpp::SubscriptionBase::SharedPtr
@@ -138,31 +102,6 @@ public:
   const CallbackGroupType &
   type() const;
 
-  /// Return a reference to the 'associated with executor' atomic boolean.
-  /**
-   * When a callback group is added to an executor this boolean is checked
-   * to ensure it has not already been added to another executor.
-   * If it has not been, then this boolean is set to true to indicate it is
-   * now associated with an executor.
-   *
-   * When the callback group is removed from the executor, this atomic boolean
-   * is set back to false.
-   *
-   * \return the 'associated with executor' atomic boolean
-   */
-  RCLCPP_PUBLIC
-  std::atomic_bool &
-  get_associated_with_executor_atomic();
-
-  /// Return true if this callback group should be automatically added to an executor by the node.
-  /**
-   * \return boolean true if this callback group should be automatically added
-   *   to an executor when the associated node is added, otherwise false.
-   */
-  RCLCPP_PUBLIC
-  bool
-  automatically_add_to_executor_with_node() const;
-
 protected:
   RCLCPP_DISABLE_COPY(CallbackGroup)
 
@@ -197,14 +136,12 @@ protected:
   CallbackGroupType type_;
   // Mutex to protect the subsequent vectors of pointers.
   mutable std::mutex mutex_;
-  std::atomic_bool associated_with_executor_;
   std::vector<rclcpp::SubscriptionBase::WeakPtr> subscription_ptrs_;
   std::vector<rclcpp::TimerBase::WeakPtr> timer_ptrs_;
   std::vector<rclcpp::ServiceBase::WeakPtr> service_ptrs_;
   std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
   std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
   std::atomic_bool can_be_taken_from_;
-  const bool automatically_add_to_executor_with_node_;
 
 private:
   template<typename TypeT, typename Function>

rclcpp/include/rclcpp/context.hpp

@@ -139,11 +139,6 @@ public:
   rclcpp::InitOptions
   get_init_options();
 
-  /// Return actual domain id.
-  RCLCPP_PUBLIC
-  size_t
-  get_domain_id() const;
-
   /// Return the shutdown reason, or empty string if not shutdown.
   /**
    * This function is thread-safe.
@@ -248,6 +243,67 @@ public:
   void
   interrupt_all_sleep_for();
 
+  /// Get a handle to the guard condition which is triggered when interrupted.
+  /**
+   * This guard condition is triggered any time interrupt_all_wait_sets() is
+   * called, which may be called by the user, or shutdown().
+   * And in turn, shutdown() may be called by the user, the destructor of this
+   * context, or the signal handler if installed and shutdown_on_sigint is true
+   * for this context.
+   *
+   * The first time that this function is called for a given wait set a new guard
+   * condition will be created and returned; thereafter the same guard condition
+   * will be returned for the same wait set.
+   * This mechanism is designed to ensure that the same guard condition is not
+   * reused across wait sets (e.g., when using multiple executors in the same
+   * process).
+   * This method will throw an exception if initialization of the guard
+   * condition fails.
+   *
+   * The returned guard condition needs to be released with the
+   * release_interrupt_guard_condition() method in order to reclaim resources.
+   *
+   * \param[in] wait_set Pointer to the rcl_wait_set_t that will be using the
+   *   resulting guard condition.
+   * \return Pointer to the guard condition.
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
+   */
+  RCLCPP_PUBLIC
+  rcl_guard_condition_t *
+  get_interrupt_guard_condition(rcl_wait_set_t * wait_set);
+
+  /// Release the previously allocated guard condition which is triggered when interrupted.
+  /**
+   * If you previously called get_interrupt_guard_condition() for a given wait
+   * set to get a interrupt guard condition, then you should call
+   * release_interrupt_guard_condition() when you're done, to free that
+   * condition.
+   * Will throw an exception if get_interrupt_guard_condition() wasn't
+   * previously called for the given wait set.
+   *
+   * After calling this, the pointer returned by get_interrupt_guard_condition()
+   * for the given wait_set is invalid.
+   *
+   * \param[in] wait_set Pointer to the rcl_wait_set_t that was using the
+   *   resulting guard condition.
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
+   * \throws std::runtime_error if a nonexistent wait set is trying to release sigint guard condition.
+   */
+  RCLCPP_PUBLIC
+  void
+  release_interrupt_guard_condition(rcl_wait_set_t * wait_set);
+
+  /// Nothrow version of release_interrupt_guard_condition(), logs to RCLCPP_ERROR instead.
+  RCLCPP_PUBLIC
+  void
+  release_interrupt_guard_condition(rcl_wait_set_t * wait_set, const std::nothrow_t &) noexcept;
+
+  /// Interrupt any blocking executors, or wait sets associated with this context.
+  RCLCPP_PUBLIC
+  virtual
+  void
+  interrupt_all_wait_sets();
+
   /// Return a singleton instance for the SubContext type, constructing one if necessary.
   template<typename SubContext, typename ... Args>
   std::shared_ptr<SubContext>
@@ -307,6 +363,11 @@ private:
   /// Mutex for protecting the global condition variable.
   std::mutex interrupt_mutex_;
 
+  /// Mutex to protect sigint_guard_cond_handles_.
+  std::mutex interrupt_guard_cond_handles_mutex_;
+  /// Guard conditions for interrupting of associated wait sets on interrupt_all_wait_sets().
+  std::unordered_map<rcl_wait_set_t *, rcl_guard_condition_t> interrupt_guard_cond_handles_;
+
   /// Keep shared ownership of global vector of weak contexts
   std::shared_ptr<WeakContextsWrapper> weak_contexts_;
 };

rclcpp/include/rclcpp/create_publisher.hpp

@@ -17,7 +17,6 @@
 
 #include <memory>
 #include <string>
-#include <utility>
 
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
@@ -25,65 +24,15 @@
 #include "rclcpp/publisher_factory.hpp"
 #include "rclcpp/publisher_options.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/qos_overriding_options.hpp"
-#include "rclcpp/detail/qos_parameters.hpp"
-
 #include "rmw/qos_profiles.h"
 
 namespace rclcpp
 {
 
-namespace detail
-{
-/// Create and return a publisher of the given MessageT type.
-template<
-  typename MessageT,
-  typename AllocatorT = std::allocator<void>,
-  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
-  typename NodeParametersT,
-  typename NodeTopicsT>
-std::shared_ptr<PublisherT>
-create_publisher(
-  NodeParametersT & node_parameters,
-  NodeTopicsT & node_topics,
-  const std::string & topic_name,
-  const rclcpp::QoS & qos,
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-  )
-)
-{
-  auto node_topics_interface = rclcpp::node_interfaces::get_node_topics_interface(node_topics);
-  const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
-    rclcpp::detail::declare_qos_parameters(
-    options.qos_overriding_options, node_parameters,
-    node_topics_interface->resolve_topic_name(topic_name),
-    qos, rclcpp::detail::PublisherQosParametersTraits{}) :
-    qos;
-
-  // Create the publisher.
-  auto pub = node_topics_interface->create_publisher(
-    topic_name,
-    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options),
-    actual_qos
-  );
-
-  // Add the publisher to the node topics interface.
-  node_topics_interface->add_publisher(pub, options.callback_group);
-
-  return std::dynamic_pointer_cast<PublisherT>(pub);
-}
-}  // namespace detail
-
-
 /// Create and return a publisher of the given MessageT type.
 /**
  * The NodeT type only needs to have a method called get_node_topics_interface()
  * which returns a shared_ptr to a NodeTopicsInterface.
- *
- * In case `options.qos_overriding_options` is enabling qos parameter overrides,
- * NodeT must also have a method called get_node_parameters_interface()
- * which returns a shared_ptr to a NodeParametersInterface.
  */
 template<
   typename MessageT,
@@ -100,28 +49,21 @@ create_publisher(
   )
 )
 {
-  return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
-    node, node, topic_name, qos, options);
-}
+  // Extract the NodeTopicsInterface from the NodeT.
+  using rclcpp::node_interfaces::get_node_topics_interface;
+  auto node_topics = get_node_topics_interface(node);
 
-/// Create and return a publisher of the given MessageT type.
-template<
-  typename MessageT,
-  typename AllocatorT = std::allocator<void>,
-  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
-std::shared_ptr<PublisherT>
-create_publisher(
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters,
-  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics,
-  const std::string & topic_name,
-  const rclcpp::QoS & qos,
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-  )
-)
-{
-  return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
-    node_parameters, node_topics, topic_name, qos, options);
+  // Create the publisher.
+  auto pub = node_topics->create_publisher(
+    topic_name,
+    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options),
+    qos
+  );
+
+  // Add the publisher to the node topics interface.
+  node_topics->add_publisher(pub, options.callback_group);
+
+  return std::dynamic_pointer_cast<PublisherT>(pub);
 }
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/create_subscription.hpp

@@ -41,115 +41,12 @@
 namespace rclcpp
 {
 
-namespace detail
-{
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename AllocatorT,
-  typename CallbackMessageT,
-  typename SubscriptionT,
-  typename MessageMemoryStrategyT,
-  typename NodeParametersT,
-  typename NodeTopicsT>
-typename std::shared_ptr<SubscriptionT>
-create_subscription(
-  NodeParametersT & node_parameters,
-  NodeTopicsT & node_topics,
-  const std::string & topic_name,
-  const rclcpp::QoS & qos,
-  CallbackT && callback,
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
-  ),
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-    MessageMemoryStrategyT::create_default()
-  )
-)
-{
-  using rclcpp::node_interfaces::get_node_topics_interface;
-  auto node_topics_interface = get_node_topics_interface(node_topics);
-
-  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
-  subscription_topic_stats = nullptr;
-
-  if (rclcpp::detail::resolve_enable_topic_statistics(
-      options,
-      *node_topics_interface->get_node_base_interface()))
-  {
-    if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
-      throw std::invalid_argument(
-              "topic_stats_options.publish_period must be greater than 0, specified value of " +
-              std::to_string(options.topic_stats_options.publish_period.count()) +
-              " ms");
-    }
-
-    std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>>
-    publisher = rclcpp::detail::create_publisher<statistics_msgs::msg::MetricsMessage>(
-      node_parameters,
-      node_topics_interface,
-      options.topic_stats_options.publish_topic,
-      qos);
-
-    subscription_topic_stats = std::make_shared<
-      rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
-      >(node_topics_interface->get_node_base_interface()->get_name(), publisher);
-
-    std::weak_ptr<
-      rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
-    > weak_subscription_topic_stats(subscription_topic_stats);
-    auto sub_call_back = [weak_subscription_topic_stats]() {
-        auto subscription_topic_stats = weak_subscription_topic_stats.lock();
-        if (subscription_topic_stats) {
-          subscription_topic_stats->publish_message();
-        }
-      };
-
-    auto node_timer_interface = node_topics_interface->get_node_timers_interface();
-
-    auto timer = create_wall_timer(
-      std::chrono::duration_cast<std::chrono::nanoseconds>(
-        options.topic_stats_options.publish_period),
-      sub_call_back,
-      options.callback_group,
-      node_topics_interface->get_node_base_interface(),
-      node_timer_interface
-    );
-
-    subscription_topic_stats->set_publisher_timer(timer);
-  }
-
-  auto factory = rclcpp::create_subscription_factory<MessageT>(
-    std::forward<CallbackT>(callback),
-    options,
-    msg_mem_strat,
-    subscription_topic_stats
-  );
-
-  const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
-    rclcpp::detail::declare_qos_parameters(
-    options.qos_overriding_options, node_parameters,
-    node_topics_interface->resolve_topic_name(topic_name),
-    qos, rclcpp::detail::SubscriptionQosParametersTraits{}) :
-    qos;
-
-  auto sub = node_topics_interface->create_subscription(topic_name, factory, actual_qos);
-  node_topics_interface->add_subscription(sub, options.callback_group);
-
-  return std::dynamic_pointer_cast<SubscriptionT>(sub);
-}
-}  // namespace detail
-
 /// Create and return a subscription of the given MessageT type.
 /**
  * The NodeT type only needs to have a method called get_node_topics_interface()
  * which returns a shared_ptr to a NodeTopicsInterface, or be a
  * NodeTopicsInterface pointer itself.
  *
- * In case `options.qos_overriding_options` is enabling qos parameter overrides,
- * NodeT must also have a method called get_node_parameters_interface()
- * which returns a shared_ptr to a NodeParametersInterface.
- *
  * \tparam MessageT
  * \tparam CallbackT
  * \tparam AllocatorT
@@ -181,7 +78,7 @@ template<
   typename NodeT>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
-  NodeT & node,
+  NodeT && node,
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   CallbackT && callback,
@@ -193,45 +90,62 @@ create_subscription(
   )
 )
 {
-  return rclcpp::detail::create_subscription<
-    MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT, MessageMemoryStrategyT>(
-    node, node, topic_name, qos, std::forward<CallbackT>(callback), options, msg_mem_strat);
-}
+  using rclcpp::node_interfaces::get_node_topics_interface;
+  auto node_topics = get_node_topics_interface(std::forward<NodeT>(node));
 
-/// Create and return a subscription of the given MessageT type.
-/**
- * See \ref create_subscription().
- */
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename AllocatorT = std::allocator<void>,
-  typename CallbackMessageT =
-  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
-  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >>
-typename std::shared_ptr<SubscriptionT>
-create_subscription(
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters,
-  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics,
-  const std::string & topic_name,
-  const rclcpp::QoS & qos,
-  CallbackT && callback,
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
-  ),
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-    MessageMemoryStrategyT::create_default()
-  )
-)
-{
-  return rclcpp::detail::create_subscription<
-    MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT, MessageMemoryStrategyT>(
-    node_parameters, node_topics, topic_name, qos,
-    std::forward<CallbackT>(callback), options, msg_mem_strat);
+  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
+  subscription_topic_stats = nullptr;
+
+  if (rclcpp::detail::resolve_enable_topic_statistics(
+      options,
+      *node_topics->get_node_base_interface()))
+  {
+    if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
+      throw std::invalid_argument(
+              "topic_stats_options.publish_period must be greater than 0, specified value of " +
+              std::to_string(options.topic_stats_options.publish_period.count()) +
+              " ms");
+    }
+
+    std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>> publisher =
+      create_publisher<statistics_msgs::msg::MetricsMessage>(
+      node,
+      options.topic_stats_options.publish_topic,
+      qos);
+
+    subscription_topic_stats = std::make_shared<
+      rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
+      >(node_topics->get_node_base_interface()->get_name(), publisher);
+
+    auto sub_call_back = [subscription_topic_stats]() {
+        subscription_topic_stats->publish_message();
+      };
+
+    auto node_timer_interface = node_topics->get_node_timers_interface();
+
+    auto timer = create_wall_timer(
+      std::chrono::duration_cast<std::chrono::nanoseconds>(
+        options.topic_stats_options.publish_period),
+      sub_call_back,
+      options.callback_group,
+      node_topics->get_node_base_interface(),
+      node_timer_interface
+    );
+
+    subscription_topic_stats->set_publisher_timer(timer);
+  }
+
+  auto factory = rclcpp::create_subscription_factory<MessageT>(
+    std::forward<CallbackT>(callback),
+    options,
+    msg_mem_strat,
+    subscription_topic_stats
+  );
+
+  auto sub = node_topics->create_subscription(topic_name, factory, qos);
+  node_topics->add_subscription(sub, options.callback_group);
+
+  return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/detail/qos_parameters.hpp

@@ -1,326 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__QOS_PARAMETERS_HPP_
-#define RCLCPP__DETAIL__QOS_PARAMETERS_HPP_
-
-#include <algorithm>
-#include <array>
-#include <functional>
-#include <initializer_list>
-#include <map>
-#include <string>
-#include <type_traits>
-#include <vector>
-
-#include "rcl_interfaces/msg/parameter_descriptor.hpp"
-#include "rcpputils/pointer_traits.hpp"
-#include "rmw/qos_string_conversions.h"
-
-#include "rclcpp/duration.hpp"
-#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
-#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
-#include "rclcpp/qos_overriding_options.hpp"
-
-namespace rclcpp
-{
-namespace detail
-{
-
-/// \internal Trait used to specialize `declare_qos_parameters()` for publishers.
-struct PublisherQosParametersTraits
-{
-  static constexpr const char * entity_type() {return "publisher";}
-  static constexpr auto allowed_policies()
-  {
-    return std::array<::rclcpp::QosPolicyKind, 9> {
-      QosPolicyKind::AvoidRosNamespaceConventions,
-      QosPolicyKind::Deadline,
-      QosPolicyKind::Durability,
-      QosPolicyKind::History,
-      QosPolicyKind::Depth,
-      QosPolicyKind::Lifespan,
-      QosPolicyKind::Liveliness,
-      QosPolicyKind::LivelinessLeaseDuration,
-      QosPolicyKind::Reliability,
-    };
-  }
-};
-
-/// \internal Trait used to specialize `declare_qos_parameters()` for subscriptions.
-struct SubscriptionQosParametersTraits
-{
-  static constexpr const char * entity_type() {return "subscription";}
-  static constexpr auto allowed_policies()
-  {
-    return std::array<::rclcpp::QosPolicyKind, 8> {
-      QosPolicyKind::AvoidRosNamespaceConventions,
-      QosPolicyKind::Deadline,
-      QosPolicyKind::Durability,
-      QosPolicyKind::History,
-      QosPolicyKind::Depth,
-      QosPolicyKind::Liveliness,
-      QosPolicyKind::LivelinessLeaseDuration,
-      QosPolicyKind::Reliability,
-    };
-  }
-};
-
-/// \internal Returns the given `policy` of the profile `qos` converted to a parameter value.
-inline
-::rclcpp::ParameterValue
-get_default_qos_param_value(rclcpp::QosPolicyKind policy, const rclcpp::QoS & qos);
-
-/// \internal Modify the given `policy` in `qos` to be `value`.
-inline
-void
-apply_qos_override(
-  rclcpp::QosPolicyKind policy, rclcpp::ParameterValue value, rclcpp::QoS & qos);
-
-inline
-rclcpp::ParameterValue
-declare_parameter_or_get(
-  rclcpp::node_interfaces::NodeParametersInterface & parameters_interface,
-  const std::string & param_name,
-  rclcpp::ParameterValue param_value,
-  rcl_interfaces::msg::ParameterDescriptor descriptor)
-{
-  try {
-    return parameters_interface.declare_parameter(
-      param_name, param_value, descriptor);
-  } catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
-    return parameters_interface.get_parameter(param_name).get_parameter_value();
-  }
-}
-
-/// \internal Declare QoS parameters for the given entity.
-/**
- * \tparam NodeT Node pointer or reference type.
- * \tparam EntityQosParametersTraits A class with two static methods: `entity_type()` and
- *  `allowed_policies()`. See `PublisherQosParametersTraits` and `SubscriptionQosParametersTraits`.
- * \param options User provided options that indicate if QoS parameter overrides should be
- *  declared or not, which policy can have overrides, and optionally a callback to validate the profile.
- * \param node Parameters will be declared using this node.
- * \param topic_name Name of the topic of the entity.
- * \param default_qos User provided qos. It will be used as a default for the parameters declared.
- * \return qos profile based on the user provided parameter overrides.
- */
-template<typename NodeT, typename EntityQosParametersTraits>
-std::enable_if_t<
-  rclcpp::node_interfaces::has_node_parameters_interface<
-    decltype(std::declval<typename rcpputils::remove_pointer<NodeT>::type>())>::value ||
-  std::is_same<typename std::decay_t<NodeT>,
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr>::value,
-  rclcpp::QoS>
-declare_qos_parameters(
-  const ::rclcpp::QosOverridingOptions & options,
-  NodeT & node,
-  const std::string & topic_name,
-  const ::rclcpp::QoS & default_qos,
-  EntityQosParametersTraits)
-{
-  auto & parameters_interface = *rclcpp::node_interfaces::get_node_parameters_interface(node);
-  std::string param_prefix;
-  const auto & id = options.get_id();
-  {
-    std::ostringstream oss{"qos_overrides.", std::ios::ate};
-    oss << topic_name << "." << EntityQosParametersTraits::entity_type();
-    if (!id.empty()) {
-      oss << "_" << id;
-    }
-    oss << ".";
-    param_prefix = oss.str();
-  }
-  std::string param_description_suffix;
-  {
-    std::ostringstream oss{"} for ", std::ios::ate};
-    oss << EntityQosParametersTraits::entity_type() << " {" << topic_name << "}";
-    if (!id.empty()) {
-      oss << " with id {" << id << "}";
-    }
-    param_description_suffix = oss.str();
-  }
-  rclcpp::QoS qos = default_qos;
-  for (auto policy : EntityQosParametersTraits::allowed_policies()) {
-    if (
-      std::count(options.get_policy_kinds().begin(), options.get_policy_kinds().end(), policy))
-    {
-      std::ostringstream param_name{param_prefix, std::ios::ate};
-      param_name << qos_policy_kind_to_cstr(policy);
-      std::ostringstream param_desciption{"qos policy {", std::ios::ate};
-      param_desciption << qos_policy_kind_to_cstr(policy) << param_description_suffix;
-      rcl_interfaces::msg::ParameterDescriptor descriptor{};
-      descriptor.description = param_desciption.str();
-      descriptor.read_only = true;
-      auto value = declare_parameter_or_get(
-        parameters_interface, param_name.str(),
-        get_default_qos_param_value(policy, qos), descriptor);
-      ::rclcpp::detail::apply_qos_override(policy, value, qos);
-    }
-  }
-  const auto & validation_callback = options.get_validation_callback();
-  if (validation_callback) {
-    auto result = validation_callback(qos);
-    if (!result.successful) {
-      throw rclcpp::exceptions::InvalidQosOverridesException{
-              "validation callback failed: " + result.reason};
-    }
-  }
-  return qos;
-}
-
-// TODO(ivanpauno): This overload cannot declare the QoS parameters, as a node parameters interface
-// was not provided.
-template<typename NodeT, typename EntityQosParametersTraits>
-std::enable_if_t<
-  !(rclcpp::node_interfaces::has_node_parameters_interface<
-    decltype(std::declval<typename rcpputils::remove_pointer<NodeT>::type>())>::value ||
-  std::is_same<typename std::decay_t<NodeT>,
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr>::value),
-  rclcpp::QoS>
-declare_qos_parameters(
-  const ::rclcpp::QosOverridingOptions & options,
-  NodeT &,
-  const std::string &,
-  const ::rclcpp::QoS & default_qos,
-  EntityQosParametersTraits)
-{
-  if (options.get_policy_kinds().size()) {
-    std::runtime_error exc{
-      "passed non-default qos overriding options without providing a parameters interface"};
-    throw exc;
-  }
-  return default_qos;
-}
-
-/// \internal Helper function to get a rmw qos policy value from a string.
-#define RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING( \
-    kind_lower, kind_upper, parameter_value, rclcpp_qos) \
-  do { \
-    auto policy_string = (parameter_value).get<std::string>(); \
-    auto policy_value = rmw_qos_ ## kind_lower ## _policy_from_str(policy_string.c_str()); \
-    if (RMW_QOS_POLICY_ ## kind_upper ## _UNKNOWN == policy_value) { \
-      throw std::invalid_argument{"unknown QoS policy " #kind_lower " value: " + policy_string}; \
-    } \
-    ((rclcpp_qos).kind_lower)(policy_value); \
-  } while (0)
-
-inline
-void
-apply_qos_override(
-  rclcpp::QosPolicyKind policy, rclcpp::ParameterValue value, rclcpp::QoS & qos)
-{
-  switch (policy) {
-    case QosPolicyKind::AvoidRosNamespaceConventions:
-      qos.avoid_ros_namespace_conventions(value.get<bool>());
-      break;
-    case QosPolicyKind::Deadline:
-      qos.deadline(::rclcpp::Duration::from_nanoseconds(value.get<int64_t>()));
-      break;
-    case QosPolicyKind::Durability:
-      RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING(
-        durability, DURABILITY, value, qos);
-      break;
-    case QosPolicyKind::History:
-      RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING(
-        history, HISTORY, value, qos);
-      break;
-    case QosPolicyKind::Depth:
-      qos.get_rmw_qos_profile().depth = static_cast<size_t>(value.get<int64_t>());
-      break;
-    case QosPolicyKind::Lifespan:
-      qos.lifespan(::rclcpp::Duration::from_nanoseconds(value.get<int64_t>()));
-      break;
-    case QosPolicyKind::Liveliness:
-      RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING(
-        liveliness, LIVELINESS, value, qos);
-      break;
-    case QosPolicyKind::LivelinessLeaseDuration:
-      qos.liveliness_lease_duration(::rclcpp::Duration::from_nanoseconds(value.get<int64_t>()));
-      break;
-    case QosPolicyKind::Reliability:
-      RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING(
-        reliability, RELIABILITY, value, qos);
-      break;
-    default:
-      throw std::invalid_argument{"unknown QosPolicyKind"};
-  }
-}
-
-/// Convert `rmw_time_t` to `int64_t` that can be used as a parameter value.
-inline
-int64_t
-rmw_duration_to_int64_t(rmw_time_t rmw_duration)
-{
-  return ::rclcpp::Duration(
-    static_cast<int32_t>(rmw_duration.sec),
-    static_cast<uint32_t>(rmw_duration.nsec)
-  ).nanoseconds();
-}
-
-/// \internal Throw an exception if `policy_value_stringified` is NULL.
-inline
-const char *
-check_if_stringified_policy_is_null(const char * policy_value_stringified, QosPolicyKind kind)
-{
-  if (!policy_value_stringified) {
-    std::ostringstream oss{"unknown value for policy kind {", std::ios::ate};
-    oss << kind << "}";
-    throw std::invalid_argument{oss.str()};
-  }
-  return policy_value_stringified;
-}
-
-inline
-::rclcpp::ParameterValue
-get_default_qos_param_value(rclcpp::QosPolicyKind kind, const rclcpp::QoS & qos)
-{
-  using ParameterValue = ::rclcpp::ParameterValue;
-  const auto & rmw_qos = qos.get_rmw_qos_profile();
-  switch (kind) {
-    case QosPolicyKind::AvoidRosNamespaceConventions:
-      return ParameterValue(rmw_qos.avoid_ros_namespace_conventions);
-    case QosPolicyKind::Deadline:
-      return ParameterValue(rmw_duration_to_int64_t(rmw_qos.deadline));
-    case QosPolicyKind::Durability:
-      return ParameterValue(
-        check_if_stringified_policy_is_null(
-          rmw_qos_durability_policy_to_str(rmw_qos.durability), kind));
-    case QosPolicyKind::History:
-      return ParameterValue(
-        check_if_stringified_policy_is_null(
-          rmw_qos_history_policy_to_str(rmw_qos.history), kind));
-    case QosPolicyKind::Depth:
-      return ParameterValue(static_cast<int64_t>(rmw_qos.depth));
-    case QosPolicyKind::Lifespan:
-      return ParameterValue(rmw_duration_to_int64_t(rmw_qos.lifespan));
-    case QosPolicyKind::Liveliness:
-      return ParameterValue(
-        check_if_stringified_policy_is_null(
-          rmw_qos_liveliness_policy_to_str(rmw_qos.liveliness), kind));
-    case QosPolicyKind::LivelinessLeaseDuration:
-      return ParameterValue(rmw_duration_to_int64_t(rmw_qos.liveliness_lease_duration));
-    case QosPolicyKind::Reliability:
-      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"};
-  }
-}
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__QOS_PARAMETERS_HPP_

rclcpp/include/rclcpp/duration.hpp

@@ -38,14 +38,10 @@ public:
    */
   Duration(int32_t seconds, uint32_t nanoseconds);
 
-  /// Construct duration from the specified nanoseconds.
-  [[deprecated(
-    "Use Duration::from_nanoseconds instead or std::chrono_literals. For example:"
-    "rclcpp::Duration::from_nanoseconds(int64_variable);"
-    "rclcpp::Duration(0ns);")]]
+  // This constructor matches any numeric value - ints or floats.
   explicit Duration(rcl_duration_value_t nanoseconds);
 
-  /// Construct duration from the specified std::chrono::nanoseconds.
+  // This constructor matches std::chrono::nanoseconds.
   explicit Duration(std::chrono::nanoseconds nanoseconds);
 
   // This constructor matches any std::chrono value other than nanoseconds
@@ -81,9 +77,6 @@ public:
   bool
   operator==(const rclcpp::Duration & rhs) const;
 
-  bool
-  operator!=(const rclcpp::Duration & rhs) const;
-
   bool
   operator<(const rclcpp::Duration & rhs) const;
 
@@ -133,13 +126,6 @@ public:
   static Duration
   from_seconds(double seconds);
 
-  /// Create a duration object from an integer number representing nanoseconds
-  static Duration
-  from_nanoseconds(rcl_duration_value_t nanoseconds);
-
-  static Duration
-  from_rmw_time(rmw_time_t duration);
-
   /// Convert Duration into a std::chrono::Duration.
   template<class DurationT>
   DurationT
@@ -154,8 +140,6 @@ public:
 
 private:
   rcl_duration_t rcl_duration_;
-
-  Duration() = default;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -100,15 +100,6 @@ public:
   {}
 };
 
-class UnimplementedError : public std::runtime_error
-{
-public:
-  UnimplementedError()
-  : std::runtime_error("This code is unimplemented.") {}
-  explicit UnimplementedError(const std::string & msg)
-  : std::runtime_error(msg) {}
-};
-
 /// Throw a C++ std::exception which was created based on an rcl error.
 /**
  * Passing nullptr for reset_error is safe and will avoid calling any function
@@ -282,13 +273,6 @@ class ParameterModifiedInCallbackException : public std::runtime_error
   using std::runtime_error::runtime_error;
 };
 
-/// Thrown if the QoS overrides provided aren't valid.
-class InvalidQosOverridesException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
 }  // namespace exceptions
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/executor.hpp

@@ -21,7 +21,6 @@
 #include <cstdlib>
 #include <iostream>
 #include <list>
-#include <map>
 #include <memory>
 #include <mutex>
 #include <string>
@@ -31,7 +30,6 @@
 #include "rcl/wait.h"
 
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/executor_options.hpp"
 #include "rclcpp/future_return_code.hpp"
 #include "rclcpp/memory_strategies.hpp"
@@ -44,10 +42,6 @@
 namespace rclcpp
 {
 
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
-
 // Forward declaration is used in convenience method signature.
 class Node;
 
@@ -82,118 +76,13 @@ public:
   virtual void
   spin() = 0;
 
-  /// Add a callback group to an executor.
-  /**
-   * An executor can have zero or more callback groups which provide work during `spin` functions.
-   * When an executor attempts to add a callback group, the executor checks to see if it is already
-   * associated with another executor, and if it has been, then an exception is thrown.
-   * Otherwise, the callback group is added to the executor.
-   *
-   * Adding a callback group with this method does not associate its node with this executor
-   * in any way
-   *
-   * \param[in] group_ptr a shared ptr that points to a callback group
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \param[in] notify True to trigger the interrupt guard condition during this function. If
-   * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
-   * callback group was added, it will wake up.
-   * \throw std::runtime_error if the callback group is associated to an executor
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true);
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * associated with the executor.
-   * The callback groups associated with this executor may have been added with
-   * `add_callback_group`, or added when a node was added to the executor with `add_node`, or
-   * automatically added when it created by a node already associated with this executor and the
-   * automatically_add_to_executor_with_node parameter was true.
-   *
-   * \return a vector of weak pointers that point to callback groups that are associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * associated with the executor.
-   * The callback groups associated with this executor have been added with
-   * `add_callback_group`.
-   *
-   * \return a vector of weak pointers that point to callback groups that are associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * added from a node that is associated with the executor.
-   * The callback groups are added when a node is added to the executor with `add_node`, or
-   * automatically if they are created in the future by that node and have the
-   * automatically_add_to_executor_with_node argument set to true.
-   *
-   * \return a vector of weak pointers that point to callback groups from a node associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes();
-
-  /// Remove a callback group from the executor.
-  /**
-   * The callback group is removed from and disassociated with the executor.
-   * If the callback group removed was the last callback group from the node
-   * that is associated with the executor, the interrupt guard condition
-   * is triggered and node's guard condition is removed from the executor.
-   *
-   * This function only removes a callback group that was manually added with
-   * rclcpp::Executor::add_callback_group.
-   * To remove callback groups that were added from a node using
-   * rclcpp::Executor::add_node, use rclcpp::Executor::remove_node instead.
-   *
-   * \param[in] group_ptr Shared pointer to the callback group to be added.
-   * \param[in] notify True to trigger the interrupt guard condition during this function. If
-   * the executor is blocked at the rmw layer while waiting for work and it is notified that a
-   * callback group was removed, it will wake up.
-   * \throw std::runtime_error if node is deleted before callback group
-   * \throw std::runtime_error if the callback group is not associated with the executor
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    bool notify = true);
-
   /// Add a node to the executor.
   /**
-   * Nodes have associated callback groups, and this method adds any of those callback groups
-   * to this executor which have their automatically_add_to_executor_with_node parameter true.
-   * The node is also associated with the executor so that future callback groups which are
-   * created on the node with the automatically_add_to_executor_with_node parameter set to true
-   * are also automatically associated with this executor.
-   *
-   * Callback groups with the automatically_add_to_executor_with_node parameter set to false must
-   * be manually added to an executor using the rclcpp::Executor::add_callback_group method.
-   *
-   * If a node is already associated with an executor, this method throws an exception.
-   *
+   * An executor can have zero or more nodes which provide work during `spin` functions.
    * \param[in] node_ptr Shared pointer to the node to be added.
    * \param[in] notify True to trigger the interrupt guard condition during this function. If
    * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
    * node was added, it will wake up.
-   * \throw std::runtime_error if a node is already associated to an executor
    */
   RCLCPP_PUBLIC
   virtual void
@@ -209,19 +98,10 @@ public:
 
   /// Remove a node from the executor.
   /**
-   * Any callback groups automatically added when this node was added with
-   * rclcpp::Executor::add_node are automatically removed, and the node is no longer associated
-   * with this executor.
-   *
-   * This also means that future callback groups created by the given node are no longer
-   * automatically added to this executor.
-   *
    * \param[in] node_ptr Shared pointer to the node to remove.
    * \param[in] notify True to trigger the interrupt guard condition and wake up the executor.
    * This is useful if the last node was removed from the executor while the executor was blocked
    * waiting for work in another thread, because otherwise the executor would never be notified.
-   * \throw std::runtime_error if the node is not associated with an executor.
-   * \throw std::runtime_error if the node is not associated with this executor.
    */
   RCLCPP_PUBLIC
   virtual void
@@ -447,96 +327,36 @@ protected:
 
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-  get_node_by_group(
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    rclcpp::CallbackGroup::SharedPtr group);
-
-  /// Return true if the node has been added to this executor.
-  /**
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \return true if the node is associated with the executor, otherwise false
-   */
-  RCLCPP_PUBLIC
-  bool
-  has_node(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
+  get_node_by_group(rclcpp::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
-  /// Add a callback group to an executor
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_group_to_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  remove_callback_group_from_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
-
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
 
-  RCLCPP_PUBLIC
-  bool
-  get_next_ready_executable_from_map(
-    AnyExecutable & any_executable,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
   RCLCPP_PUBLIC
   bool
   get_next_executable(
     AnyExecutable & any_executable,
     std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  /// Add all callback groups that can be automatically added from associated nodes.
-  /**
-   * The executor, before collecting entities, verifies if any callback group from
-   * nodes associated with the executor, which is not already associated to an executor,
-   * can be automatically added to this executor.
-   * This takes care of any callback group that has been added to a node but not explicitly added
-   * to the executor.
-   * It is important to note that in order for the callback groups to be automatically added to an
-   * executor through this function, the node of the callback groups needs to have been added
-   * through the `add_node` method.
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_groups_from_nodes_associated_to_executor() RCPPUTILS_TSA_REQUIRES(mutex_);
-
   /// Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.
   std::atomic_bool spinning;
 
   /// Guard condition for signaling the rmw layer to wake up for special events.
   rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
 
-  std::shared_ptr<rclcpp::GuardCondition> shutdown_guard_condition_;
-
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 
   // Mutex to protect the subsequent memory_strategy_.
-  mutable std::mutex mutex_;
+  std::mutex memory_strategy_mutex_;
 
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
-  memory_strategy::MemoryStrategy::SharedPtr
-  memory_strategy_ RCPPUTILS_TSA_PT_GUARDED_BY(mutex_);
+  memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 
   /// The context associated with this executor.
   std::shared_ptr<rclcpp::Context> context_;
@@ -547,30 +367,8 @@ protected:
   void
   spin_once_impl(std::chrono::nanoseconds timeout);
 
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rcl_guard_condition_t *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-
-  /// maps nodes to guard conditions
-  WeakNodesToGuardConditionsMap
-  weak_nodes_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// maps callback groups associated to nodes
-  WeakCallbackGroupsToNodesMap
-  weak_groups_associated_with_executor_to_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// maps callback groups to nodes associated with executor
-  WeakCallbackGroupsToNodesMap
-  weak_groups_to_nodes_associated_with_executor_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// maps all callback groups to nodes
-  WeakCallbackGroupsToNodesMap
-  weak_groups_to_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// nodes that are associated with the executor
-  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>
-  weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
 };
 
 namespace executor

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

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

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -17,9 +17,7 @@
 
 #include <chrono>
 #include <list>
-#include <map>
 #include <memory>
-#include <vector>
 
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
@@ -34,9 +32,6 @@ namespace rclcpp
 {
 namespace executors
 {
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
 
 class StaticExecutorEntitiesCollector final
   : public rclcpp::Waitable,
@@ -50,7 +45,6 @@ public:
   StaticExecutorEntitiesCollector() = default;
 
   // Destructor
-  RCLCPP_PUBLIC
   ~StaticExecutorEntitiesCollector();
 
   /// Initialize StaticExecutorEntitiesCollector
@@ -64,33 +58,34 @@ public:
   void
   init(
     rcl_wait_set_t * p_wait_set,
-    rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
+    rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
     rcl_guard_condition_t * executor_guard_condition);
 
-  /// Finalize StaticExecutorEntitiesCollector to clear resources
   RCLCPP_PUBLIC
   void
-  fini();
+  execute() override;
 
-  /// Execute the waitable.
   RCLCPP_PUBLIC
   void
-  execute(std::shared_ptr<void> & data) override;
+  fill_memory_strategy();
 
-  /// Take the data so that it can be consumed with `execute`.
+  RCLCPP_PUBLIC
+  void
+  fill_executable_list();
+
+  /// Function to reallocate space for entities in the wait set.
   /**
-   * For `StaticExecutorEntitiesCollector`, this always return `nullptr`.
-   * \sa rclcpp::Waitable::take_data()
+   * \throws std::runtime_error if wait set couldn't be cleared or resized.
    */
   RCLCPP_PUBLIC
-  std::shared_ptr<void>
-  take_data() override;
+  void
+  prepare_wait_set();
 
   /// Function to add_handles_to_wait_set and wait for work and
   /**
    * block until the wait set is ready or until the timeout has been exceeded.
    * \throws std::runtime_error if wait set couldn't be cleared or filled.
-   * \throws any rcl errors from rcl_wait, \see rclcpp::exceptions::throw_from_rcl_error()
+   * \throws any rcl errors from rcl_wait, \sa rclcpp::exceptions::throw_from_rcl_error()
    */
   RCLCPP_PUBLIC
   void
@@ -107,58 +102,17 @@ public:
   size_t
   get_number_of_ready_guard_conditions() override;
 
-  /// Add a callback group to an executor.
   /**
-   * \see rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  /// Add a callback group to an executor.
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   * \return boolean whether the node from the callback group is new
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group_from_map
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_callback_group_from_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /**
-   * \see rclcpp::Executor::add_node()
+   * \sa rclcpp::Executor::add_node()
    * \throw std::runtime_error if node was already added
    */
   RCLCPP_PUBLIC
-  bool
+  void
   add_node(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
 
   /**
-   * \see rclcpp::Executor::remove_node()
+   * \sa rclcpp::Executor::remove_node()
    * \throw std::runtime_error if no guard condition is associated with node.
    */
   RCLCPP_PUBLIC
@@ -166,26 +120,6 @@ public:
   remove_node(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
 
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \see rclcpp::Executor::get_manually_added_callback_groups()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \see rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes();
-
   /// Complete all available queued work without blocking.
   /**
    * This function checks if after the guard condition was triggered
@@ -282,55 +216,12 @@ public:
   get_waitable(size_t i) {return exec_list_.waitable[i];}
 
 private:
-  /// Function to reallocate space for entities in the wait set.
-  /**
-   * \throws std::runtime_error if wait set couldn't be cleared or resized.
-   */
-  void
-  prepare_wait_set();
-
-  void
-  fill_executable_list();
-
-  void
-  fill_memory_strategy();
-
-  /// Return true if the node belongs to the collector
-  /**
-   * \param[in] group_ptr a node base interface shared pointer
-   * \return boolean whether a node belongs the collector
-   */
-  bool
-  has_node(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
-
-  /// Add all callback groups that can be automatically added by any executor
-  /// and is not already associated with an executor from nodes
-  /// that are associated with executor
-  /**
-   * \see rclcpp::Executor::add_callback_groups_from_nodes_associated_to_executor()
-   */
-  void
-  add_callback_groups_from_nodes_associated_to_executor();
-
-  void
-  fill_executable_list_from_map(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+  /// Nodes guard conditions which trigger this waitable
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
 
   /// Memory strategy: an interface for handling user-defined memory allocation strategies.
   rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 
-  // maps callback groups to nodes.
-  WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_;
-  // maps callback groups to nodes.
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_;
-
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rcl_guard_condition_t *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-  WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_;
-
   /// List of weak nodes registered in the static executor
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
 

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -78,30 +78,15 @@ public:
   void
   spin() 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;
-
   /// Add a node to the executor.
   /**
-   * \sa rclcpp::Executor::add_node
+   * An executor can have zero or more nodes which provide work during `spin` functions.
+   * \param[in] node_ptr Shared pointer to the node to be added.
+   * \param[in] notify True to trigger the interrupt guard condition during this function. If
+   * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
+   * node was added, it will wake up.
+   * \throw std::runtime_error if node was already added or if rcl_trigger_guard_condition
+   * return an error
    */
   RCLCPP_PUBLIC
   void
@@ -111,7 +96,8 @@ public:
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
-   * \sa rclcpp::StaticSingleThreadedExecutor::add_node
+   * \throw std::runtime_error if node was already added or if rcl_trigger_guard_condition
+   * returns an error
    */
   RCLCPP_PUBLIC
   void
@@ -119,7 +105,11 @@ public:
 
   /// Remove a node from the executor.
   /**
-   * \sa rclcpp::Executor::remove_node
+   * \param[in] node_ptr Shared pointer to the node to remove.
+   * \param[in] notify True to trigger the interrupt guard condition and wake up the executor.
+   * This is useful if the last node was removed from the executor while the executor was blocked
+   * waiting for work in another thread, because otherwise the executor would never be notified.
+   * \throw std::runtime_error if rcl_trigger_guard_condition returns an error
    */
   RCLCPP_PUBLIC
   void
@@ -129,32 +119,12 @@ public:
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
-   * \sa rclcpp::Executor::remove_node
+   * \throw std::runtime_error if rcl_trigger_guard_condition returns an error
    */
   RCLCPP_PUBLIC
   void
   remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
 
-  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;
-
   /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
   /**
    * \param[in] future The future to wait on. If this function returns SUCCESS, the future can be
@@ -192,8 +162,8 @@ public:
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
+    entities_collector_ = std::make_shared<StaticExecutorEntitiesCollector>();
     entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
-    RCLCPP_SCOPE_EXIT(entities_collector_->fini());
 
     while (rclcpp::ok(this->context_)) {
       // Do one set of work.
@@ -221,38 +191,6 @@ public:
     return rclcpp::FutureReturnCode::INTERRUPTED;
   }
 
-  /// Not yet implemented, see https://github.com/ros2/rclcpp/issues/1219 for tracking
-  RCLCPP_PUBLIC
-  void
-  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)) override
-  {
-    (void)max_duration;
-    throw rclcpp::exceptions::UnimplementedError(
-            "spin_some is not implemented for StaticSingleThreadedExecutor, use spin or "
-            "spin_until_future_complete");
-  }
-
-  /// Not yet implemented, see https://github.com/ros2/rclcpp/issues/1219 for tracking
-  RCLCPP_PUBLIC
-  void
-  spin_all(std::chrono::nanoseconds) override
-  {
-    throw rclcpp::exceptions::UnimplementedError(
-            "spin_all is not implemented for StaticSingleThreadedExecutor, use spin or "
-            "spin_until_future_complete");
-  }
-
-  /// Not yet implemented, see https://github.com/ros2/rclcpp/issues/1219 for tracking
-  RCLCPP_PUBLIC
-  void
-  spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1)) override
-  {
-    (void)timeout;
-    throw rclcpp::exceptions::UnimplementedError(
-            "spin_once is not implemented for StaticSingleThreadedExecutor, use spin or "
-            "spin_until_future_complete");
-  }
-
 protected:
   /// Check which executables in ExecutableList struct are ready from wait_set and execute them.
   /**

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

@@ -37,10 +37,6 @@ namespace experimental
 namespace buffers
 {
 
-/// Store elements in a fixed-size, FIFO buffer
-/**
- * All public member functions are thread-safe.
- */
 template<typename BufferT>
 class RingBufferImplementation : public BufferImplementationBase<BufferT>
 {
@@ -59,125 +55,55 @@ public:
 
   virtual ~RingBufferImplementation() {}
 
-  /// Add a new element to store in the ring buffer
-  /**
-   * This member function is thread-safe.
-   *
-   * \param request the element to be stored in the ring buffer
-   */
   void enqueue(BufferT request)
   {
     std::lock_guard<std::mutex> lock(mutex_);
 
-    write_index_ = next_(write_index_);
+    write_index_ = next(write_index_);
     ring_buffer_[write_index_] = std::move(request);
 
-    if (is_full_()) {
-      read_index_ = next_(read_index_);
+    if (is_full()) {
+      read_index_ = next(read_index_);
     } else {
       size_++;
     }
   }
 
-  /// Remove the oldest element from ring buffer
-  /**
-   * This member function is thread-safe.
-   *
-   * \return the element that is being removed from the ring buffer
-   */
   BufferT dequeue()
   {
     std::lock_guard<std::mutex> lock(mutex_);
 
-    if (!has_data_()) {
+    if (!has_data()) {
       RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Calling dequeue on empty intra-process buffer");
       throw std::runtime_error("Calling dequeue on empty intra-process buffer");
     }
 
     auto request = std::move(ring_buffer_[read_index_]);
-    read_index_ = next_(read_index_);
+    read_index_ = next(read_index_);
 
     size_--;
 
     return request;
   }
 
-  /// Get the next index value for the ring buffer
-  /**
-   * This member function is thread-safe.
-   *
-   * \param val the current index value
-   * \return the next index value
-   */
   inline size_t next(size_t val)
   {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return next_(val);
+    return (val + 1) % capacity_;
   }
 
-  /// Get if the ring buffer has at least one element stored
-  /**
-   * This member function is thread-safe.
-   *
-   * \return `true` if there is data and `false` otherwise
-   */
   inline bool has_data() const
   {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return has_data_();
+    return size_ != 0;
   }
 
-  /// Get if the size of the buffer is equal to its capacity
-  /**
-   * This member function is thread-safe.
-   *
-   * \return `true` if the size of the buffer is equal is capacity
-   * and `false` otherwise
-   */
-  inline bool is_full() const
+  inline bool is_full()
   {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return is_full_();
+    return size_ == capacity_;
   }
 
   void clear() {}
 
 private:
-  /// Get the next index value for the ring buffer
-  /**
-   * This member function is not thread-safe.
-   *
-   * \param val the current index value
-   * \return the next index value
-   */
-  inline size_t next_(size_t val)
-  {
-    return (val + 1) % capacity_;
-  }
-
-  /// Get if the ring buffer has at least one element stored
-  /**
-   * This member function is not thread-safe.
-   *
-   * \return `true` if there is data and `false` otherwise
-   */
-  inline bool has_data_() const
-  {
-    return size_ != 0;
-  }
-
-  /// Get if the size of the buffer is equal to its capacity
-  /**
-   * This member function is not thread-safe.
-   *
-   * \return `true` if the size of the buffer is equal is capacity
-   * and `false` otherwise
-   */
-  inline bool is_full_() const
-  {
-    return size_ == capacity_;
-  }
-
   size_t capacity_;
 
   std::vector<BufferT> ring_buffer_;
@@ -186,7 +112,7 @@ private:
   size_t read_index_;
   size_t size_;
 
-  mutable std::mutex mutex_;
+  std::mutex mutex_;
 };
 
 }  // namespace buffers

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -207,7 +207,7 @@ public:
       sub_ids.take_shared_subscriptions.size() <= 1)
     {
       // There is at maximum 1 buffer that does not require ownership.
-      // So this case is equivalent to all the buffers requiring ownership
+      // So we this case is equivalent to all the buffers requiring ownership
 
       // Merge the two vector of ids into a unique one
       std::vector<uint64_t> concatenated_vector(sub_ids.take_shared_subscriptions);

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -18,9 +18,7 @@
 #include <rmw/rmw.h>
 
 #include <functional>
-#include <map>
 #include <memory>
-#include <stdexcept>
 #include <string>
 #include <utility>
 
@@ -94,8 +92,8 @@ public:
 
     TRACEPOINT(
       rclcpp_subscription_callback_added,
-      static_cast<const void *>(this),
-      static_cast<const void *>(&any_callback_));
+      (const void *)this,
+      (const void *)&any_callback_);
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
     // in subsequent tracepoints.
@@ -104,44 +102,16 @@ public:
 #endif
   }
 
-  ~SubscriptionIntraProcess()
-  {
-    if (rcl_guard_condition_fini(&gc_) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR_NAMED(
-        "rclcpp",
-        "Failed to destroy guard condition: %s",
-        rcutils_get_error_string().str);
-    }
-  }
-
   bool
   is_ready(rcl_wait_set_t * wait_set)
   {
-    (void) wait_set;
+    (void)wait_set;
     return buffer_->has_data();
   }
 
-  std::shared_ptr<void>
-  take_data()
+  void execute()
   {
-    ConstMessageSharedPtr shared_msg;
-    MessageUniquePtr unique_msg;
-
-    if (any_callback_.use_take_shared_method()) {
-      shared_msg = buffer_->consume_shared();
-    } else {
-      unique_msg = buffer_->consume_unique();
-    }
-    return std::static_pointer_cast<void>(
-      std::make_shared<std::pair<ConstMessageSharedPtr, MessageUniquePtr>>(
-        std::pair<ConstMessageSharedPtr, MessageUniquePtr>(
-          shared_msg, std::move(unique_msg)))
-    );
-  }
-
-  void execute(std::shared_ptr<void> & data)
-  {
-    execute_impl<CallbackMessageT>(data);
+    execute_impl<CallbackMessageT>();
   }
 
   void
@@ -174,35 +144,26 @@ private:
 
   template<typename T>
   typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value, void>::type
-  execute_impl(std::shared_ptr<void> & data)
+  execute_impl()
   {
-    (void)data;
     throw std::runtime_error("Subscription intra-process can't handle serialized messages");
   }
 
   template<class T>
   typename std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value, void>::type
-  execute_impl(std::shared_ptr<void> & data)
+  execute_impl()
   {
-    if (!data) {
-      throw std::runtime_error("'data' is empty");
-    }
-
     rmw_message_info_t msg_info;
     msg_info.publisher_gid = {0, {0}};
     msg_info.from_intra_process = true;
 
-    auto shared_ptr = std::static_pointer_cast<std::pair<ConstMessageSharedPtr, MessageUniquePtr>>(
-      data);
-
     if (any_callback_.use_take_shared_method()) {
-      ConstMessageSharedPtr shared_msg = shared_ptr->first;
-      any_callback_.dispatch_intra_process(shared_msg, msg_info);
+      ConstMessageSharedPtr msg = buffer_->consume_shared();
+      any_callback_.dispatch_intra_process(msg, msg_info);
     } else {
-      MessageUniquePtr unique_msg = std::move(shared_ptr->second);
-      any_callback_.dispatch_intra_process(std::move(unique_msg), msg_info);
+      MessageUniquePtr msg = buffer_->consume_unique();
+      any_callback_.dispatch_intra_process(std::move(msg), msg_info);
     }
-    shared_ptr.reset();
   }
 
   AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

@@ -56,12 +56,8 @@ public:
   virtual bool
   is_ready(rcl_wait_set_t * wait_set) = 0;
 
-  virtual
-  std::shared_ptr<void>
-  take_data() = 0;
-
   virtual void
-  execute(std::shared_ptr<void> & data) = 0;
+  execute() = 0;
 
   virtual bool
   use_take_shared_method() const = 0;

rclcpp/include/rclcpp/future_return_code.hpp

@@ -42,6 +42,20 @@ RCLCPP_PUBLIC
 std::string
 to_string(const FutureReturnCode & future_return_code);
 
+namespace executor
+{
+
+using FutureReturnCode [[deprecated("use rclcpp::FutureReturnCode instead")]] = FutureReturnCode;
+
+[[deprecated("use rclcpp::to_string(const rclcpp::FutureReturnCode &) instead")]]
+inline
+std::string
+to_string(const rclcpp::FutureReturnCode & future_return_code)
+{
+  return rclcpp::to_string(future_return_code);
+}
+
+}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__FUTURE_RETURN_CODE_HPP_

rclcpp/include/rclcpp/graph_listener.hpp

@@ -63,7 +63,7 @@ class GraphListener : public std::enable_shared_from_this<GraphListener>
 {
 public:
   RCLCPP_PUBLIC
-  explicit GraphListener(const rclcpp::Context::SharedPtr & parent_context);
+  explicit GraphListener(std::shared_ptr<rclcpp::Context> parent_context);
 
   RCLCPP_PUBLIC
   virtual ~GraphListener();
@@ -160,23 +160,14 @@ protected:
   void
   run_loop();
 
-  RCLCPP_PUBLIC
-  void
-  init_wait_set();
-
-  RCLCPP_PUBLIC
-  void
-  cleanup_wait_set();
-
 private:
   RCLCPP_DISABLE_COPY(GraphListener)
 
   /** \internal */
   void
-  __shutdown();
+  __shutdown(bool);
 
-  std::weak_ptr<rclcpp::Context> weak_parent_context_;
-  std::shared_ptr<rcl_context_t> rcl_parent_context_;
+  rclcpp::Context::WeakPtr parent_context_;
 
   std::thread listener_thread_;
   bool is_started_;
@@ -188,6 +179,7 @@ private:
   std::vector<rclcpp::node_interfaces::NodeGraphInterface *> node_graph_interfaces_;
 
   rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
+  rcl_guard_condition_t * shutdown_guard_condition_;
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 };
 

rclcpp/include/rclcpp/init_options.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__INIT_OPTIONS_HPP_
 
 #include <memory>
-#include <mutex>
 
 #include "rcl/init_options.h"
 #include "rclcpp/visibility_control.hpp"
@@ -81,30 +80,11 @@ public:
   const rcl_init_options_t *
   get_rcl_init_options() const;
 
-  /// Retrieve default domain id and set.
-  RCLCPP_PUBLIC
-  void
-  use_default_domain_id();
-
-  /// Set the domain id.
-  RCLCPP_PUBLIC
-  void
-  set_domain_id(size_t domain_id);
-
-  /// Return domain id.
-  RCLCPP_PUBLIC
-  size_t
-  get_domain_id() const;
-
 protected:
   void
   finalize_init_options();
 
 private:
-  void
-  finalize_init_options_impl();
-
-  mutable std::mutex init_options_mutex_;
   std::unique_ptr<rcl_init_options_t> init_options_;
   bool initialize_logging_{true};
 };

rclcpp/include/rclcpp/logger.hpp

@@ -21,8 +21,6 @@
 #include "rclcpp/visibility_control.hpp"
 
 #include "rcl/node.h"
-#include "rcutils/logging.h"
-#include "rcpputils/filesystem_helper.hpp"
 
 /**
  * \def RCLCPP_LOGGING_ENABLED
@@ -76,32 +74,8 @@ RCLCPP_PUBLIC
 Logger
 get_node_logger(const rcl_node_t * node);
 
-/// Get the current logging directory.
-/**
- * For more details of how the logging directory is determined,
- * see \ref rcl_logging_get_logging_directory.
- *
- * \returns the logging directory being used.
- * \throws rclcpp::exceptions::RCLError if an unexpected error occurs.
- */
-RCLCPP_PUBLIC
-rcpputils::fs::path
-get_logging_directory();
-
 class Logger
 {
-public:
-  /// An enum for the type of logger level.
-  enum class Level
-  {
-    Unset = RCUTILS_LOG_SEVERITY_UNSET,  ///< The unset log level
-    Debug = RCUTILS_LOG_SEVERITY_DEBUG,  ///< The debug log level
-    Info = RCUTILS_LOG_SEVERITY_INFO,    ///< The info log level
-    Warn = RCUTILS_LOG_SEVERITY_WARN,    ///< The warn log level
-    Error = RCUTILS_LOG_SEVERITY_ERROR,  ///< The error log level
-    Fatal = RCUTILS_LOG_SEVERITY_FATAL,  ///< The fatal log level
-  };
-
 private:
   friend Logger rclcpp::get_logger(const std::string & name);
   friend ::rclcpp::node_interfaces::NodeLogging;
@@ -164,16 +138,6 @@ public:
     }
     return Logger(*name_ + "." + suffix);
   }
-
-  /// Set level for current logger.
-  /**
-   * \param[in] level the logger's level
-   * \throws rclcpp::exceptions::RCLInvalidArgument if level is invalid.
-   * \throws rclcpp::exceptions::RCLError if other error happens.
-   */
-  RCLCPP_PUBLIC
-  void
-  set_level(Level level);
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__MEMORY_STRATEGY_HPP_
 
 #include <list>
-#include <map>
 #include <memory>
 
 #include "rcl/allocator.h"
@@ -43,13 +42,11 @@ class RCLCPP_PUBLIC MemoryStrategy
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy)
-  using WeakCallbackGroupsToNodesMap = std::map<rclcpp::CallbackGroup::WeakPtr,
-      rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
+  using WeakNodeList = std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
 
   virtual ~MemoryStrategy() = default;
 
-  virtual bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+  virtual bool collect_entities(const WeakNodeList & weak_nodes) = 0;
 
   virtual size_t number_of_ready_subscriptions() const = 0;
   virtual size_t number_of_ready_services() const = 0;
@@ -71,27 +68,27 @@ public:
   virtual void
   get_next_subscription(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_service(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_client(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_timer(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_waitable(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual rcl_allocator_t
   get_allocator() = 0;
@@ -99,52 +96,52 @@ public:
   static rclcpp::SubscriptionBase::SharedPtr
   get_subscription_by_handle(
     std::shared_ptr<const rcl_subscription_t> subscriber_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::ServiceBase::SharedPtr
   get_service_by_handle(
     std::shared_ptr<const rcl_service_t> service_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::ClientBase::SharedPtr
   get_client_by_handle(
     std::shared_ptr<const rcl_client_t> client_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::TimerBase::SharedPtr
   get_timer_by_handle(
     std::shared_ptr<const rcl_timer_t> timer_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
     rclcpp::CallbackGroup::SharedPtr group,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_service(
     rclcpp::ServiceBase::SharedPtr service,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_client(
     rclcpp::ClientBase::SharedPtr client,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(
     rclcpp::TimerBase::SharedPtr timer,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_waitable(
     rclcpp::Waitable::SharedPtr waitable,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 };
 
 }  // namespace memory_strategy

rclcpp/include/rclcpp/node.hpp

@@ -26,8 +26,6 @@
 #include <utility>
 #include <vector>
 
-#include "rcutils/macros.h"
-
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
 
@@ -141,9 +139,7 @@ public:
   /// Create and return a callback group.
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(
-    rclcpp::CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true);
+  create_callback_group(rclcpp::CallbackGroupType group_type);
 
   /// Return the list of callback groups in the node.
   RCLCPP_PUBLIC
@@ -816,7 +812,6 @@ public:
    * \throws std::bad_alloc if the allocation of the OnSetParametersCallbackHandle fails.
    */
   RCLCPP_PUBLIC
-  RCUTILS_WARN_UNUSED
   OnSetParametersCallbackHandle::SharedPtr
   add_on_set_parameters_callback(OnParametersSetCallbackType callback);
 
@@ -887,21 +882,15 @@ public:
     const std::string & node_name,
     const std::string & namespace_) const;
 
-  /// Return the number of publishers created for a given topic.
-  /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   * \return number of publishers that have been created for the given topic.
-   * \throws std::runtime_error if publishers could not be counted
-   */
   RCLCPP_PUBLIC
   size_t
   count_publishers(const std::string & topic_name) const;
 
-  /// Return the number of subscribers created for a given topic.
+  /// Return the number of subscribers who have created a subscription for a given topic.
   /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   * \return number of subscribers that have been created for the given topic.
-   * \throws std::runtime_error if subscribers could not be counted
+   * \param[in] topic_name the topic_name on which to count the subscribers.
+   * \return number of subscribers who have created a subscription for a given topic.
+   * \throws std::runtime_error if publishers could not be counted
    */
   RCLCPP_PUBLIC
   size_t
@@ -922,7 +911,7 @@ public:
    * A relative or private topic will be expanded using this node's namespace and name.
    * The queried `topic_name` is not remapped.
    *
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
+   * \param[in] topic_name the topic_name on which to find the publishers.
    * \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
    *   otherwise it should be a valid ROS topic name. Defaults to `false`.
    * \return a list of TopicEndpointInfo representing all the publishers on this topic.
@@ -948,7 +937,7 @@ public:
    * A relative or private topic will be expanded using this node's namespace and name.
    * The queried `topic_name` is not remapped.
    *
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
+   * \param[in] topic_name the topic_name on which to find the subscriptions.
    * \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
    *   otherwise it should be a valid ROS topic name. Defaults to `false`.
    * \return a list of TopicEndpointInfo representing all the subscriptions on this topic.
@@ -1182,6 +1171,10 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(Node)
 
+  RCLCPP_PUBLIC
+  bool
+  group_in_node(CallbackGroup::SharedPtr group);
+
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -83,9 +83,7 @@ public:
 
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(
-    rclcpp::CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true) override;
+  create_callback_group(rclcpp::CallbackGroupType group_type) override;
 
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
@@ -118,10 +116,6 @@ public:
   bool
   get_enable_topic_statistics_default() const override;
 
-  std::string
-  resolve_topic_or_service_name(
-    const std::string & name, bool is_service, bool only_expand = false) const override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeBase)
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -106,9 +106,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(
-    rclcpp::CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true) = 0;
+  create_callback_group(rclcpp::CallbackGroupType group_type) = 0;
 
   /// Return the default callback group.
   RCLCPP_PUBLIC
@@ -163,13 +161,6 @@ public:
   virtual
   bool
   get_enable_topic_statistics_default() const = 0;
-
-  /// Expand and remap a given topic or service name.
-  RCLCPP_PUBLIC
-  virtual
-  std::string
-  resolve_topic_or_service_name(
-    const std::string & name, bool is_service, bool only_expand = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -110,7 +110,7 @@ public:
 
   RCLCPP_PUBLIC
   size_t
-  count_graph_users() const override;
+  count_graph_users() override;
 
   RCLCPP_PUBLIC
   std::vector<rclcpp::TopicEndpointInfo>

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -146,7 +146,6 @@ public:
   /**
    * A topic is considered to exist when at least one publisher or subscriber
    * exists for it, whether they be local or remote to this process.
-   * The returned names are the actual names used and do not have remap rules applied.
    *
    * \param[in] no_demangle if true, topic names and types are not demangled
    */
@@ -160,7 +159,6 @@ public:
    * A service is considered to exist when at least one service server or
    * service client exists for it, whether they be local or remote to this
    * process.
-   * The returned names are the actual names used and do not have remap rules applied.
    */
   RCLCPP_PUBLIC
   virtual
@@ -170,7 +168,6 @@ public:
   /// Return a map of existing service names to list of service types for a specific node.
   /**
    * This function only considers services - not clients.
-   * The returned names are the actual names used and do not have remap rules applied.
    *
    * \param[in] node_name name of the node
    * \param[in] namespace_ namespace of the node
@@ -183,36 +180,24 @@ public:
     const std::string & namespace_) const = 0;
 
   /// Return a vector of existing node names (string).
-  /*
-   * The returned names are the actual names used and do not have remap rules applied.
-   */
   RCLCPP_PUBLIC
   virtual
   std::vector<std::string>
   get_node_names() const = 0;
 
   /// Return a vector of existing node names and namespaces (pair of string).
-  /*
-   * The returned names are the actual names used and do not have remap rules applied.
-   */
   RCLCPP_PUBLIC
   virtual
   std::vector<std::pair<std::string, std::string>>
   get_node_names_and_namespaces() const = 0;
 
   /// Return the number of publishers that are advertised on a given topic.
-  /*
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   */
   RCLCPP_PUBLIC
   virtual
   size_t
   count_publishers(const std::string & topic_name) const = 0;
 
   /// Return the number of subscribers who have created a subscription for a given topic.
-  /*
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   */
   RCLCPP_PUBLIC
   virtual
   size_t
@@ -278,11 +263,10 @@ public:
   RCLCPP_PUBLIC
   virtual
   size_t
-  count_graph_users() const = 0;
+  count_graph_users() = 0;
 
   /// Return the topic endpoint information about publishers on a given topic.
   /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
    * \sa rclcpp::Node::get_publishers_info_by_topic
    */
   RCLCPP_PUBLIC
@@ -292,7 +276,6 @@ public:
 
   /// Return the topic endpoint information about subscriptions on a given topic.
   /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
    * \sa rclcpp::Node::get_subscriptions_info_by_topic
    */
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -21,8 +21,6 @@
 #include <string>
 #include <vector>
 
-#include "rcutils/macros.h"
-
 #include "rcl_interfaces/msg/list_parameters_result.hpp"
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
 #include "rcl_interfaces/msg/parameter_event.hpp"
@@ -162,7 +160,6 @@ public:
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const override;
 
   RCLCPP_PUBLIC
-  RCUTILS_WARN_UNUSED
   OnSetParametersCallbackHandle::SharedPtr
   add_on_set_parameters_callback(OnParametersSetCallbackType callback) override;
 

rclcpp/include/rclcpp/node_interfaces/node_services.hpp

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
 
-#include <string>
-
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/client.hpp"
 #include "rclcpp/macros.hpp"
@@ -55,10 +53,6 @@ public:
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
     rclcpp::CallbackGroup::SharedPtr group) override;
 
-  RCLCPP_PUBLIC
-  std::string
-  resolve_service_name(const std::string & name, bool only_expand = false) const override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeServices)
 

rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
 
-#include <string>
-
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/client.hpp"
 #include "rclcpp/macros.hpp"
@@ -51,12 +49,6 @@ public:
   add_service(
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
     rclcpp::CallbackGroup::SharedPtr group) = 0;
-
-  /// Get the remapped and expanded service name given a input name.
-  RCLCPP_PUBLIC
-  virtual
-  std::string
-  resolve_service_name(const std::string & name, bool only_expand = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp

@@ -24,7 +24,6 @@
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
 #include "rclcpp/node_interfaces/node_time_source_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/qos.hpp"
 #include "rclcpp/time_source.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -47,8 +46,7 @@ public:
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
-    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
-    const rclcpp::QoS & qos = rclcpp::RosoutQoS()
+    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters
   );
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -81,10 +81,6 @@ public:
   rclcpp::node_interfaces::NodeTimersInterface *
   get_node_timers_interface() const override;
 
-  RCLCPP_PUBLIC
-  std::string
-  resolve_topic_name(const std::string & name, bool only_expand = false) const override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeTopics)
 

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -86,12 +86,6 @@ public:
   virtual
   rclcpp::node_interfaces::NodeTimersInterface *
   get_node_timers_interface() const = 0;
-
-  /// Get a remapped and expanded topic name given an input name.
-  RCLCPP_PUBLIC
-  virtual
-  std::string
-  resolve_topic_name(const std::string & name, bool only_expand = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_options.hpp

@@ -46,8 +46,6 @@ public:
    *   - enable_topic_statistics = false
    *   - start_parameter_services = true
    *   - start_parameter_event_publisher = true
-   *   - clock_qos = rclcpp::ClockQoS()
-   *   - rosout_qos = rclcpp::RosoutQoS()
    *   - parameter_event_qos = rclcpp::ParameterEventQoS
    *     - with history setting and depth from rmw_qos_profile_parameter_events
    *   - parameter_event_publisher_options = rclcpp::PublisherOptionsBase
@@ -245,19 +243,6 @@ public:
   NodeOptions &
   start_parameter_event_publisher(bool start_parameter_event_publisher);
 
-  /// Return a reference to the clock QoS.
-  RCLCPP_PUBLIC
-  const rclcpp::QoS &
-  clock_qos() const;
-
-  /// Set the clock QoS.
-  /**
-   * The QoS settings to be used for the publisher on /clock topic, if enabled.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  clock_qos(const rclcpp::QoS & clock_qos);
-
   /// Return a reference to the parameter_event_qos QoS.
   RCLCPP_PUBLIC
   const rclcpp::QoS &
@@ -271,19 +256,6 @@ public:
   NodeOptions &
   parameter_event_qos(const rclcpp::QoS & parameter_event_qos);
 
-  /// Return a reference to the rosout QoS.
-  RCLCPP_PUBLIC
-  const rclcpp::QoS &
-  rosout_qos() const;
-
-  /// Set the rosout QoS.
-  /**
-   * The QoS settings to be used for the publisher on /rosout topic, if enabled.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  rosout_qos(const rclcpp::QoS & rosout_qos);
-
   /// Return a reference to the parameter_event_publisher_options.
   RCLCPP_PUBLIC
   const rclcpp::PublisherOptionsBase &
@@ -382,14 +354,10 @@ private:
 
   bool start_parameter_event_publisher_ {true};
 
-  rclcpp::QoS clock_qos_ = rclcpp::ClockQoS();
-
   rclcpp::QoS parameter_event_qos_ = rclcpp::ParameterEventsQoS(
     rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
   );
 
-  rclcpp::QoS rosout_qos_ = rclcpp::RosoutQoS();
-
   rclcpp::PublisherOptionsBase parameter_event_publisher_options_ = rclcpp::PublisherOptionsBase();
 
   bool allow_undeclared_parameters_ {false};

rclcpp/include/rclcpp/parameter_client.hpp

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__PARAMETER_CLIENT_HPP_
 #define RCLCPP__PARAMETER_CLIENT_HPP_
 
-#include <functional>
-#include <future>
 #include <memory>
 #include <string>
 #include <utility>
@@ -75,21 +73,12 @@ public:
    * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   AsyncParametersClient(
-    const std::shared_ptr<NodeT> node,
+    const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    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,
-      qos_profile,
-      group)
-  {}
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Constructor
   /**
@@ -98,21 +87,12 @@ public:
    * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   AsyncParametersClient(
-    NodeT * node,
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    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,
-      qos_profile,
-      group)
-  {}
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::Parameter>>
@@ -122,14 +102,6 @@ public:
       void(std::shared_future<std::vector<rclcpp::Parameter>>)
     > callback = nullptr);
 
-  RCLCPP_PUBLIC
-  std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>
-  describe_parameters(
-    const std::vector<std::string> & names,
-    std::function<
-      void(std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>)
-    > callback = nullptr);
-
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::ParameterType>>
   get_parameter_types(
@@ -205,7 +177,7 @@ public:
   {
     return rclcpp::create_subscription<rcl_interfaces::msg::ParameterEvent>(
       node,
-      "/parameter_events",
+      "parameter_events",
       qos,
       std::forward<CallbackT>(callback),
       options);
@@ -265,61 +237,31 @@ class SyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient)
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   explicit SyncParametersClient(
-    std::shared_ptr<NodeT> node,
+    rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
-    std::shared_ptr<NodeT> node,
+    rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : 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,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
-  SyncParametersClient(
-    NodeT * node,
+  RCLCPP_PUBLIC
+  explicit SyncParametersClient(
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
-    NodeT * node,
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : 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,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   SyncParametersClient(
@@ -329,30 +271,11 @@ public:
     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 = rmw_qos_profile_parameters)
-  : 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,
-      qos_profile);
-  }
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   std::vector<rclcpp::Parameter>
-  get_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return get_parameters(
-      parameter_names,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  get_parameters(const std::vector<std::string> & parameter_names);
 
   RCLCPP_PUBLIC
   bool
@@ -396,67 +319,23 @@ public:
     );
   }
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
-  std::vector<rcl_interfaces::msg::ParameterDescriptor>
-  describe_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return describe_parameters(
-      parameter_names,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
-
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   std::vector<rclcpp::ParameterType>
-  get_parameter_types(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return get_parameter_types(
-      parameter_names,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  get_parameter_types(const std::vector<std::string> & parameter_names);
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return set_parameters(
-      parameters,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   rcl_interfaces::msg::SetParametersResult
-  set_parameters_atomically(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return set_parameters_atomically(
-      parameters,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   rcl_interfaces::msg::ListParametersResult
   list_parameters(
     const std::vector<std::string> & parameter_prefixes,
-    uint64_t depth,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return list_parameters(
-      parameter_prefixes,
-      depth,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+    uint64_t depth);
 
   template<typename CallbackT>
   typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
@@ -499,44 +378,6 @@ public:
     return async_parameters_client_->wait_for_service(timeout);
   }
 
-protected:
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::Parameter>
-  get_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rcl_interfaces::msg::ParameterDescriptor>
-  describe_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::ParameterType>
-  get_parameter_types(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  rcl_interfaces::msg::SetParametersResult
-  set_parameters_atomically(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  rcl_interfaces::msg::ListParametersResult
-  list_parameters(
-    const std::vector<std::string> & parameter_prefixes,
-    uint64_t depth,
-    std::chrono::nanoseconds timeout);
-
 private:
   rclcpp::Executor::SharedPtr executor_;
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;

rclcpp/include/rclcpp/publisher_options.hpp

@@ -26,7 +26,6 @@
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
-#include "rclcpp/qos_overriding_options.hpp"
 
 namespace rclcpp
 {
@@ -51,8 +50,6 @@ struct PublisherOptionsBase
   /// Optional RMW implementation specific payload to be used during creation of the publisher.
   std::shared_ptr<rclcpp::detail::RMWImplementationSpecificPublisherPayload>
   rmw_implementation_payload = nullptr;
-
-  QosOverridingOptions qos_overriding_options;
 };
 
 /// Structure containing optional configuration for Publishers.

rclcpp/include/rclcpp/qos.hpp

@@ -19,7 +19,6 @@
 
 #include "rclcpp/duration.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rcl/logging_rosout.h"
 #include "rmw/incompatible_qos_events_statuses.h"
 #include "rmw/qos_profiles.h"
 #include "rmw/types.h"
@@ -27,41 +26,8 @@
 namespace rclcpp
 {
 
-RCLCPP_PUBLIC
 std::string qos_policy_name_from_kind(rmw_qos_policy_kind_t policy_kind);
 
-enum class HistoryPolicy
-{
-  KeepLast = RMW_QOS_POLICY_HISTORY_KEEP_LAST,
-  KeepAll = RMW_QOS_POLICY_HISTORY_KEEP_ALL,
-  SystemDefault = RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_HISTORY_UNKNOWN,
-};
-
-enum class ReliabilityPolicy
-{
-  BestEffort = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
-  Reliable = RMW_QOS_POLICY_RELIABILITY_RELIABLE,
-  SystemDefault = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_RELIABILITY_UNKNOWN,
-};
-
-enum class DurabilityPolicy
-{
-  Volatile = RMW_QOS_POLICY_DURABILITY_VOLATILE,
-  TransientLocal = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
-  SystemDefault = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_DURABILITY_UNKNOWN,
-};
-
-enum class LivelinessPolicy
-{
-  Automatic = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
-  ManualByTopic = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC,
-  SystemDefault = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_LIVELINESS_UNKNOWN,
-};
-
 /// QoS initialization values, cannot be created directly, use KeepAll or KeepLast instead.
 struct RCLCPP_PUBLIC QoSInitialization
 {
@@ -90,32 +56,10 @@ struct RCLCPP_PUBLIC KeepLast : public rclcpp::QoSInitialization
 };
 
 /// Encapsulation of Quality of Service settings.
-/**
- * Quality of Service settings control the behavior of publishers, subscriptions,
- * and other entities, and includes things like how data is sent or resent,
- * how data is buffered on the publishing and subscribing side, and other things.
- * See:
- *   <a href="https://index.ros.org/doc/ros2/Concepts/About-Quality-of-Service-Settings">
- *     https://index.ros.org/doc/ros2/Concepts/About-Quality-of-Service-Settings
- *   </a>
- */
 class RCLCPP_PUBLIC QoS
 {
 public:
-  /// Create a QoS by specifying only the history policy and history depth.
-  /**
-   * When using the default initial profile, the defaults will include:
-   *
-   *   - \link rclcpp::ReliabilityPolicy::Reliable ReliabilityPolicy::Reliable\endlink
-   *   - \link rclcpp::DurabilityPolicy::Volatile DurabilityPolicy::Volatile\endlink
-   *
-   * See rmw_qos_profile_default for a full list of default settings.
-   * If some other rmw_qos_profile_t is passed to initial_profile, then the defaults will derive from
-   * that profile instead.
-   *
-   * \param[in] qos_initialization Specifies history policy and history depth.
-   * \param[in] initial_profile The rmw_qos_profile_t instance on which to base the default settings.
-   */
+  /// Constructor which allows you to construct a QoS by giving the only required settings.
   explicit
   QoS(
     const QoSInitialization & qos_initialization,
@@ -123,11 +67,7 @@ public:
 
   /// Conversion constructor to ease construction in the common case of just specifying depth.
   /**
-   * This is a convenience constructor that calls QoS(KeepLast(history_depth)).
-   *
-   * \param[in] history_depth How many messages can be queued when publishing
-   *   with a Publisher, or how many messages can be queued before being replaced
-   *   by a Subscription.
+   * Convenience constructor, equivalent to QoS(KeepLast(history_depth)).
    */
   // cppcheck-suppress noExplicitConstructor
   QoS(size_t history_depth);  // NOLINT(runtime/explicit): conversion constructor
@@ -140,10 +80,6 @@ public:
   const rmw_qos_profile_t &
   get_rmw_qos_profile() const;
 
-  /// Set the history policy.
-  QoS &
-  history(HistoryPolicy history);
-
   /// Set the history policy.
   QoS &
   history(rmw_qos_history_policy_t history);
@@ -160,10 +96,6 @@ public:
   QoS &
   reliability(rmw_qos_reliability_policy_t reliability);
 
-  /// Set the reliability setting.
-  QoS &
-  reliability(ReliabilityPolicy reliability);
-
   /// Set the reliability setting to reliable.
   QoS &
   reliable();
@@ -176,10 +108,6 @@ public:
   QoS &
   durability(rmw_qos_durability_policy_t durability);
 
-  /// Set the durability setting.
-  QoS &
-  durability(DurabilityPolicy durability);
-
   /// Set the durability setting to volatile.
   /**
     * Note that this cannot be named `volatile` because it is a C++ keyword.
@@ -211,10 +139,6 @@ public:
   QoS &
   liveliness(rmw_qos_liveliness_policy_t liveliness);
 
-  /// Set the liveliness setting.
-  QoS &
-  liveliness(LivelinessPolicy liveliness);
-
   /// Set the liveliness_lease_duration setting.
   QoS &
   liveliness_lease_duration(rmw_time_t liveliness_lease_duration);
@@ -227,42 +151,6 @@ public:
   QoS &
   avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions);
 
-  /// Get the history qos policy.
-  HistoryPolicy
-  history() const;
-
-  /// Get the history depth.
-  size_t
-  depth() const;
-
-  /// Get the reliability policy.
-  ReliabilityPolicy
-  reliability() const;
-
-  /// Get the durability policy.
-  DurabilityPolicy
-  durability() const;
-
-  /// Get the deadline duration setting.
-  rclcpp::Duration
-  deadline() const;
-
-  /// Get the lifespan duration setting.
-  rclcpp::Duration
-  lifespan() const;
-
-  /// Get the liveliness policy.
-  LivelinessPolicy
-  liveliness() const;
-
-  /// Get the liveliness lease duration setting.
-  rclcpp::Duration
-  liveliness_lease_duration() const;
-
-  /// Get the `avoid ros namespace convention` setting.
-  bool
-  avoid_ros_namespace_conventions() const;
-
 private:
   rmw_qos_profile_t rmw_qos_profile_;
 };
@@ -273,26 +161,6 @@ bool operator==(const QoS & left, const QoS & right);
 RCLCPP_PUBLIC
 bool operator!=(const QoS & left, const QoS & right);
 
-/**
- * Clock QoS class
- *    - History: Keep last,
- *    - Depth: 1,
- *    - Reliability: Best effort,
- *    - Durability: Volatile,
- *    - Deadline: Default,
- *    - Lifespan: Default,
- *    - Liveliness: System default,
- *    - Liveliness lease duration: default,
- *    - avoid ros namespace conventions: false
- */
-class RCLCPP_PUBLIC ClockQoS : public QoS
-{
-public:
-  explicit
-  ClockQoS(
-    const QoSInitialization & qos_initialization = KeepLast(1));
-};
-
 /**
  * Sensor Data QoS class
  *    - History: Keep last,
@@ -381,28 +249,6 @@ public:
   ));
 };
 
-/**
- * Rosout QoS class
- *    - History: Keep last,
- *    - Depth: 1000,
- *    - Reliability: Reliable,
- *    - Durability: TRANSIENT_LOCAL,
- *    - Deadline: Default,
- *    - Lifespan: {10, 0},
- *    - Liveliness: System default,
- *    - Liveliness lease duration: default,
- *    - Avoid ros namespace conventions: false
- */
-class RCLCPP_PUBLIC RosoutQoS : public QoS
-{
-public:
-  explicit
-  RosoutQoS(
-    const QoSInitialization & rosout_qos_initialization = (
-      QoSInitialization::from_rmw(rcl_qos_profile_rosout_default)
-  ));
-};
-
 /**
  * System defaults QoS class
  *    - History: System default,

rclcpp/include/rclcpp/qos_event.hpp

@@ -16,8 +16,6 @@
 #define RCLCPP__QOS_EVENT_HPP_
 
 #include <functional>
-#include <memory>
-#include <stdexcept>
 #include <string>
 
 #include "rcl/error_handling.h"
@@ -133,31 +131,21 @@ public:
     }
   }
 
-  /// Take data so that the callback cannot be scheduled again
-  std::shared_ptr<void>
-  take_data() override
+  /// Execute any entities of the Waitable that are ready.
+  void
+  execute() override
   {
     EventCallbackInfoT callback_info;
+
     rcl_ret_t ret = rcl_take_event(&event_handle_, &callback_info);
     if (ret != RCL_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",
         "Couldn't take event info: %s", rcl_get_error_string().str);
-      return nullptr;
+      return;
     }
-    return std::static_pointer_cast<void>(std::make_shared<EventCallbackInfoT>(callback_info));
-  }
 
-  /// Execute any entities of the Waitable that are ready.
-  void
-  execute(std::shared_ptr<void> & data) override
-  {
-    if (!data) {
-      throw std::runtime_error("'data' is empty");
-    }
-    auto callback_ptr = std::static_pointer_cast<EventCallbackInfoT>(data);
-    event_callback_(*callback_ptr);
-    callback_ptr.reset();
+    event_callback_(callback_info);
   }
 
 private:

rclcpp/include/rclcpp/qos_overriding_options.hpp

@@ -1,154 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_
-#define RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_
-
-#include <functional>
-#include <initializer_list>
-#include <ostream>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "rclcpp/qos.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-#include "rcl_interfaces/msg/set_parameters_result.hpp"
-#include "rmw/qos_policy_kind.h"
-
-namespace rclcpp
-{
-
-enum class RCLCPP_PUBLIC_TYPE QosPolicyKind
-{
-  AvoidRosNamespaceConventions = RMW_QOS_POLICY_AVOID_ROS_NAMESPACE_CONVENTIONS,
-  Deadline = RMW_QOS_POLICY_DEADLINE,
-  Depth = RMW_QOS_POLICY_DEPTH,
-  Durability = RMW_QOS_POLICY_DURABILITY,
-  History = RMW_QOS_POLICY_HISTORY,
-  Lifespan = RMW_QOS_POLICY_LIFESPAN,
-  Liveliness = RMW_QOS_POLICY_LIVELINESS,
-  LivelinessLeaseDuration = RMW_QOS_POLICY_LIVELINESS_LEASE_DURATION,
-  Reliability = RMW_QOS_POLICY_RELIABILITY,
-  Invalid = RMW_QOS_POLICY_INVALID,
-};
-
-RCLCPP_PUBLIC
-const char *
-qos_policy_kind_to_cstr(const QosPolicyKind & qpk);
-
-RCLCPP_PUBLIC
-std::ostream &
-operator<<(std::ostream & os, const QosPolicyKind & qpk);
-
-using QosCallbackResult = rcl_interfaces::msg::SetParametersResult;
-using QosCallback = std::function<QosCallbackResult(const rclcpp::QoS &)>;
-
-namespace detail
-{
-// forward declare
-template<typename T>
-class QosParameters;
-}
-
-/// Options that are passed in subscription/publisher constructor to specify QoSConfigurability.
-/**
- * This options struct allows configuring:
- * - Which policy kinds will have declared parameters.
- * - An optional callback, that will be called to validate the final qos profile.
- * - An optional id. In the case that different qos are desired for two publishers/subscriptions in
- *   the same topic, this id will allow disambiguating them.
- *
- * Example parameter file:
- *
- * ```yaml
- * my_node_name:
- *  ros__parameters:
- *    qos_overrides:
- *      /my/topic/name:
- *        publisher:  # publisher without provided id
- *          reliability: reliable
- *          depth: 100
- *        publisher_my_id:  # publisher with `id="my_id"
- *          reliability: reliable
- *          depth: 10
- * ```
- */
-class QosOverridingOptions
-{
-public:
-  /// Default constructor, no overrides allowed.
-  RCLCPP_PUBLIC
-  QosOverridingOptions() = default;
-
-  /// Construct passing a list of QoS policies and a verification callback.
-  /**
-   * This constructor is implicit, e.g.:
-   * ```cpp
-   * node->create_publisher(
-   *   "topic_name",
-   *   default_qos_profile,
-   *   {
-   *     {QosPolicyKind::Reliability},
-   *     [] (auto && qos) {return check_qos_validity(qos)},
-   *     "my_id"
-   *   });
-   * ```
-   * \param policy_kinds list of policy kinds that will be reconfigurable.
-   * \param validation_callback callbak that will be called to validate the validity of
-   *   the qos profile set by the user.
-   * \param id id of the entity.
-   */
-  RCLCPP_PUBLIC
-  QosOverridingOptions(
-    std::initializer_list<QosPolicyKind> policy_kinds,
-    QosCallback validation_callback = nullptr,
-    std::string id = {});
-
-  RCLCPP_PUBLIC
-  const std::string &
-  get_id() const;
-
-  RCLCPP_PUBLIC
-  const std::vector<QosPolicyKind> &
-  get_policy_kinds() const;
-
-  RCLCPP_PUBLIC
-  const QosCallback &
-  get_validation_callback() const;
-
-  /// Construct passing a list of QoS policies and a verification callback.
-  /**
-   * Same as `QosOverridingOptions` constructor, but only declares the default policies:
-   *
-   * History, Depth, Reliability.
-   */
-  RCLCPP_PUBLIC
-  static
-  QosOverridingOptions
-  with_default_policies(QosCallback validation_callback = nullptr, std::string id = {});
-
-private:
-  /// \internal Id of the entity requesting to create parameters.
-  std::string id_;
-  /// \internal Policy kinds that are allowed to be reconfigured.
-  std::vector<QosPolicyKind> policy_kinds_;
-  /// \internal Validation callback that will be called to verify the profile.
-  QosCallback validation_callback_;
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_

rclcpp/include/rclcpp/service.hpp

@@ -223,8 +223,8 @@ public:
     }
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif
@@ -258,8 +258,8 @@ public:
     service_handle_ = service_handle;
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif
@@ -295,8 +295,8 @@ public:
     service_handle_->impl = service_handle->impl;
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -150,47 +150,48 @@ public:
     );
   }
 
-  bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+  bool collect_entities(const WeakNodeList & weak_nodes) override
   {
-    bool has_invalid_weak_groups_or_nodes = false;
-    for (const auto & pair : weak_groups_to_nodes) {
-      auto group = pair.first.lock();
-      auto node = pair.second.lock();
-      if (group == nullptr || node == nullptr) {
-        has_invalid_weak_groups_or_nodes = true;
+    bool has_invalid_weak_nodes = false;
+    for (auto & weak_node : weak_nodes) {
+      auto node = weak_node.lock();
+      if (!node) {
+        has_invalid_weak_nodes = true;
         continue;
       }
-      if (!group || !group->can_be_taken_from().load()) {
-        continue;
+      for (auto & weak_group : node->get_callback_groups()) {
+        auto group = weak_group.lock();
+        if (!group || !group->can_be_taken_from().load()) {
+          continue;
+        }
+        group->find_subscription_ptrs_if(
+          [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
+            subscription_handles_.push_back(subscription->get_subscription_handle());
+            return false;
+          });
+        group->find_service_ptrs_if(
+          [this](const rclcpp::ServiceBase::SharedPtr & service) {
+            service_handles_.push_back(service->get_service_handle());
+            return false;
+          });
+        group->find_client_ptrs_if(
+          [this](const rclcpp::ClientBase::SharedPtr & client) {
+            client_handles_.push_back(client->get_client_handle());
+            return false;
+          });
+        group->find_timer_ptrs_if(
+          [this](const rclcpp::TimerBase::SharedPtr & timer) {
+            timer_handles_.push_back(timer->get_timer_handle());
+            return false;
+          });
+        group->find_waitable_ptrs_if(
+          [this](const rclcpp::Waitable::SharedPtr & waitable) {
+            waitable_handles_.push_back(waitable);
+            return false;
+          });
       }
-      group->find_subscription_ptrs_if(
-        [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
-          subscription_handles_.push_back(subscription->get_subscription_handle());
-          return false;
-        });
-      group->find_service_ptrs_if(
-        [this](const rclcpp::ServiceBase::SharedPtr & service) {
-          service_handles_.push_back(service->get_service_handle());
-          return false;
-        });
-      group->find_client_ptrs_if(
-        [this](const rclcpp::ClientBase::SharedPtr & client) {
-          client_handles_.push_back(client->get_client_handle());
-          return false;
-        });
-      group->find_timer_ptrs_if(
-        [this](const rclcpp::TimerBase::SharedPtr & timer) {
-          timer_handles_.push_back(timer->get_timer_handle());
-          return false;
-        });
-      group->find_waitable_ptrs_if(
-        [this](const rclcpp::Waitable::SharedPtr & waitable) {
-          waitable_handles_.push_back(waitable);
-          return false;
-        });
     }
-
-    return has_invalid_weak_groups_or_nodes;
+    return has_invalid_weak_nodes;
   }
 
   void add_waitable_handle(const rclcpp::Waitable::SharedPtr & waitable) override
@@ -263,14 +264,14 @@ public:
   void
   get_next_subscription(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+    const WeakNodeList & weak_nodes) override
   {
     auto it = subscription_handles_.begin();
     while (it != subscription_handles_.end()) {
-      auto subscription = get_subscription_by_handle(*it, weak_groups_to_nodes);
+      auto subscription = get_subscription_by_handle(*it, weak_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);
+        auto group = get_group_by_subscription(subscription, weak_nodes);
         if (!group) {
           // Group was not found, meaning the subscription is not valid...
           // Remove it from the ready list and continue looking
@@ -286,7 +287,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.subscription = subscription;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         subscription_handles_.erase(it);
         return;
       }
@@ -298,14 +299,14 @@ public:
   void
   get_next_service(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+    const WeakNodeList & weak_nodes) override
   {
     auto it = service_handles_.begin();
     while (it != service_handles_.end()) {
-      auto service = get_service_by_handle(*it, weak_groups_to_nodes);
+      auto service = get_service_by_handle(*it, weak_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);
+        auto group = get_group_by_service(service, weak_nodes);
         if (!group) {
           // Group was not found, meaning the service is not valid...
           // Remove it from the ready list and continue looking
@@ -321,7 +322,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.service = service;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         service_handles_.erase(it);
         return;
       }
@@ -331,16 +332,14 @@ public:
   }
 
   void
-  get_next_client(
-    rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+  get_next_client(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
   {
     auto it = client_handles_.begin();
     while (it != client_handles_.end()) {
-      auto client = get_client_by_handle(*it, weak_groups_to_nodes);
+      auto client = get_client_by_handle(*it, weak_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);
+        auto group = get_group_by_client(client, weak_nodes);
         if (!group) {
           // Group was not found, meaning the service is not valid...
           // Remove it from the ready list and continue looking
@@ -356,7 +355,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.client = client;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         client_handles_.erase(it);
         return;
       }
@@ -368,14 +367,14 @@ public:
   void
   get_next_timer(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+    const WeakNodeList & weak_nodes) override
   {
     auto it = timer_handles_.begin();
     while (it != timer_handles_.end()) {
-      auto timer = get_timer_by_handle(*it, weak_groups_to_nodes);
+      auto timer = get_timer_by_handle(*it, weak_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);
+        auto group = get_group_by_timer(timer, weak_nodes);
         if (!group) {
           // Group was not found, meaning the timer is not valid...
           // Remove it from the ready list and continue looking
@@ -391,7 +390,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.timer = timer;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         timer_handles_.erase(it);
         return;
       }
@@ -401,16 +400,14 @@ public:
   }
 
   void
-  get_next_waitable(
-    rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+  get_next_waitable(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
   {
     auto it = waitable_handles_.begin();
     while (it != waitable_handles_.end()) {
       auto waitable = *it;
       if (waitable) {
         // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_waitable(waitable, weak_groups_to_nodes);
+        auto group = get_group_by_waitable(waitable, weak_nodes);
         if (!group) {
           // Group was not found, meaning the waitable is not valid...
           // Remove it from the ready list and continue looking
@@ -426,7 +423,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.waitable = waitable;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         waitable_handles_.erase(it);
         return;
       }

rclcpp/include/rclcpp/subscription.hpp

@@ -184,8 +184,8 @@ public:
         resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback));
       TRACEPOINT(
         rclcpp_subscription_init,
-        static_cast<const void *>(get_subscription_handle().get()),
-        static_cast<const void *>(subscription_intra_process.get()));
+        (const void *)get_subscription_handle().get(),
+        (const void *)subscription_intra_process.get());
 
       // Add it to the intra process manager.
       using rclcpp::experimental::IntraProcessManager;
@@ -200,12 +200,12 @@ public:
 
     TRACEPOINT(
       rclcpp_subscription_init,
-      static_cast<const void *>(get_subscription_handle().get()),
-      static_cast<const void *>(this));
+      (const void *)get_subscription_handle().get(),
+      (const void *)this);
     TRACEPOINT(
       rclcpp_subscription_callback_added,
-      static_cast<const void *>(this),
-      static_cast<const void *>(&any_callback_));
+      (const void *)this,
+      (const void *)&any_callback_);
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
     // in subsequent tracepoints.
@@ -277,18 +277,11 @@ public:
       return;
     }
     auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
-
-    std::chrono::time_point<std::chrono::system_clock> now;
-    if (subscription_topic_statistics_) {
-      // get current time before executing callback to
-      // exclude callback duration from topic statistics result.
-      now = std::chrono::system_clock::now();
-    }
-
     any_callback_.dispatch(typed_message, message_info);
 
     if (subscription_topic_statistics_) {
-      const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now);
+      const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(
+        std::chrono::system_clock::now());
       const auto time = rclcpp::Time(nanos.time_since_epoch().count());
       subscription_topic_statistics_->handle_message(*typed_message, time);
     }

rclcpp/include/rclcpp/subscription_options.hpp

@@ -26,7 +26,6 @@
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
-#include "rclcpp/qos_overriding_options.hpp"
 #include "rclcpp/topic_statistics_state.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -73,8 +72,6 @@ struct SubscriptionOptionsBase
   };
 
   TopicStatisticsOptions topic_stats_options;
-
-  QosOverridingOptions qos_overriding_options;
 };
 
 /// Structure containing optional configuration for Subscriptions.

rclcpp/include/rclcpp/time.hpp

@@ -218,7 +218,6 @@ private:
 /**
  * \throws std::overflow_error if addition leads to overflow
  */
-RCLCPP_PUBLIC
 Time
 operator+(const rclcpp::Duration & lhs, const rclcpp::Time & rhs);
 

rclcpp/include/rclcpp/time_source.hpp

@@ -32,20 +32,6 @@ namespace rclcpp
 {
 class Clock;
 
-/**
- * Time source that will drive the attached clocks.
- *
- * If the attached node `use_sim_time` parameter is `true`, the attached clocks will
- * be updated based on messages received.
- *
- * The subscription to the clock topic created by the time source can have it's qos reconfigured
- * using parameter overrides, particularly the following ones are accepted:
- *
- * - qos_overrides./clock.depth
- * - qos_overrides./clock.durability
- * - qos_overrides./clock.history
- * - qos_overrides./clock.reliability
- */
 class TimeSource
 {
 public:
@@ -54,19 +40,16 @@ public:
    * The node will be attached to the time source.
    *
    * \param node std::shared pointer to a initialized node
-   * \param qos QoS that will be used when creating a `/clock` subscription.
    */
   RCLCPP_PUBLIC
-  explicit TimeSource(rclcpp::Node::SharedPtr node, const rclcpp::QoS & qos = rclcpp::ClockQoS());
+  explicit TimeSource(rclcpp::Node::SharedPtr node);
 
   /// Empty constructor
   /**
    * An Empty TimeSource class
-   *
-   * \param qos QoS that will be used when creating a `/clock` subscription.
    */
   RCLCPP_PUBLIC
-  explicit TimeSource(const rclcpp::QoS & qos = rclcpp::ClockQoS());
+  TimeSource();
 
   /// Attack node to the time source.
   /**
@@ -131,14 +114,11 @@ private:
   // Store (and update on node attach) logger for logging.
   Logger logger_;
 
-  // QoS of the clock subscription.
-  rclcpp::QoS qos_;
-
   // The subscription for the clock callback
   using MessageT = rosgraph_msgs::msg::Clock;
   using Alloc = std::allocator<void>;
   using SubscriptionT = rclcpp::Subscription<MessageT, Alloc>;
-  std::shared_ptr<SubscriptionT> clock_subscription_{nullptr};
+  std::shared_ptr<SubscriptionT> clock_subscription_;
   std::mutex clock_sub_lock_;
 
   // The clock callback itself
@@ -168,6 +148,8 @@ private:
   void disable_ros_time();
 
   // Internal helper functions used inside iterators
+  static void enable_ros_time(rclcpp::Clock::SharedPtr clock);
+  static void disable_ros_time(rclcpp::Clock::SharedPtr clock);
   static void set_clock(
     const builtin_interfaces::msg::Time::SharedPtr msg,
     bool set_ros_time_enabled,
@@ -175,7 +157,7 @@ private:
 
   // Local storage of validity of ROS time
   // This is needed when new clocks are added.
-  bool ros_time_active_{false};
+  bool ros_time_active_;
   // Last set message to be passed to newly registered clocks
   rosgraph_msgs::msg::Clock::SharedPtr last_msg_set_;
 
@@ -184,7 +166,7 @@ private:
   // A vector to store references to associated clocks.
   std::vector<rclcpp::Clock::SharedPtr> associated_clocks_;
   // A handler for the use_sim_time parameter callback.
-  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr sim_time_cb_handler_{nullptr};
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr sim_time_cb_handler_ = nullptr;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/timer.hpp

@@ -176,11 +176,11 @@ public:
   {
     TRACEPOINT(
       rclcpp_timer_callback_added,
-      static_cast<const void *>(get_timer_handle().get()),
-      static_cast<const void *>(&callback_));
+      (const void *)get_timer_handle().get(),
+      (const void *)&callback_);
     TRACEPOINT(
       rclcpp_callback_register,
-      static_cast<const void *>(&callback_),
+      (const void *)&callback_,
       get_symbol(callback_));
   }
 
@@ -205,9 +205,9 @@ public:
     if (ret != RCL_RET_OK) {
       throw std::runtime_error("Failed to notify timer that callback occurred");
     }
-    TRACEPOINT(callback_start, static_cast<const void *>(&callback_), false);
+    TRACEPOINT(callback_start, (const void *)&callback_, false);
     execute_callback_delegate<>();
-    TRACEPOINT(callback_end, static_cast<const void *>(&callback_));
+    TRACEPOINT(callback_end, (const void *)&callback_);
   }
 
   // void specialization

rclcpp/include/rclcpp/wait_set_policies/detail/storage_policy_common.hpp

@@ -73,17 +73,7 @@ protected:
     size_t services_from_waitables = 0;
     size_t events_from_waitables = 0;
     for (const auto & waitable_entry : waitables) {
-      auto waitable_ptr_pair = get_raw_pointer_from_smart_pointer(waitable_entry.waitable);
-      if (nullptr == waitable_ptr_pair.second) {
-        if (HasStrongOwnership) {
-          throw std::runtime_error("unexpected condition, fixed storage policy needs pruning");
-        }
-        // Flag for pruning.
-        needs_pruning_ = true;
-        continue;
-      }
-
-      rclcpp::Waitable & waitable = *waitable_ptr_pair.second;
+      rclcpp::Waitable & waitable = *waitable_entry.waitable.get();
       subscriptions_from_waitables += waitable.get_number_of_ready_subscriptions();
       guard_conditions_from_waitables += waitable.get_number_of_ready_guard_conditions();
       timers_from_waitables += waitable.get_number_of_ready_timers();

rclcpp/include/rclcpp/wait_set_policies/dynamic_storage.hpp

@@ -382,13 +382,11 @@ public:
         return weak_ptr.expired();
       };
     // remove guard conditions which have been deleted
-    guard_conditions_.erase(
-      std::remove_if(guard_conditions_.begin(), guard_conditions_.end(), p),
-      guard_conditions_.end());
-    timers_.erase(std::remove_if(timers_.begin(), timers_.end(), p), timers_.end());
-    clients_.erase(std::remove_if(clients_.begin(), clients_.end(), p), clients_.end());
-    services_.erase(std::remove_if(services_.begin(), services_.end(), p), services_.end());
-    waitables_.erase(std::remove_if(waitables_.begin(), waitables_.end(), p), waitables_.end());
+    guard_conditions_.erase(std::remove_if(guard_conditions_.begin(), guard_conditions_.end(), p));
+    timers_.erase(std::remove_if(timers_.begin(), timers_.end(), p));
+    clients_.erase(std::remove_if(clients_.begin(), clients_.end(), p));
+    services_.erase(std::remove_if(services_.begin(), services_.end(), p));
+    waitables_.erase(std::remove_if(waitables_.begin(), waitables_.end(), p));
   }
 
   void

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -233,9 +233,9 @@ public:
         }
         if (mask.include_intra_process_waitable) {
           auto local_waitable = inner_subscription->get_intra_process_waitable();
+          inner_subscription->exchange_in_use_by_wait_set_state(local_waitable.get(), false);
           if (nullptr != local_waitable) {
-            // This is the case when intra process is enabled for the subscription.
-            inner_subscription->exchange_in_use_by_wait_set_state(local_waitable.get(), false);
+            // This is the case when intra process is disabled for the subscription.
             this->storage_remove_waitable(std::move(local_waitable));
           }
         }

rclcpp/include/rclcpp/waitable.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__WAITABLE_HPP_
 
 #include <atomic>
-#include <memory>
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -126,17 +125,8 @@ public:
   bool
   is_ready(rcl_wait_set_t * wait_set) = 0;
 
-  /// Take the data so that it can be consumed with `execute`.
+  /// Execute any entities of the Waitable that are ready.
   /**
-   * NOTE: take_data is a partial fix to a larger design issue with the
-   * multithreaded executor. This method is likely to be removed when
-   * a more permanent fix is implemented. A longterm fix is currently
-   * being discussed here: https://github.com/ros2/rclcpp/pull/1276
-   *
-   * This method takes the data from the underlying data structure and
-   * writes it to the void shared pointer `data` that is passed into the
-   * method. The `data` can then be executed with the `execute` method.
-   *
    * Before calling this method, the Waitable should be added to a wait set,
    * waited on, and then updated.
    *
@@ -153,41 +143,13 @@ public:
    * // Update the Waitable
    * waitable.update(wait_set);
    * // Execute any entities of the Waitable that may be ready
-   * std::shared_ptr<void> data = waitable.take_data();
-   * ```
-   */
-  RCLCPP_PUBLIC
-  virtual
-  std::shared_ptr<void>
-  take_data() = 0;
-
-  /// Execute data that is passed in.
-  /**
-   * Before calling this method, the Waitable should be added to a wait set,
-   * waited on, and then updated - and the `take_data` method should be
-   * called.
-   *
-   * Example usage:
-   *
-   * ```cpp
-   * // ... create a wait set and a Waitable
-   * // Add the Waitable to the wait set
-   * bool add_ret = waitable.add_to_wait_set(wait_set);
-   * // ... error handling
-   * // Wait
-   * rcl_ret_t wait_ret = rcl_wait(wait_set);
-   * // ... error handling
-   * // Update the Waitable
-   * waitable.update(wait_set);
-   * // Execute any entities of the Waitable that may be ready
-   * std::shared_ptr<void> data = waitable.take_data();
-   * waitable.execute(data);
+   * waitable.execute();
    * ```
    */
   RCLCPP_PUBLIC
   virtual
   void
-  execute(std::shared_ptr<void> & data) = 0;
+  execute() = 0;
 
   /// Exchange the "in use by wait set" state for this timer.
   /**

rclcpp/package.xml

@@ -2,13 +2,10 @@
 <?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>6.3.0</version>
+  <version>3.0.0</version>
   <description>The ROS client library in C++.</description>
-  <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
-  <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>
-  <maintainer email="william@openrobotics.org">William Woodall</maintainer>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
-  <author email="dthomas@openrobotics.org">Dirk Thomas</author>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
@@ -38,8 +35,6 @@
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>mimick_vendor</test_depend>
-  <test_depend>performance_test_fixture</test_depend>
   <test_depend>rmw</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>rosidl_default_generators</test_depend>

rclcpp/resource/logging.hpp.em

@@ -151,9 +151,10 @@ def get_rclcpp_suffix_from_features(features):
 @[ end if]@
       logger.get_name(), \
 @[ if 'stream' not in feature_combination]@
-      __VA_ARGS__); \
+      rclcpp::get_c_string(RCLCPP_FIRST_ARG(__VA_ARGS__, "")), \
+        RCLCPP_ALL_BUT_FIRST_ARGS(__VA_ARGS__,"")); \
 @[ else]@
-      "%s", ss.str().c_str()); \
+      "%s", rclcpp::get_c_string(ss.str())); \
 @[ end if]@
   } while (0)
 

rclcpp/src/rclcpp/callback_group.cpp

@@ -19,12 +19,8 @@
 using rclcpp::CallbackGroup;
 using rclcpp::CallbackGroupType;
 
-CallbackGroup::CallbackGroup(
-  CallbackGroupType group_type,
-  bool automatically_add_to_executor_with_node)
-: type_(group_type), associated_with_executor_(false),
-  can_be_taken_from_(true),
-  automatically_add_to_executor_with_node_(automatically_add_to_executor_with_node)
+CallbackGroup::CallbackGroup(CallbackGroupType group_type)
+: type_(group_type), can_be_taken_from_(true)
 {}
 
 
@@ -40,18 +36,6 @@ CallbackGroup::type() const
   return type_;
 }
 
-std::atomic_bool &
-CallbackGroup::get_associated_with_executor_atomic()
-{
-  return associated_with_executor_;
-}
-
-bool
-CallbackGroup::automatically_add_to_executor_with_node() const
-{
-  return automatically_add_to_executor_with_node_;
-}
-
 void
 CallbackGroup::add_subscription(
   const rclcpp::SubscriptionBase::SharedPtr subscription_ptr)

rclcpp/src/rclcpp/context.cpp

@@ -199,17 +199,13 @@ Context::init(
     throw rclcpp::ContextAlreadyInitialized();
   }
   this->clean_up();
-  rcl_context_t * context = new rcl_context_t;
-  if (!context) {
-    throw std::runtime_error("failed to allocate memory for rcl context");
-  }
-  *context = rcl_get_zero_initialized_context();
-  rcl_ret_t ret = rcl_init(argc, argv, init_options.get_rcl_init_options(), context);
+  rcl_context_.reset(new rcl_context_t, __delete_context);
+  *rcl_context_.get() = rcl_get_zero_initialized_context();
+  rcl_ret_t ret = rcl_init(argc, argv, init_options.get_rcl_init_options(), rcl_context_.get());
   if (RCL_RET_OK != ret) {
-    delete context;
+    rcl_context_.reset();
     rclcpp::exceptions::throw_from_rcl_error(ret, "failed to initialize rcl");
   }
-  rcl_context_.reset(context, __delete_context);
 
   if (init_options.auto_initialize_logging()) {
     logging_mutex_ = get_global_logging_mutex();
@@ -279,17 +275,6 @@ Context::get_init_options()
   return init_options_;
 }
 
-size_t
-Context::get_domain_id() const
-{
-  size_t domain_id;
-  rcl_ret_t ret = rcl_context_get_domain_id(rcl_context_.get(), &domain_id);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get domain id from context");
-  }
-  return domain_id;
-}
-
 std::string
 Context::shutdown_reason()
 {
@@ -320,6 +305,7 @@ Context::shutdown(const std::string & reason)
   }
   // interrupt all blocking sleep_for() and all blocking executors or wait sets
   this->interrupt_all_sleep_for();
+  this->interrupt_all_wait_sets();
   // remove self from the global contexts
   weak_contexts_->remove_context(this);
   // shutdown logger
@@ -390,6 +376,75 @@ Context::interrupt_all_sleep_for()
   interrupt_condition_variable_.notify_all();
 }
 
+rcl_guard_condition_t *
+Context::get_interrupt_guard_condition(rcl_wait_set_t * wait_set)
+{
+  std::lock_guard<std::mutex> lock(interrupt_guard_cond_handles_mutex_);
+  auto kv = interrupt_guard_cond_handles_.find(wait_set);
+  if (kv != interrupt_guard_cond_handles_.end()) {
+    return &kv->second;
+  } else {
+    rcl_guard_condition_t handle = rcl_get_zero_initialized_guard_condition();
+    rcl_guard_condition_options_t options = rcl_guard_condition_get_default_options();
+    auto ret = rcl_guard_condition_init(&handle, this->get_rcl_context().get(), options);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't initialize guard condition");
+    }
+    interrupt_guard_cond_handles_.emplace(wait_set, handle);
+    return &interrupt_guard_cond_handles_[wait_set];
+  }
+}
+
+void
+Context::release_interrupt_guard_condition(rcl_wait_set_t * wait_set)
+{
+  std::lock_guard<std::mutex> lock(interrupt_guard_cond_handles_mutex_);
+  auto kv = interrupt_guard_cond_handles_.find(wait_set);
+  if (kv != interrupt_guard_cond_handles_.end()) {
+    rcl_ret_t ret = rcl_guard_condition_fini(&kv->second);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to destroy sigint guard condition");
+    }
+    interrupt_guard_cond_handles_.erase(kv);
+  } else {
+    throw std::runtime_error("Tried to release sigint guard condition for nonexistent wait set");
+  }
+}
+
+void
+Context::release_interrupt_guard_condition(
+  rcl_wait_set_t * wait_set,
+  const std::nothrow_t &) noexcept
+{
+  try {
+    this->release_interrupt_guard_condition(wait_set);
+  } catch (const std::exception & exc) {
+    RCLCPP_ERROR(
+      rclcpp::get_logger("rclcpp"),
+      "caught %s exception when releasing interrupt guard condition: %s",
+      rmw::impl::cpp::demangle(exc).c_str(), exc.what());
+  } catch (...) {
+    RCLCPP_ERROR(
+      rclcpp::get_logger("rclcpp"),
+      "caught unknown exception when releasing interrupt guard condition");
+  }
+}
+
+void
+Context::interrupt_all_wait_sets()
+{
+  std::lock_guard<std::mutex> lock(interrupt_guard_cond_handles_mutex_);
+  for (auto & kv : interrupt_guard_cond_handles_) {
+    rcl_ret_t status = rcl_trigger_guard_condition(&(kv.second));
+    if (status != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(
+        "rclcpp",
+        "failed to trigger guard condition in Context::interrupt_all_wait_sets(): %s",
+        rcl_get_error_string().str);
+    }
+  }
+}
+
 void
 Context::clean_up()
 {

rclcpp/src/rclcpp/duration.cpp

@@ -37,7 +37,7 @@ Duration::Duration(int32_t seconds, uint32_t nanoseconds)
   rcl_duration_.nanoseconds += nanoseconds;
 }
 
-Duration::Duration(rcl_duration_value_t nanoseconds)
+Duration::Duration(int64_t nanoseconds)
 {
   rcl_duration_.nanoseconds = nanoseconds;
 }
@@ -94,12 +94,6 @@ Duration::operator==(const rclcpp::Duration & rhs) const
   return rcl_duration_.nanoseconds == rhs.rcl_duration_.nanoseconds;
 }
 
-bool
-Duration::operator!=(const rclcpp::Duration & rhs) const
-{
-  return rcl_duration_.nanoseconds != rhs.rcl_duration_.nanoseconds;
-}
-
 bool
 Duration::operator<(const rclcpp::Duration & rhs) const
 {
@@ -148,7 +142,7 @@ Duration::operator+(const rclcpp::Duration & rhs) const
     this->rcl_duration_.nanoseconds,
     rhs.rcl_duration_.nanoseconds,
     std::numeric_limits<rcl_duration_value_t>::max());
-  return Duration::from_nanoseconds(
+  return Duration(
     rcl_duration_.nanoseconds + rhs.rcl_duration_.nanoseconds);
 }
 
@@ -177,7 +171,7 @@ Duration::operator-(const rclcpp::Duration & rhs) const
     rhs.rcl_duration_.nanoseconds,
     std::numeric_limits<rcl_duration_value_t>::max());
 
-  return Duration::from_nanoseconds(
+  return Duration(
     rcl_duration_.nanoseconds - rhs.rcl_duration_.nanoseconds);
 }
 
@@ -208,7 +202,7 @@ Duration::operator*(double scale) const
     scale,
     std::numeric_limits<rcl_duration_value_t>::max());
   long double scale_ld = static_cast<long double>(scale);
-  return Duration::from_nanoseconds(
+  return Duration(
     static_cast<rcl_duration_value_t>(
       static_cast<long double>(rcl_duration_.nanoseconds) * scale_ld));
 }
@@ -246,41 +240,10 @@ Duration::to_rmw_time() const
   return result;
 }
 
-Duration
-Duration::from_rmw_time(rmw_time_t duration)
-{
-  Duration ret;
-  constexpr rcl_duration_value_t limit_ns = std::numeric_limits<rcl_duration_value_t>::max();
-  constexpr rcl_duration_value_t limit_sec = RCL_NS_TO_S(limit_ns);
-  if (duration.sec > limit_sec || duration.nsec > limit_ns) {
-    // saturate if will overflow
-    ret.rcl_duration_.nanoseconds = limit_ns;
-    return ret;
-  }
-  uint64_t total_ns = RCL_S_TO_NS(duration.sec) + duration.nsec;
-  if (total_ns > limit_ns) {
-    // saturate if will overflow
-    ret.rcl_duration_.nanoseconds = limit_ns;
-    return ret;
-  }
-  ret.rcl_duration_.nanoseconds = static_cast<rcl_duration_value_t>(total_ns);
-  return ret;
-}
-
 Duration
 Duration::from_seconds(double seconds)
 {
-  Duration ret;
-  ret.rcl_duration_.nanoseconds = static_cast<int64_t>(RCL_S_TO_NS(seconds));
-  return ret;
-}
-
-Duration
-Duration::from_nanoseconds(rcl_duration_value_t nanoseconds)
-{
-  Duration ret;
-  ret.rcl_duration_.nanoseconds = nanoseconds;
-  return ret;
+  return Duration(static_cast<int64_t>(RCL_S_TO_NS(seconds)));
 }
 
 }  // namespace rclcpp

rclcpp/src/rclcpp/executor.cpp

@@ -14,19 +14,14 @@
 
 #include <algorithm>
 #include <memory>
-#include <map>
 #include <string>
 #include <type_traits>
-#include <utility>
-#include <vector>
 
 #include "rcl/allocator.h"
 #include "rcl/error_handling.h"
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/executor.hpp"
-#include "rclcpp/guard_condition.hpp"
-#include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/scope_exit.hpp"
 #include "rclcpp/utilities.hpp"
@@ -43,35 +38,28 @@ using rclcpp::FutureReturnCode;
 
 Executor::Executor(const rclcpp::ExecutorOptions & options)
 : spinning(false),
-  shutdown_guard_condition_(std::make_shared<rclcpp::GuardCondition>(options.context)),
   memory_strategy_(options.memory_strategy)
 {
-  // Store the context for later use.
-  context_ = options.context;
-
   rcl_guard_condition_options_t guard_condition_options = rcl_guard_condition_get_default_options();
   rcl_ret_t ret = rcl_guard_condition_init(
-    &interrupt_guard_condition_, context_->get_rcl_context().get(), guard_condition_options);
+    &interrupt_guard_condition_, options.context->get_rcl_context().get(), guard_condition_options);
   if (RCL_RET_OK != ret) {
     throw_from_rcl_error(ret, "Failed to create interrupt guard condition in Executor constructor");
   }
 
-  context_->on_shutdown(
-    [weak_gc = std::weak_ptr<rclcpp::GuardCondition>{shutdown_guard_condition_}]() {
-      auto strong_gc = weak_gc.lock();
-      if (strong_gc) {
-        strong_gc->trigger();
-      }
-    });
-
   // The number of guard conditions is always at least 2: 1 for the ctrl-c guard cond,
   // and one for the executor's guard cond (interrupt_guard_condition_)
-  memory_strategy_->add_guard_condition(&shutdown_guard_condition_->get_rcl_guard_condition());
+
+  // Put the global ctrl-c guard condition in
+  memory_strategy_->add_guard_condition(options.context->get_interrupt_guard_condition(&wait_set_));
 
   // Put the executor's guard condition in
   memory_strategy_->add_guard_condition(&interrupt_guard_condition_);
   rcl_allocator_t allocator = memory_strategy_->get_allocator();
 
+  // Store the context for later use.
+  context_ = options.context;
+
   ret = rcl_wait_set_init(
     &wait_set_,
     0, 2, 0, 0, 0, 0,
@@ -88,39 +76,25 @@ Executor::Executor(const rclcpp::ExecutorOptions & options)
         "failed to destroy guard condition: %s", rcl_get_error_string().str);
       rcl_reset_error();
     }
-    throw_from_rcl_error(ret, "Failed to create wait set in Executor constructor");
+    throw std::runtime_error("Failed to create wait set in Executor constructor");
   }
 }
 
 Executor::~Executor()
 {
-  // Disassociate all callback groups.
-  for (auto & pair : weak_groups_to_nodes_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
+  // Disassocate all nodes
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node) {
+      std::atomic_bool & has_executor = node->get_associated_with_executor_atomic();
       has_executor.store(false);
     }
   }
-  // Disassociate all nodes.
-  std::for_each(
-    weak_nodes_.begin(), weak_nodes_.end(), []
-      (rclcpp::node_interfaces::NodeBaseInterface::WeakPtr weak_node_ptr) {
-      auto shared_node_ptr = weak_node_ptr.lock();
-      if (shared_node_ptr) {
-        std::atomic_bool & has_executor = shared_node_ptr->get_associated_with_executor_atomic();
-        has_executor.store(false);
-      }
-    });
   weak_nodes_.clear();
-  weak_groups_associated_with_executor_to_nodes_.clear();
-  weak_groups_to_nodes_associated_with_executor_.clear();
-  weak_groups_to_nodes_.clear();
-  for (const auto & pair : weak_nodes_to_guard_conditions_) {
-    auto & guard_condition = pair.second;
+  for (auto & guard_condition : guard_conditions_) {
     memory_strategy_->remove_guard_condition(guard_condition);
   }
-  weak_nodes_to_guard_conditions_.clear();
+  guard_conditions_.clear();
 
   // Finalize the wait set.
   if (rcl_wait_set_fini(&wait_set_) != RCL_RET_OK) {
@@ -137,121 +111,8 @@ Executor::~Executor()
     rcl_reset_error();
   }
   // Remove and release the sigint guard condition
-  memory_strategy_->remove_guard_condition(&shutdown_guard_condition_->get_rcl_guard_condition());
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-Executor::get_all_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  std::lock_guard<std::mutex> guard{mutex_};
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  for (auto const & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-Executor::get_manually_added_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  std::lock_guard<std::mutex> guard{mutex_};
-  for (auto const & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-Executor::get_automatically_added_callback_groups_from_nodes()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  std::lock_guard<std::mutex> guard{mutex_};
-  for (auto const & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-void
-Executor::add_callback_groups_from_nodes_associated_to_executor()
-{
-  for (auto & weak_node : weak_nodes_) {
-    auto node = weak_node.lock();
-    if (node) {
-      auto group_ptrs = node->get_callback_groups();
-      std::for_each(
-        group_ptrs.begin(), group_ptrs.end(),
-        [this, node](rclcpp::CallbackGroup::WeakPtr group_ptr)
-        {
-          auto shared_group_ptr = group_ptr.lock();
-          if (shared_group_ptr && shared_group_ptr->automatically_add_to_executor_with_node() &&
-          !shared_group_ptr->get_associated_with_executor_atomic().load())
-          {
-            this->add_callback_group_to_map(
-              shared_group_ptr,
-              node,
-              weak_groups_to_nodes_associated_with_executor_,
-              true);
-          }
-        });
-    }
-  }
-}
-
-void
-Executor::add_callback_group_to_map(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-  bool notify)
-{
-  // If the callback_group already has an executor
-  std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Callback group has already been added to an executor.");
-  }
-  bool is_new_node = !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_) &&
-    !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_);
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto insert_info =
-    weak_groups_to_nodes.insert(std::make_pair(weak_group_ptr, node_ptr));
-  bool was_inserted = insert_info.second;
-  if (!was_inserted) {
-    throw std::runtime_error("Callback group was already added to executor.");
-  }
-  // Also add to the map that contains all callback groups
-  weak_groups_to_nodes_.insert(std::make_pair(weak_group_ptr, node_ptr));
-  if (is_new_node) {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_[node_weak_ptr] = node_ptr->get_notify_guard_condition();
-    if (notify) {
-      // Interrupt waiting to handle new node
-      rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
-      if (ret != RCL_RET_OK) {
-        throw_from_rcl_error(ret, "Failed to trigger guard condition on callback group add");
-      }
-    }
-    // Add the node's notify condition to the guard condition handles
-    memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
-  }
-}
-
-void
-Executor::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  bool notify)
-{
-  std::lock_guard<std::mutex> guard{mutex_};
-  this->add_callback_group_to_map(
-    group_ptr,
-    node_ptr,
-    weak_groups_associated_with_executor_to_nodes_,
-    notify);
+  memory_strategy_->remove_guard_condition(context_->get_interrupt_guard_condition(&wait_set_));
+  context_->release_interrupt_guard_condition(&wait_set_, std::nothrow);
 }
 
 void
@@ -262,69 +123,25 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
   if (has_executor.exchange(true)) {
     throw std::runtime_error("Node has already been added to an executor.");
   }
-  std::lock_guard<std::mutex> guard{mutex_};
-  for (auto & weak_group : node_ptr->get_callback_groups()) {
-    auto group_ptr = weak_group.lock();
-    if (group_ptr != nullptr && !group_ptr->get_associated_with_executor_atomic().load() &&
-      group_ptr->automatically_add_to_executor_with_node())
-    {
-      this->add_callback_group_to_map(
-        group_ptr,
-        node_ptr,
-        weak_groups_to_nodes_associated_with_executor_,
-        notify);
+  // Check to ensure node not already added
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node == node_ptr) {
+      // TODO(jacquelinekay): Use a different error here?
+      throw std::runtime_error("Cannot add node to executor, node already added.");
     }
   }
   weak_nodes_.push_back(node_ptr);
-}
-
-void
-Executor::remove_callback_group_from_map(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-  bool notify)
-{
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr;
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto iter = weak_groups_to_nodes.find(weak_group_ptr);
-  if (iter != weak_groups_to_nodes.end()) {
-    node_ptr = iter->second.lock();
-    if (node_ptr == nullptr) {
-      throw std::runtime_error("Node must not be deleted before its callback group(s).");
+  guard_conditions_.push_back(node_ptr->get_notify_guard_condition());
+  if (notify) {
+    // Interrupt waiting to handle new node
+    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+      throw std::runtime_error(rcl_get_error_string().str);
     }
-    weak_groups_to_nodes.erase(iter);
-    weak_groups_to_nodes_.erase(group_ptr);
-    std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-    has_executor.store(false);
-  } else {
-    throw std::runtime_error("Callback group needs to be associated with executor.");
   }
-  // If the node was matched and removed, interrupt waiting.
-  if (!has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_) &&
-    !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_))
-  {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_.erase(node_weak_ptr);
-    if (notify) {
-      rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
-      if (ret != RCL_RET_OK) {
-        throw_from_rcl_error(ret, "Failed to trigger guard condition on callback group remove");
-      }
-    }
-    memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
-  }
-}
-
-void
-Executor::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  bool notify)
-{
-  std::lock_guard<std::mutex> guard{mutex_};
-  this->remove_callback_group_from_map(
-    group_ptr,
-    weak_groups_associated_with_executor_to_nodes_,
-    notify);
+  // Add the node's notify condition to the guard condition handles
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
+  memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
 void
@@ -336,45 +153,34 @@ Executor::add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify)
 void
 Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
-  if (!node_ptr->get_associated_with_executor_atomic().load()) {
-    throw std::runtime_error("Node needs to be associated with an executor.");
-  }
-
-  std::lock_guard<std::mutex> guard{mutex_};
-  bool found_node = false;
-  auto node_it = weak_nodes_.begin();
-  while (node_it != weak_nodes_.end()) {
-    bool matched = (node_it->lock() == node_ptr);
-    if (matched) {
-      found_node = true;
-      node_it = weak_nodes_.erase(node_it);
-    } else {
-      ++node_it;
-    }
-  }
-  if (!found_node) {
-    throw std::runtime_error("Node needs to be associated with this executor.");
-  }
-
-  for (auto it = weak_groups_to_nodes_associated_with_executor_.begin();
-    it != weak_groups_to_nodes_associated_with_executor_.end(); )
+  bool node_removed = false;
   {
-    auto weak_node_ptr = it->second;
-    auto shared_node_ptr = weak_node_ptr.lock();
-    auto group_ptr = it->first.lock();
-
-    // Increment iterator before removing in case it's invalidated
-    it++;
-    if (shared_node_ptr == node_ptr) {
-      remove_callback_group_from_map(
-        group_ptr,
-        weak_groups_to_nodes_associated_with_executor_,
-        notify);
+    auto node_it = weak_nodes_.begin();
+    auto gc_it = guard_conditions_.begin();
+    while (node_it != weak_nodes_.end()) {
+      bool matched = (node_it->lock() == node_ptr);
+      if (matched) {
+        node_it = weak_nodes_.erase(node_it);
+        gc_it = guard_conditions_.erase(gc_it);
+        node_removed = true;
+      } else {
+        ++node_it;
+        ++gc_it;
+      }
     }
   }
-
   std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
   has_executor.store(false);
+  if (notify) {
+    // If the node was matched and removed, interrupt waiting
+    if (node_removed) {
+      if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+        throw std::runtime_error(rcl_get_error_string().str);
+      }
+    }
+  }
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
+  memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
 void
@@ -482,9 +288,8 @@ void
 Executor::cancel()
 {
   spinning.store(false);
-  rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
-  if (ret != RCL_RET_OK) {
-    throw_from_rcl_error(ret, "Failed to trigger guard condition in cancel");
+  if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+    throw std::runtime_error(rcl_get_error_string().str);
   }
 }
 
@@ -494,7 +299,6 @@ Executor::set_memory_strategy(rclcpp::memory_strategy::MemoryStrategy::SharedPtr
   if (memory_strategy == nullptr) {
     throw std::runtime_error("Received NULL memory strategy in executor.");
   }
-  std::lock_guard<std::mutex> guard{mutex_};
   memory_strategy_ = memory_strategy;
 }
 
@@ -517,15 +321,14 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
     execute_client(any_exec.client);
   }
   if (any_exec.waitable) {
-    any_exec.waitable->execute(any_exec.data);
+    any_exec.waitable->execute();
   }
   // Reset the callback_group, regardless of type
   any_exec.callback_group->can_be_taken_from().store(true);
   // Wake the wait, because it may need to be recalculated or work that
   // was previously blocked is now available.
-  rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
-  if (ret != RCL_RET_OK) {
-    throw_from_rcl_error(ret, "Failed to trigger guard condition from execute_any_executable");
+  if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+    throw std::runtime_error(rcl_get_error_string().str);
   }
 }
 
@@ -668,72 +471,47 @@ void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
   {
-    std::lock_guard<std::mutex> guard(mutex_);
-
-    // Check weak_nodes_ to find any callback group that is not owned
-    // by an executor and add it to the list of callbackgroups for
-    // collect entities. Also exchange to false so it is not
-    // allowed to add to another executor
-    add_callback_groups_from_nodes_associated_to_executor();
+    std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
 
     // Collect the subscriptions and timers to be waited on
     memory_strategy_->clear_handles();
-    bool has_invalid_weak_groups_or_nodes =
-      memory_strategy_->collect_entities(weak_groups_to_nodes_);
+    bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
 
-    if (has_invalid_weak_groups_or_nodes) {
-      std::vector<rclcpp::CallbackGroup::WeakPtr> invalid_group_ptrs;
-      for (auto pair : weak_groups_to_nodes_) {
-        auto weak_group_ptr = pair.first;
-        auto weak_node_ptr = pair.second;
-        if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
-          invalid_group_ptrs.push_back(weak_group_ptr);
-          auto node_guard_pair = weak_nodes_to_guard_conditions_.find(weak_node_ptr);
-          if (node_guard_pair != weak_nodes_to_guard_conditions_.end()) {
-            auto guard_condition = node_guard_pair->second;
-            weak_nodes_to_guard_conditions_.erase(weak_node_ptr);
-            memory_strategy_->remove_guard_condition(guard_condition);
-          }
+    // Clean up any invalid nodes, if they were detected
+    if (has_invalid_weak_nodes) {
+      auto node_it = weak_nodes_.begin();
+      auto gc_it = guard_conditions_.begin();
+      while (node_it != weak_nodes_.end()) {
+        if (node_it->expired()) {
+          node_it = weak_nodes_.erase(node_it);
+          memory_strategy_->remove_guard_condition(*gc_it);
+          gc_it = guard_conditions_.erase(gc_it);
+        } else {
+          ++node_it;
+          ++gc_it;
         }
       }
-      std::for_each(
-        invalid_group_ptrs.begin(), invalid_group_ptrs.end(),
-        [this](rclcpp::CallbackGroup::WeakPtr group_ptr) {
-          if (weak_groups_to_nodes_associated_with_executor_.find(group_ptr) !=
-          weak_groups_to_nodes_associated_with_executor_.end())
-          {
-            weak_groups_to_nodes_associated_with_executor_.erase(group_ptr);
-          }
-          if (weak_groups_associated_with_executor_to_nodes_.find(group_ptr) !=
-          weak_groups_associated_with_executor_to_nodes_.end())
-          {
-            weak_groups_associated_with_executor_to_nodes_.erase(group_ptr);
-          }
-          weak_groups_to_nodes_.erase(group_ptr);
-        });
     }
-
     // clear wait set
-    rcl_ret_t ret = rcl_wait_set_clear(&wait_set_);
-    if (ret != RCL_RET_OK) {
-      throw_from_rcl_error(ret, "Couldn't clear wait set");
+    if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
+      throw std::runtime_error("Couldn't clear wait set");
     }
 
     // The size of waitables are accounted for in size of the other entities
-    ret = rcl_wait_set_resize(
+    rcl_ret_t ret = rcl_wait_set_resize(
       &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
       memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
       memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
       memory_strategy_->number_of_ready_events());
     if (RCL_RET_OK != ret) {
-      throw_from_rcl_error(ret, "Couldn't resize the wait set");
+      throw std::runtime_error(
+              std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
     }
 
     if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
       throw std::runtime_error("Couldn't fill wait set");
     }
   }
-
   rcl_ret_t status =
     rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());
   if (status == RCL_RET_WAIT_SET_EMPTY) {
@@ -747,24 +525,26 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
 
   // check the null handles in the wait set and remove them from the handles in memory strategy
   // for callback-based entities
-  std::lock_guard<std::mutex> guard(mutex_);
   memory_strategy_->remove_null_handles(&wait_set_);
 }
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-Executor::get_node_by_group(
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes,
-  rclcpp::CallbackGroup::SharedPtr group)
+Executor::get_node_by_group(rclcpp::CallbackGroup::SharedPtr group)
 {
   if (!group) {
     return nullptr;
   }
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr(group);
-  const auto finder = weak_groups_to_nodes.find(weak_group_ptr);
-  if (finder != weak_groups_to_nodes.end()) {
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr = finder->second.lock();
-    return node_ptr;
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (!node) {
+      continue;
+    }
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto callback_group = weak_group.lock();
+      if (callback_group == group) {
+        return node;
+      }
+    }
   }
   return nullptr;
 }
@@ -772,107 +552,80 @@ Executor::get_node_by_group(
 rclcpp::CallbackGroup::SharedPtr
 Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
 {
-  std::lock_guard<std::mutex> guard{mutex_};
-  for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto timer_ref = group->find_timer_ptrs_if(
-      [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
-        return timer_ptr == timer;
-      });
-    if (timer_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto timer_ref = group->find_timer_ptrs_if(
+        [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
+          return timer_ptr == timer;
+        });
+      if (timer_ref) {
+        return group;
+      }
     }
   }
-
-  for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
-    auto group = pair.first.lock();
-    if (!group) {
-      continue;
-    }
-    auto timer_ref = group->find_timer_ptrs_if(
-      [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
-        return timer_ptr == timer;
-      });
-    if (timer_ref) {
-      return group;
-    }
-  }
-  return nullptr;
+  return rclcpp::CallbackGroup::SharedPtr();
 }
 
 bool
 Executor::get_next_ready_executable(AnyExecutable & any_executable)
-{
-  bool success = get_next_ready_executable_from_map(any_executable, weak_groups_to_nodes_);
-  return success;
-}
-
-bool
-Executor::get_next_ready_executable_from_map(
-  AnyExecutable & any_executable,
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes)
 {
   bool success = false;
-  std::lock_guard<std::mutex> guard{mutex_};
   // Check the timers to see if there are any that are ready
-  memory_strategy_->get_next_timer(any_executable, weak_groups_to_nodes);
+  memory_strategy_->get_next_timer(any_executable, weak_nodes_);
   if (any_executable.timer) {
     success = true;
   }
   if (!success) {
     // Check the subscriptions to see if there are any that are ready
-    memory_strategy_->get_next_subscription(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_subscription(any_executable, weak_nodes_);
     if (any_executable.subscription) {
       success = true;
     }
   }
   if (!success) {
     // Check the services to see if there are any that are ready
-    memory_strategy_->get_next_service(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_service(any_executable, weak_nodes_);
     if (any_executable.service) {
       success = true;
     }
   }
   if (!success) {
     // Check the clients to see if there are any that are ready
-    memory_strategy_->get_next_client(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_client(any_executable, weak_nodes_);
     if (any_executable.client) {
       success = true;
     }
   }
   if (!success) {
     // Check the waitables to see if there are any that are ready
-    memory_strategy_->get_next_waitable(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_waitable(any_executable, weak_nodes_);
     if (any_executable.waitable) {
-      any_executable.data = any_executable.waitable->take_data();
       success = true;
     }
   }
-  // At this point any_executable should be valid with either a valid subscription
+  // At this point any_exec should be valid with either a valid subscription
   // or a valid timer, or it should be a null shared_ptr
-  if (success) {
-    rclcpp::CallbackGroup::WeakPtr weak_group_ptr = any_executable.callback_group;
-    auto iter = weak_groups_to_nodes.find(weak_group_ptr);
-    if (iter == weak_groups_to_nodes.end()) {
-      success = false;
-    }
-  }
-
   if (success) {
     // If it is valid, check to see if the group is mutually exclusive or
-    // not, then mark it accordingly ..Check if the callback_group belongs to this executor
-    if (any_executable.callback_group && any_executable.callback_group->type() == \
-      CallbackGroupType::MutuallyExclusive)
+    // not, then mark it accordingly
+    using callback_group::CallbackGroupType;
+    if (
+      any_executable.callback_group &&
+      any_executable.callback_group->type() == CallbackGroupType::MutuallyExclusive)
     {
       // It should not have been taken otherwise
       assert(any_executable.callback_group->can_be_taken_from().load());
       // Set to false to indicate something is being run from this group
-      // This is reset to true either when the any_executable is executed or when the
-      // any_executable is destructued
+      // This is reset to true either when the any_exec is executed or when the
+      // any_exec is destructued
       any_executable.callback_group->can_be_taken_from().store(false);
     }
   }
@@ -899,19 +652,3 @@ Executor::get_next_executable(AnyExecutable & any_executable, std::chrono::nanos
   }
   return success;
 }
-
-// Returns true iff the weak_groups_to_nodes map has node_ptr as the value in any of its entry.
-bool
-Executor::has_node(
-  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes) const
-{
-  return std::find_if(
-    weak_groups_to_nodes.begin(),
-    weak_groups_to_nodes.end(),
-    [&](const WeakCallbackGroupsToNodesMap::value_type & other) -> bool {
-      auto other_ptr = other.second.lock();
-      return other_ptr == node_ptr;
-    }) != weak_groups_to_nodes.end();
-}

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

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

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

@@ -18,8 +18,6 @@
 #include <memory>
 #include <stdexcept>
 #include <string>
-#include <utility>
-#include <vector>
 
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
@@ -28,40 +26,23 @@ using rclcpp::executors::StaticExecutorEntitiesCollector;
 
 StaticExecutorEntitiesCollector::~StaticExecutorEntitiesCollector()
 {
-  // Disassociate all callback groups and thus nodes.
-  for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
-      has_executor.store(false);
-    }
-  }
-  for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
-      has_executor.store(false);
-    }
-  }
   // Disassociate all nodes
-  for (const auto & weak_node : weak_nodes_) {
+  for (auto & weak_node : weak_nodes_) {
     auto node = weak_node.lock();
     if (node) {
       std::atomic_bool & has_executor = node->get_associated_with_executor_atomic();
       has_executor.store(false);
     }
   }
-  weak_groups_associated_with_executor_to_nodes_.clear();
-  weak_groups_to_nodes_associated_with_executor_.clear();
   exec_list_.clear();
   weak_nodes_.clear();
-  weak_nodes_to_guard_conditions_.clear();
+  guard_conditions_.clear();
 }
 
 void
 StaticExecutorEntitiesCollector::init(
   rcl_wait_set_t * p_wait_set,
-  rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
+  rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
   rcl_guard_condition_t * executor_guard_condition)
 {
   // Empty initialize executable list
@@ -75,29 +56,15 @@ StaticExecutorEntitiesCollector::init(
   memory_strategy_ = memory_strategy;
 
   // Add executor's guard condition
-  memory_strategy_->add_guard_condition(executor_guard_condition);
+  guard_conditions_.push_back(executor_guard_condition);
+
   // Get memory strategy and executable list. Prepare wait_set_
-  std::shared_ptr<void> shared_ptr;
-  execute(shared_ptr);
+  execute();
 }
 
 void
-StaticExecutorEntitiesCollector::fini()
+StaticExecutorEntitiesCollector::execute()
 {
-  memory_strategy_->clear_handles();
-  exec_list_.clear();
-}
-
-std::shared_ptr<void>
-StaticExecutorEntitiesCollector::take_data()
-{
-  return nullptr;
-}
-
-void
-StaticExecutorEntitiesCollector::execute(std::shared_ptr<void> & data)
-{
-  (void) data;
   // Fill memory strategy with entities coming from weak_nodes_
   fill_memory_strategy();
   // Fill exec_list_ with entities coming from weak_nodes_ (same as memory strategy)
@@ -110,41 +77,18 @@ void
 StaticExecutorEntitiesCollector::fill_memory_strategy()
 {
   memory_strategy_->clear_handles();
-  bool has_invalid_weak_groups_or_nodes =
-    memory_strategy_->collect_entities(weak_groups_to_nodes_associated_with_executor_);
+  bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+
   // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_groups_or_nodes) {
-    std::vector<rclcpp::CallbackGroup::WeakPtr> invalid_group_ptrs;
-    for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
-      auto & weak_group_ptr = pair.first;
-      auto & weak_node_ptr = pair.second;
-      if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
-        invalid_group_ptrs.push_back(weak_group_ptr);
+  if (has_invalid_weak_nodes) {
+    auto node_it = weak_nodes_.begin();
+    while (node_it != weak_nodes_.end()) {
+      if (node_it->expired()) {
+        node_it = weak_nodes_.erase(node_it);
+      } else {
+        ++node_it;
       }
     }
-    std::for_each(
-      invalid_group_ptrs.begin(), invalid_group_ptrs.end(),
-      [this](rclcpp::CallbackGroup::WeakPtr group_ptr) {
-        weak_groups_to_nodes_associated_with_executor_.erase(group_ptr);
-      });
-  }
-  has_invalid_weak_groups_or_nodes =
-    memory_strategy_->collect_entities(weak_groups_associated_with_executor_to_nodes_);
-  // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_groups_or_nodes) {
-    std::vector<rclcpp::CallbackGroup::WeakPtr> invalid_group_ptrs;
-    for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
-      auto & weak_group_ptr = pair.first;
-      const auto & weak_node_ptr = pair.second;
-      if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
-        invalid_group_ptrs.push_back(weak_group_ptr);
-      }
-    }
-    std::for_each(
-      invalid_group_ptrs.begin(), invalid_group_ptrs.end(),
-      [this](rclcpp::CallbackGroup::WeakPtr group_ptr) {
-        weak_groups_associated_with_executor_to_nodes_.erase(group_ptr);
-      });
   }
 
   // Add the static executor waitable to the memory strategy
@@ -155,59 +99,59 @@ void
 StaticExecutorEntitiesCollector::fill_executable_list()
 {
   exec_list_.clear();
-  add_callback_groups_from_nodes_associated_to_executor();
-  fill_executable_list_from_map(weak_groups_associated_with_executor_to_nodes_);
-  fill_executable_list_from_map(weak_groups_to_nodes_associated_with_executor_);
-  // Add the executor's waitable to the executable list
-  exec_list_.add_waitable(shared_from_this());
-}
-void
-StaticExecutorEntitiesCollector::fill_executable_list_from_map(
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes)
-{
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!node || !group || !group->can_be_taken_from().load()) {
+
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    group->find_timer_ptrs_if(
-      [this](const rclcpp::TimerBase::SharedPtr & timer) {
-        if (timer) {
-          exec_list_.add_timer(timer);
-        }
-        return false;
-      });
-    group->find_subscription_ptrs_if(
-      [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
-        if (subscription) {
-          exec_list_.add_subscription(subscription);
-        }
-        return false;
-      });
-    group->find_service_ptrs_if(
-      [this](const rclcpp::ServiceBase::SharedPtr & service) {
-        if (service) {
-          exec_list_.add_service(service);
-        }
-        return false;
-      });
-    group->find_client_ptrs_if(
-      [this](const rclcpp::ClientBase::SharedPtr & client) {
-        if (client) {
-          exec_list_.add_client(client);
-        }
-        return false;
-      });
-    group->find_waitable_ptrs_if(
-      [this](const rclcpp::Waitable::SharedPtr & waitable) {
-        if (waitable) {
-          exec_list_.add_waitable(waitable);
-        }
-        return false;
-      });
+    // Check in all the callback groups
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group || !group->can_be_taken_from().load()) {
+        continue;
+      }
+
+      group->find_timer_ptrs_if(
+        [this](const rclcpp::TimerBase::SharedPtr & timer) {
+          if (timer) {
+            exec_list_.add_timer(timer);
+          }
+          return false;
+        });
+      group->find_subscription_ptrs_if(
+        [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
+          if (subscription) {
+            exec_list_.add_subscription(subscription);
+          }
+          return false;
+        });
+      group->find_service_ptrs_if(
+        [this](const rclcpp::ServiceBase::SharedPtr & service) {
+          if (service) {
+            exec_list_.add_service(service);
+          }
+          return false;
+        });
+      group->find_client_ptrs_if(
+        [this](const rclcpp::ClientBase::SharedPtr & client) {
+          if (client) {
+            exec_list_.add_client(client);
+          }
+          return false;
+        });
+      group->find_waitable_ptrs_if(
+        [this](const rclcpp::Waitable::SharedPtr & waitable) {
+          if (waitable) {
+            exec_list_.add_waitable(waitable);
+          }
+          return false;
+        });
+    }
   }
+
+  // Add the executor's waitable to the executable list
+  exec_list_.add_waitable(shared_from_this());
 }
 
 void
@@ -227,14 +171,14 @@ StaticExecutorEntitiesCollector::prepare_wait_set()
 
   if (RCL_RET_OK != ret) {
     throw std::runtime_error(
-            std::string("Couldn't resize the wait set: ") + rcl_get_error_string().str);
+            std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
   }
 }
 
 void
 StaticExecutorEntitiesCollector::refresh_wait_set(std::chrono::nanoseconds timeout)
 {
-  // clear wait set (memset to '0' all wait_set_ entities
+  // clear wait set (memeset to '0' all wait_set_ entities
   // but keeps the wait_set_ number of entities)
   if (rcl_wait_set_clear(p_wait_set_) != RCL_RET_OK) {
     throw std::runtime_error("Couldn't clear wait set");
@@ -261,8 +205,7 @@ bool
 StaticExecutorEntitiesCollector::add_to_wait_set(rcl_wait_set_t * wait_set)
 {
   // Add waitable guard conditions (one for each registered node) into the wait set.
-  for (const auto & pair : weak_nodes_to_guard_conditions_) {
-    auto & gc = pair.second;
+  for (const auto & gc : guard_conditions_) {
     rcl_ret_t ret = rcl_wait_set_add_guard_condition(wait_set, gc, NULL);
     if (ret != RCL_RET_OK) {
       throw std::runtime_error("Executor waitable: couldn't add guard condition to wait set");
@@ -273,151 +216,55 @@ StaticExecutorEntitiesCollector::add_to_wait_set(rcl_wait_set_t * wait_set)
 
 size_t StaticExecutorEntitiesCollector::get_number_of_ready_guard_conditions()
 {
-  return weak_nodes_to_guard_conditions_.size();
+  return guard_conditions_.size();
 }
 
-bool
+void
 StaticExecutorEntitiesCollector::add_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  bool is_new_node = false;
-  // If the node already has an executor
-  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Node has already been added to an executor.");
-  }
-  for (const auto & weak_group : node_ptr->get_callback_groups()) {
-    auto group_ptr = weak_group.lock();
-    if (group_ptr != nullptr && !group_ptr->get_associated_with_executor_atomic().load() &&
-      group_ptr->automatically_add_to_executor_with_node())
-    {
-      is_new_node = (add_callback_group(
-          group_ptr,
-          node_ptr,
-          weak_groups_to_nodes_associated_with_executor_) ||
-        is_new_node);
+  // Check to ensure node not already added
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node == node_ptr) {
+      // TODO(jacquelinekay): Use a different error here?
+      throw std::runtime_error("Cannot add node to executor, node already added.");
     }
   }
+
   weak_nodes_.push_back(node_ptr);
-  return is_new_node;
-}
-
-bool
-StaticExecutorEntitiesCollector::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
-{
-  // If the callback_group already has an executor
-  std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Callback group has already been added to an executor.");
-  }
-  bool is_new_node = !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_) &&
-    !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_);
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto insert_info = weak_groups_to_nodes.insert(
-    std::make_pair(weak_group_ptr, node_ptr));
-  bool was_inserted = insert_info.second;
-  if (!was_inserted) {
-    throw std::runtime_error("Callback group was already added to executor.");
-  }
-  if (is_new_node) {
-    weak_nodes_to_guard_conditions_[node_ptr] = node_ptr->get_notify_guard_condition();
-    return true;
-  }
-  return false;
-}
-
-bool
-StaticExecutorEntitiesCollector::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
-{
-  return add_callback_group(group_ptr, node_ptr, weak_groups_associated_with_executor_to_nodes_);
-}
-
-bool
-StaticExecutorEntitiesCollector::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr)
-{
-  return this->remove_callback_group_from_map(
-    group_ptr,
-    weak_groups_associated_with_executor_to_nodes_);
-}
-
-bool
-StaticExecutorEntitiesCollector::remove_callback_group_from_map(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
-{
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr;
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto iter = weak_groups_to_nodes.find(weak_group_ptr);
-  if (iter != weak_groups_to_nodes.end()) {
-    node_ptr = iter->second.lock();
-    if (node_ptr == nullptr) {
-      throw std::runtime_error("Node must not be deleted before its callback group(s).");
-    }
-    weak_groups_to_nodes.erase(iter);
-  } else {
-    throw std::runtime_error("Callback group needs to be associated with executor.");
-  }
-  // If the node was matched and removed, interrupt waiting.
-  if (!has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_) &&
-    !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_))
-  {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_.erase(node_weak_ptr);
-    return true;
-  }
-  return false;
+  guard_conditions_.push_back(node_ptr->get_notify_guard_condition());
 }
 
 bool
 StaticExecutorEntitiesCollector::remove_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  if (!node_ptr->get_associated_with_executor_atomic().load()) {
-    return false;
-  }
-  bool node_found = false;
   auto node_it = weak_nodes_.begin();
+
   while (node_it != weak_nodes_.end()) {
     bool matched = (node_it->lock() == node_ptr);
     if (matched) {
-      weak_nodes_.erase(node_it);
-      node_found = true;
-      break;
-    }
-    ++node_it;
-  }
-  if (!node_found) {
-    return false;
-  }
-  std::vector<rclcpp::CallbackGroup::SharedPtr> found_group_ptrs;
-  std::for_each(
-    weak_groups_to_nodes_associated_with_executor_.begin(),
-    weak_groups_to_nodes_associated_with_executor_.end(),
-    [&found_group_ptrs, node_ptr](std::pair<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> key_value_pair) {
-      auto & weak_node_ptr = key_value_pair.second;
-      auto shared_node_ptr = weak_node_ptr.lock();
-      auto group_ptr = key_value_pair.first.lock();
-      if (shared_node_ptr == node_ptr) {
-        found_group_ptrs.push_back(group_ptr);
+      // Find and remove node and its guard condition
+      auto gc_it = std::find(
+        guard_conditions_.begin(),
+        guard_conditions_.end(),
+        node_ptr->get_notify_guard_condition());
+
+      if (gc_it != guard_conditions_.end()) {
+        guard_conditions_.erase(gc_it);
+        weak_nodes_.erase(node_it);
+        return true;
       }
-    });
-  std::for_each(
-    found_group_ptrs.begin(), found_group_ptrs.end(), [this]
-      (rclcpp::CallbackGroup::SharedPtr group_ptr) {
-      this->remove_callback_group_from_map(
-        group_ptr,
-        weak_groups_to_nodes_associated_with_executor_);
-    });
-  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
-  has_executor.store(false);
-  return true;
+
+      throw std::runtime_error("Didn't find guard condition associated with node.");
+
+    } else {
+      ++node_it;
+    }
+  }
+
+  return false;
 }
 
 bool
@@ -426,13 +273,13 @@ StaticExecutorEntitiesCollector::is_ready(rcl_wait_set_t * p_wait_set)
   // Check wait_set guard_conditions for added/removed entities to/from a node
   for (size_t i = 0; i < p_wait_set->size_of_guard_conditions; ++i) {
     if (p_wait_set->guard_conditions[i] != NULL) {
-      auto found_guard_condition = std::find_if(
-        weak_nodes_to_guard_conditions_.begin(), weak_nodes_to_guard_conditions_.end(),
-        [&](std::pair<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-        const rcl_guard_condition_t *> pair) -> bool {
-          return pair.second == p_wait_set->guard_conditions[i];
-        });
-      if (found_guard_condition != weak_nodes_to_guard_conditions_.end()) {
+      // Check if the guard condition triggered belongs to a node
+      auto it = std::find(
+        guard_conditions_.begin(), guard_conditions_.end(),
+        p_wait_set->guard_conditions[i]);
+
+      // If it does, we are ready to re-collect entities
+      if (it != guard_conditions_.end()) {
         return true;
       }
     }
@@ -440,77 +287,3 @@ StaticExecutorEntitiesCollector::is_ready(rcl_wait_set_t * p_wait_set)
   // None of the guard conditions triggered belong to a registered node
   return false;
 }
-
-// Returns true iff the weak_groups_to_nodes map has node_ptr as the value in any of its entry.
-bool
-StaticExecutorEntitiesCollector::has_node(
-  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes) const
-{
-  return std::find_if(
-    weak_groups_to_nodes.begin(),
-    weak_groups_to_nodes.end(),
-    [&](const WeakCallbackGroupsToNodesMap::value_type & other) -> bool {
-      auto other_ptr = other.second.lock();
-      return other_ptr == node_ptr;
-    }) != weak_groups_to_nodes.end();
-}
-
-void
-StaticExecutorEntitiesCollector::add_callback_groups_from_nodes_associated_to_executor()
-{
-  for (const auto & weak_node : weak_nodes_) {
-    auto node = weak_node.lock();
-    if (node) {
-      auto group_ptrs = node->get_callback_groups();
-      std::for_each(
-        group_ptrs.begin(), group_ptrs.end(),
-        [this, node](rclcpp::CallbackGroup::WeakPtr group_ptr)
-        {
-          auto shared_group_ptr = group_ptr.lock();
-          if (shared_group_ptr && shared_group_ptr->automatically_add_to_executor_with_node() &&
-          !shared_group_ptr->get_associated_with_executor_atomic().load())
-          {
-            add_callback_group(
-              shared_group_ptr,
-              node,
-              weak_groups_to_nodes_associated_with_executor_);
-          }
-        });
-    }
-  }
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticExecutorEntitiesCollector::get_all_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  for (const auto & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticExecutorEntitiesCollector::get_manually_added_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticExecutorEntitiesCollector::get_automatically_added_callback_groups_from_nodes()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -15,7 +15,6 @@
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
 
 #include <memory>
-#include <vector>
 
 #include "rclcpp/scope_exit.hpp"
 
@@ -42,7 +41,6 @@ StaticSingleThreadedExecutor::spin()
   // Set memory_strategy_ and exec_list_ based on weak_nodes_
   // Prepare wait_set_ based on memory_strategy_
   entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
 
   while (rclcpp::ok(this->context_) && spinning.load()) {
     // Refresh wait set and wait for work
@@ -51,32 +49,24 @@ StaticSingleThreadedExecutor::spin()
   }
 }
 
-void
-StaticSingleThreadedExecutor::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  bool notify)
-{
-  bool is_new_node = entities_collector_->add_callback_group(group_ptr, node_ptr);
-  if (is_new_node && notify) {
-    // Interrupt waiting to handle new node
-    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-      throw std::runtime_error(rcl_get_error_string().str);
-    }
-  }
-}
-
 void
 StaticSingleThreadedExecutor::add_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
-  bool is_new_node = entities_collector_->add_node(node_ptr);
-  if (is_new_node && notify) {
+  // If the node already has an executor
+  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
+  if (has_executor.exchange(true)) {
+    throw std::runtime_error("Node has already been added to an executor.");
+  }
+
+  if (notify) {
     // Interrupt waiting to handle new node
     if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
       throw std::runtime_error(rcl_get_error_string().str);
     }
   }
+
+  entities_collector_->add_node(node_ptr);
 }
 
 void
@@ -85,51 +75,23 @@ StaticSingleThreadedExecutor::add_node(std::shared_ptr<rclcpp::Node> node_ptr, b
   this->add_node(node_ptr->get_node_base_interface(), notify);
 }
 
-void
-StaticSingleThreadedExecutor::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr, bool notify)
-{
-  bool node_removed = entities_collector_->remove_callback_group(group_ptr);
-  // If the node was matched and removed, interrupt waiting
-  if (node_removed && notify) {
-    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-      throw std::runtime_error(rcl_get_error_string().str);
-    }
-  }
-}
-
 void
 StaticSingleThreadedExecutor::remove_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
   bool node_removed = entities_collector_->remove_node(node_ptr);
-  if (!node_removed) {
-    throw std::runtime_error("Node needs to be associated with this executor.");
-  }
-  // If the node was matched and removed, interrupt waiting
+
   if (notify) {
-    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-      throw std::runtime_error(rcl_get_error_string().str);
+    // If the node was matched and removed, interrupt waiting
+    if (node_removed) {
+      if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+        throw std::runtime_error(rcl_get_error_string().str);
+      }
     }
   }
-}
 
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticSingleThreadedExecutor::get_all_callback_groups()
-{
-  return entities_collector_->get_all_callback_groups();
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticSingleThreadedExecutor::get_manually_added_callback_groups()
-{
-  return entities_collector_->get_manually_added_callback_groups();
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticSingleThreadedExecutor::get_automatically_added_callback_groups_from_nodes()
-{
-  return entities_collector_->get_automatically_added_callback_groups_from_nodes();
+  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
+  has_executor.store(false);
 }
 
 void
@@ -175,10 +137,8 @@ StaticSingleThreadedExecutor::execute_ready_executables()
   }
   // Execute all the ready waitables
   for (size_t i = 0; i < entities_collector_->get_number_of_waitables(); ++i) {
-    auto waitable = entities_collector_->get_waitable(i);
-    if (waitable->is_ready(&wait_set_)) {
-      auto data = waitable->take_data();
-      waitable->execute(data);
+    if (entities_collector_->get_waitable(i)->is_ready(&wait_set_)) {
+      entities_collector_->get_waitable(i)->execute();
     }
   }
 }

rclcpp/src/rclcpp/graph_listener.cpp

@@ -36,11 +36,11 @@ namespace rclcpp
 namespace graph_listener
 {
 
-GraphListener::GraphListener(const std::shared_ptr<Context> & parent_context)
-: weak_parent_context_(parent_context),
-  rcl_parent_context_(parent_context->get_rcl_context()),
+GraphListener::GraphListener(std::shared_ptr<rclcpp::Context> parent_context)
+: parent_context_(parent_context),
   is_started_(false),
-  is_shutdown_(false)
+  is_shutdown_(false),
+  shutdown_guard_condition_(nullptr)
 {
   // TODO(wjwwood): make a guard condition class in rclcpp so this can be tracked
   //   automatically with the rcl guard condition
@@ -48,11 +48,13 @@ GraphListener::GraphListener(const std::shared_ptr<Context> & parent_context)
   // guard condition is using it.
   rcl_ret_t ret = rcl_guard_condition_init(
     &interrupt_guard_condition_,
-    rcl_parent_context_.get(),
+    parent_context->get_rcl_context().get(),
     rcl_guard_condition_get_default_options());
   if (RCL_RET_OK != ret) {
     throw_from_rcl_error(ret, "failed to create interrupt guard condition");
   }
+
+  shutdown_guard_condition_ = parent_context->get_interrupt_guard_condition(&wait_set_);
 }
 
 GraphListener::~GraphListener()
@@ -60,23 +62,6 @@ GraphListener::~GraphListener()
   this->shutdown(std::nothrow);
 }
 
-void GraphListener::init_wait_set()
-{
-  rcl_ret_t ret = rcl_wait_set_init(
-    &wait_set_,
-    0,  // number_of_subscriptions
-    2,  // number_of_guard_conditions
-    0,  // number_of_timers
-    0,  // number_of_clients
-    0,  // number_of_services
-    0,  // number_of_events
-    rcl_parent_context_.get(),
-    rcl_get_default_allocator());
-  if (RCL_RET_OK != ret) {
-    throw_from_rcl_error(ret, "failed to initialize wait set");
-  }
-}
-
 void
 GraphListener::start_if_not_started()
 {
@@ -84,13 +69,30 @@ GraphListener::start_if_not_started()
   if (is_shutdown_.load()) {
     throw GraphListenerShutdownError();
   }
-  auto parent_context = weak_parent_context_.lock();
-  if (!is_started_ && parent_context) {
+  if (!is_started_) {
+    // Initialize the wait set before starting.
+    auto parent_context = parent_context_.lock();
+    if (!parent_context) {
+      throw std::runtime_error("parent context was destroyed");
+    }
+    rcl_ret_t ret = rcl_wait_set_init(
+      &wait_set_,
+      0,  // number_of_subscriptions
+      2,  // number_of_guard_conditions
+      0,  // number_of_timers
+      0,  // number_of_clients
+      0,  // number_of_services
+      0,  // number_of_events
+      parent_context->get_rcl_context().get(),
+      rcl_get_default_allocator());
+    if (RCL_RET_OK != ret) {
+      throw_from_rcl_error(ret, "failed to initialize wait set");
+    }
     // Register an on_shutdown hook to shtudown the graph listener.
     // This is important to ensure that the wait set is finalized before
     // destruction of static objects occurs.
     std::weak_ptr<GraphListener> weak_this = shared_from_this();
-    parent_context->on_shutdown(
+    rclcpp::on_shutdown(
       [weak_this]() {
         auto shared_this = weak_this.lock();
         if (shared_this) {
@@ -98,8 +100,6 @@ GraphListener::start_if_not_started()
           shared_this->shutdown(std::nothrow);
         }
       });
-    // Initialize the wait set before starting.
-    init_wait_set();
     // Start the listener thread.
     listener_thread_ = std::thread(&GraphListener::run, this);
     is_started_ = true;
@@ -144,6 +144,14 @@ GraphListener::run_loop()
     }
     // This lock is released when the loop continues or exits.
     std::lock_guard<std::mutex> nodes_lock(node_graph_interfaces_mutex_, std::adopt_lock);
+    // Ensure that the context doesn't go out of scope.
+    auto parent_context = parent_context_.lock();
+    if (!parent_context) {
+      // The parent context may be destroyed before this loop is stopped.
+      // In that case, the loop is broken and the function just returns silently.
+      return;
+    }
+
     // Resize the wait set if necessary.
     const size_t node_graph_interfaces_size = node_graph_interfaces_.size();
     // Add 2 for the interrupt and shutdown guard conditions
@@ -163,7 +171,13 @@ GraphListener::run_loop()
     if (RCL_RET_OK != ret) {
       throw_from_rcl_error(ret, "failed to add interrupt guard condition to wait set");
     }
-
+    // Put the shutdown guard condition in the wait set.
+    size_t shutdown_guard_condition_index = 0u;
+    ret = rcl_wait_set_add_guard_condition(
+      &wait_set_, shutdown_guard_condition_, &shutdown_guard_condition_index);
+    if (RCL_RET_OK != ret) {
+      throw_from_rcl_error(ret, "failed to add shutdown guard condition to wait set");
+    }
     // Put graph guard conditions for each node into the wait set.
     std::vector<size_t> graph_gc_indexes(node_graph_interfaces_size, 0u);
     for (size_t i = 0u; i < node_graph_interfaces_size; ++i) {
@@ -192,6 +206,9 @@ GraphListener::run_loop()
       throw_from_rcl_error(ret, "failed to wait on wait set");
     }
 
+    // Check to see if the shutdown guard condition has been triggered.
+    bool shutdown_guard_condition_triggered =
+      (shutdown_guard_condition_ == wait_set_.guard_conditions[shutdown_guard_condition_index]);
     // Notify nodes who's guard conditions are set (triggered).
     for (size_t i = 0u; i < node_graph_interfaces_size; ++i) {
       const auto node_ptr = node_graph_interfaces_[i];
@@ -202,7 +219,7 @@ GraphListener::run_loop()
       if (graph_gc == wait_set_.guard_conditions[graph_gc_indexes[i]]) {
         node_ptr->notify_graph_change();
       }
-      if (is_shutdown_) {
+      if (shutdown_guard_condition_triggered) {
         // If shutdown, then notify the node of this as well.
         node_ptr->notify_shutdown();
       }
@@ -334,16 +351,7 @@ GraphListener::remove_node(rclcpp::node_interfaces::NodeGraphInterface * node_gr
 }
 
 void
-GraphListener::cleanup_wait_set()
-{
-  rcl_ret_t ret = rcl_wait_set_fini(&wait_set_);
-  if (RCL_RET_OK != ret) {
-    throw_from_rcl_error(ret, "failed to finalize wait set");
-  }
-}
-
-void
-GraphListener::__shutdown()
+GraphListener::__shutdown(bool should_throw)
 {
   std::lock_guard<std::mutex> shutdown_lock(shutdown_mutex_);
   if (!is_shutdown_.exchange(true)) {
@@ -355,8 +363,33 @@ GraphListener::__shutdown()
     if (RCL_RET_OK != ret) {
       throw_from_rcl_error(ret, "failed to finalize interrupt guard condition");
     }
+    if (shutdown_guard_condition_) {
+      auto parent_context_ptr = parent_context_.lock();
+      if (parent_context_ptr) {
+        if (should_throw) {
+          parent_context_ptr->release_interrupt_guard_condition(&wait_set_);
+        } else {
+          parent_context_ptr->release_interrupt_guard_condition(&wait_set_, std::nothrow);
+        }
+      } else {
+        ret = rcl_guard_condition_fini(shutdown_guard_condition_);
+        if (RCL_RET_OK != ret) {
+          if (should_throw) {
+            throw_from_rcl_error(ret, "failed to finalize shutdown guard condition");
+          } else {
+            RCLCPP_ERROR(
+              rclcpp::get_logger("rclcpp"),
+              "failed to finalize shutdown guard condition");
+          }
+        }
+      }
+      shutdown_guard_condition_ = nullptr;
+    }
     if (is_started_) {
-      cleanup_wait_set();
+      ret = rcl_wait_set_fini(&wait_set_);
+      if (RCL_RET_OK != ret) {
+        throw_from_rcl_error(ret, "failed to finalize wait set");
+      }
     }
   }
 }
@@ -364,14 +397,14 @@ GraphListener::__shutdown()
 void
 GraphListener::shutdown()
 {
-  this->__shutdown();
+  this->__shutdown(true);
 }
 
 void
 GraphListener::shutdown(const std::nothrow_t &) noexcept
 {
   try {
-    this->__shutdown();
+    this->__shutdown(false);
   } catch (const std::exception & exc) {
     RCLCPP_ERROR(
       rclcpp::get_logger("rclcpp"),

rclcpp/src/rclcpp/init_options.cpp

@@ -26,7 +26,7 @@ InitOptions::InitOptions(rcl_allocator_t allocator)
   *init_options_ = rcl_get_zero_initialized_init_options();
   rcl_ret_t ret = rcl_init_options_init(init_options_.get(), allocator);
   if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to initialize rcl init options");
+    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to initialized rcl init options");
   }
 }
 
@@ -44,7 +44,6 @@ InitOptions::InitOptions(const InitOptions & other)
 : InitOptions(*other.get_rcl_init_options())
 {
   shutdown_on_sigint = other.shutdown_on_sigint;
-  initialize_logging_ = other.initialize_logging_;
 }
 
 bool
@@ -64,14 +63,12 @@ InitOptions &
 InitOptions::operator=(const InitOptions & other)
 {
   if (this != &other) {
-    std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
-    this->finalize_init_options_impl();
+    this->finalize_init_options();
     rcl_ret_t ret = rcl_init_options_copy(other.get_rcl_init_options(), init_options_.get());
     if (RCL_RET_OK != ret) {
       rclcpp::exceptions::throw_from_rcl_error(ret, "failed to copy rcl init options");
     }
     this->shutdown_on_sigint = other.shutdown_on_sigint;
-    this->initialize_logging_ = other.initialize_logging_;
   }
   return *this;
 }
@@ -83,13 +80,6 @@ InitOptions::~InitOptions()
 
 void
 InitOptions::finalize_init_options()
-{
-  std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
-  this->finalize_init_options_impl();
-}
-
-void
-InitOptions::finalize_init_options_impl()
 {
   if (init_options_) {
     rcl_ret_t ret = rcl_init_options_fini(init_options_.get());
@@ -109,38 +99,4 @@ InitOptions::get_rcl_init_options() const
   return init_options_.get();
 }
 
-void
-InitOptions::use_default_domain_id()
-{
-  size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
-  rcl_ret_t ret = rcl_get_default_domain_id(&domain_id);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get default domain id");
-  }
-  set_domain_id(domain_id);
-}
-
-void
-InitOptions::set_domain_id(size_t domain_id)
-{
-  std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
-  rcl_ret_t ret = rcl_init_options_set_domain_id(init_options_.get(), domain_id);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to set domain id to rcl init options");
-  }
-}
-
-size_t
-InitOptions::get_domain_id() const
-{
-  std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
-  size_t domain_id;
-  rcl_ret_t ret = rcl_init_options_get_domain_id(init_options_.get(), &domain_id);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get domain id from rcl init options");
-  }
-
-  return domain_id;
-}
-
 }  // namespace rclcpp

rclcpp/src/rclcpp/logger.cpp

@@ -14,10 +14,8 @@
 
 #include <string>
 
-#include "rcl_logging_interface/rcl_logging_interface.h"
-
-#include "rclcpp/exceptions.hpp"
 #include "rclcpp/logger.hpp"
+
 #include "rclcpp/logging.hpp"
 
 namespace rclcpp
@@ -40,44 +38,10 @@ get_node_logger(const rcl_node_t * node)
   const char * logger_name = rcl_node_get_logger_name(node);
   if (nullptr == logger_name) {
     auto logger = rclcpp::get_logger("rclcpp");
-    RCLCPP_ERROR(
-      logger, "failed to get logger name from node at address %p",
-      static_cast<void *>(const_cast<rcl_node_t *>(node)));
+    RCLCPP_ERROR(logger, "failed to get logger name from node at address %p", node);
     return logger;
   }
   return rclcpp::get_logger(logger_name);
 }
 
-rcpputils::fs::path
-get_logging_directory()
-{
-  char * log_dir = NULL;
-  auto allocator = rcutils_get_default_allocator();
-  rcl_logging_ret_t ret = rcl_logging_get_logging_directory(allocator, &log_dir);
-  if (RCL_LOGGING_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret);
-  }
-  std::string path{log_dir};
-  allocator.deallocate(log_dir, allocator.state);
-  return path;
-}
-
-void
-Logger::set_level(Level level)
-{
-  rcutils_ret_t rcutils_ret = rcutils_logging_set_logger_level(
-    get_name(),
-    static_cast<RCUTILS_LOG_SEVERITY>(level));
-  if (rcutils_ret != RCUTILS_RET_OK) {
-    if (rcutils_ret == RCUTILS_RET_INVALID_ARGUMENT) {
-      exceptions::throw_from_rcl_error(
-        RCL_RET_INVALID_ARGUMENT, "Invalid parameter",
-        rcutils_get_error_state(), rcutils_reset_error);
-    }
-    exceptions::throw_from_rcl_error(
-      RCL_RET_ERROR, "Couldn't set logger level",
-      rcutils_get_error_state(), rcutils_reset_error);
-  }
-}
-
 }  // namespace rclcpp

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -20,19 +20,25 @@ using rclcpp::memory_strategy::MemoryStrategy;
 rclcpp::SubscriptionBase::SharedPtr
 MemoryStrategy::get_subscription_by_handle(
   std::shared_ptr<const rcl_subscription_t> subscriber_handle,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto match_subscription = group->find_subscription_ptrs_if(
-      [&subscriber_handle](const rclcpp::SubscriptionBase::SharedPtr & subscription) -> bool {
-        return subscription->get_subscription_handle() == subscriber_handle;
-      });
-    if (match_subscription) {
-      return match_subscription;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto match_subscription = group->find_subscription_ptrs_if(
+        [&subscriber_handle](const rclcpp::SubscriptionBase::SharedPtr & subscription) -> bool {
+          return subscription->get_subscription_handle() == subscriber_handle;
+        });
+      if (match_subscription) {
+        return match_subscription;
+      }
     }
   }
   return nullptr;
@@ -41,19 +47,25 @@ MemoryStrategy::get_subscription_by_handle(
 rclcpp::ServiceBase::SharedPtr
 MemoryStrategy::get_service_by_handle(
   std::shared_ptr<const rcl_service_t> service_handle,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto service_ref = group->find_service_ptrs_if(
-      [&service_handle](const rclcpp::ServiceBase::SharedPtr & service) -> bool {
-        return service->get_service_handle() == service_handle;
-      });
-    if (service_ref) {
-      return service_ref;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto service_ref = group->find_service_ptrs_if(
+        [&service_handle](const rclcpp::ServiceBase::SharedPtr & service) -> bool {
+          return service->get_service_handle() == service_handle;
+        });
+      if (service_ref) {
+        return service_ref;
+      }
     }
   }
   return nullptr;
@@ -62,19 +74,25 @@ MemoryStrategy::get_service_by_handle(
 rclcpp::ClientBase::SharedPtr
 MemoryStrategy::get_client_by_handle(
   std::shared_ptr<const rcl_client_t> client_handle,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto client_ref = group->find_client_ptrs_if(
-      [&client_handle](const rclcpp::ClientBase::SharedPtr & client) -> bool {
-        return client->get_client_handle() == client_handle;
-      });
-    if (client_ref) {
-      return client_ref;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto client_ref = group->find_client_ptrs_if(
+        [&client_handle](const rclcpp::ClientBase::SharedPtr & client) -> bool {
+          return client->get_client_handle() == client_handle;
+        });
+      if (client_ref) {
+        return client_ref;
+      }
     }
   }
   return nullptr;
@@ -83,19 +101,25 @@ MemoryStrategy::get_client_by_handle(
 rclcpp::TimerBase::SharedPtr
 MemoryStrategy::get_timer_by_handle(
   std::shared_ptr<const rcl_timer_t> timer_handle,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto timer_ref = group->find_timer_ptrs_if(
-      [&timer_handle](const rclcpp::TimerBase::SharedPtr & timer) -> bool {
-        return timer->get_timer_handle() == timer_handle;
-      });
-    if (timer_ref) {
-      return timer_ref;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto timer_ref = group->find_timer_ptrs_if(
+        [&timer_handle](const rclcpp::TimerBase::SharedPtr & timer) -> bool {
+          return timer->get_timer_handle() == timer_handle;
+        });
+      if (timer_ref) {
+        return timer_ref;
+      }
     }
   }
   return nullptr;
@@ -104,17 +128,22 @@ MemoryStrategy::get_timer_by_handle(
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
 MemoryStrategy::get_node_by_group(
   rclcpp::CallbackGroup::SharedPtr group,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
   if (!group) {
     return nullptr;
   }
-
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr(group);
-  const auto finder = weak_groups_to_nodes.find(weak_group_ptr);
-  if (finder != weak_groups_to_nodes.end()) {
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr = finder->second.lock();
-    return node_ptr;
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
+      continue;
+    }
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto callback_group = weak_group.lock();
+      if (callback_group == group) {
+        return node;
+      }
+    }
   }
   return nullptr;
 }
@@ -122,20 +151,25 @@ MemoryStrategy::get_node_by_group(
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_subscription(
   rclcpp::SubscriptionBase::SharedPtr subscription,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!group || !node) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto match_sub = group->find_subscription_ptrs_if(
-      [&subscription](const rclcpp::SubscriptionBase::SharedPtr & sub) -> bool {
-        return sub == subscription;
-      });
-    if (match_sub) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto match_sub = group->find_subscription_ptrs_if(
+        [&subscription](const rclcpp::SubscriptionBase::SharedPtr & sub) -> bool {
+          return sub == subscription;
+        });
+      if (match_sub) {
+        return group;
+      }
     }
   }
   return nullptr;
@@ -144,20 +178,25 @@ MemoryStrategy::get_group_by_subscription(
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_service(
   rclcpp::ServiceBase::SharedPtr service,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!group || !node) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto service_ref = group->find_service_ptrs_if(
-      [&service](const rclcpp::ServiceBase::SharedPtr & serv) -> bool {
-        return serv == service;
-      });
-    if (service_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto service_ref = group->find_service_ptrs_if(
+        [&service](const rclcpp::ServiceBase::SharedPtr & serv) -> bool {
+          return serv == service;
+        });
+      if (service_ref) {
+        return group;
+      }
     }
   }
   return nullptr;
@@ -166,20 +205,25 @@ MemoryStrategy::get_group_by_service(
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_client(
   rclcpp::ClientBase::SharedPtr client,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!group || !node) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto client_ref = group->find_client_ptrs_if(
-      [&client](const rclcpp::ClientBase::SharedPtr & cli) -> bool {
-        return cli == client;
-      });
-    if (client_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto client_ref = group->find_client_ptrs_if(
+        [&client](const rclcpp::ClientBase::SharedPtr & cli) -> bool {
+          return cli == client;
+        });
+      if (client_ref) {
+        return group;
+      }
     }
   }
   return nullptr;
@@ -188,20 +232,25 @@ MemoryStrategy::get_group_by_client(
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_timer(
   rclcpp::TimerBase::SharedPtr timer,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!group || !node) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto timer_ref = group->find_timer_ptrs_if(
-      [&timer](const rclcpp::TimerBase::SharedPtr & time) -> bool {
-        return time == timer;
-      });
-    if (timer_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto timer_ref = group->find_timer_ptrs_if(
+        [&timer](const rclcpp::TimerBase::SharedPtr & time) -> bool {
+          return time == timer;
+        });
+      if (timer_ref) {
+        return group;
+      }
     }
   }
   return nullptr;
@@ -210,20 +259,25 @@ MemoryStrategy::get_group_by_timer(
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_waitable(
   rclcpp::Waitable::SharedPtr waitable,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!group || !node) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto waitable_ref = group->find_waitable_ptrs_if(
-      [&waitable](const rclcpp::Waitable::SharedPtr & group_waitable) -> bool {
-        return group_waitable == waitable;
-      });
-    if (waitable_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto waitable_ref = group->find_waitable_ptrs_if(
+        [&waitable](const rclcpp::Waitable::SharedPtr & group_waitable) -> bool {
+          return group_waitable == waitable;
+        });
+      if (waitable_ref) {
+        return group;
+      }
     }
   }
   return nullptr;

rclcpp/src/rclcpp/node.cpp

@@ -138,8 +138,7 @@ Node::Node(
       node_services_,
       node_logging_,
       node_clock_,
-      node_parameters_,
-      options.clock_qos()
+      node_parameters_
     )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
   node_options_(options),
@@ -212,11 +211,15 @@ Node::get_logger() const
 }
 
 rclcpp::CallbackGroup::SharedPtr
-Node::create_callback_group(
-  rclcpp::CallbackGroupType group_type,
-  bool automatically_add_to_executor_with_node)
+Node::create_callback_group(rclcpp::CallbackGroupType group_type)
 {
-  return node_base_->create_callback_group(group_type, automatically_add_to_executor_with_node);
+  return node_base_->create_callback_group(group_type);
+}
+
+bool
+Node::group_in_node(rclcpp::CallbackGroup::SharedPtr group)
+{
+  return node_base_->callback_group_in_node(group);
 }
 
 const rclcpp::ParameterValue &

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -70,7 +70,6 @@ NodeBase::NodeBase(
   std::shared_ptr<std::recursive_mutex> logging_mutex = get_global_logging_mutex();
   {
     std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
-    // TODO(ivanpauno): /rosout Qos should be reconfigurable.
     // TODO(ivanpauno): Instead of mutually excluding rcl_node_init with the global logger mutex,
     // rcl_logging_rosout_init_publisher_for_node could be decoupled from there and be called
     // here directly.
@@ -217,16 +216,11 @@ NodeBase::get_shared_rcl_node_handle() const
 }
 
 rclcpp::CallbackGroup::SharedPtr
-NodeBase::create_callback_group(
-  rclcpp::CallbackGroupType group_type,
-  bool automatically_add_to_executor_with_node)
+NodeBase::create_callback_group(rclcpp::CallbackGroupType group_type)
 {
   using rclcpp::CallbackGroup;
   using rclcpp::CallbackGroupType;
-  auto group = CallbackGroup::SharedPtr(
-    new CallbackGroup(
-      group_type,
-      automatically_add_to_executor_with_node));
+  auto group = CallbackGroup::SharedPtr(new CallbackGroup(group_type));
   callback_groups_.push_back(group);
   return group;
 }
@@ -289,24 +283,3 @@ NodeBase::get_enable_topic_statistics_default() const
 {
   return enable_topic_statistics_default_;
 }
-
-std::string
-NodeBase::resolve_topic_or_service_name(
-  const std::string & name, bool is_service, bool only_expand) const
-{
-  char * output_cstr = NULL;
-  auto allocator = rcl_get_default_allocator();
-  rcl_ret_t ret = rcl_node_resolve_name(
-    node_handle_.get(),
-    name.c_str(),
-    allocator,
-    is_service,
-    only_expand,
-    &output_cstr);
-  if (RCL_RET_OK != ret) {
-    throw_from_rcl_error(ret, "failed to resolve name", rcl_get_error_state());
-  }
-  std::string output{output_cstr};
-  allocator.deallocate(output_cstr, allocator.state);
-  return output;
-}

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

@@ -414,7 +414,7 @@ NodeGraph::wait_for_graph_change(
 }
 
 size_t
-NodeGraph::count_graph_users() const
+NodeGraph::count_graph_users()
 {
   return graph_users_count_.load();
 }

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -67,7 +67,6 @@ NodeParameters::NodeParameters(
   }
 
   if (start_parameter_event_publisher) {
-    // TODO(ivanpauno): Qos of the `/parameters_event` topic should be somehow overridable.
     events_publisher_ = rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
       node_topics,
       "/parameter_events",

rclcpp/src/rclcpp/node_interfaces/node_services.cpp

@@ -78,9 +78,3 @@ NodeServices::add_client(
     }
   }
 }
-
-std::string
-NodeServices::resolve_service_name(const std::string & name, bool only_expand) const
-{
-  return node_base_->resolve_topic_or_service_name(name, true, only_expand);
-}

rclcpp/src/rclcpp/node_interfaces/node_time_source.cpp

@@ -26,16 +26,14 @@ NodeTimeSource::NodeTimeSource(
   rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
-  const rclcpp::QoS & qos)
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters)
 : node_base_(node_base),
   node_topics_(node_topics),
   node_graph_(node_graph),
   node_services_(node_services),
   node_logging_(node_logging),
   node_clock_(node_clock),
-  node_parameters_(node_parameters),
-  time_source_(qos)
+  node_parameters_(node_parameters)
 {
   time_source_.attachNode(
     node_base_,

rclcpp/src/rclcpp/node_interfaces/node_timers.cpp

@@ -16,8 +16,6 @@
 
 #include <string>
 
-#include "tracetools/tracetools.h"
-
 using rclcpp::node_interfaces::NodeTimers;
 
 NodeTimers::NodeTimers(rclcpp::node_interfaces::NodeBaseInterface * node_base)
@@ -46,8 +44,4 @@ NodeTimers::add_timer(
             std::string("Failed to notify wait set on timer creation: ") +
             rmw_get_error_string().str);
   }
-  TRACEPOINT(
-    rclcpp_timer_link_node,
-    static_cast<const void *>(timer->get_timer_handle().get()),
-    static_cast<const void *>(node_base_->get_rcl_node_handle()));
 }

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -129,9 +129,3 @@ NodeTopics::get_node_timers_interface() const
 {
   return node_timers_;
 }
-
-std::string
-NodeTopics::resolve_topic_name(const std::string & name, bool only_expand) const
-{
-  return node_base_->resolve_topic_or_service_name(name, false, only_expand);
-}

rclcpp/src/rclcpp/node_options.cpp

@@ -67,7 +67,6 @@ NodeOptions &
 NodeOptions::operator=(const NodeOptions & other)
 {
   if (this != &other) {
-    this->node_options_.reset();
     this->context_ = other.context_;
     this->arguments_ = other.arguments_;
     this->parameter_overrides_ = other.parameter_overrides_;
@@ -76,15 +75,11 @@ NodeOptions::operator=(const NodeOptions & other)
     this->use_intra_process_comms_ = other.use_intra_process_comms_;
     this->enable_topic_statistics_ = other.enable_topic_statistics_;
     this->start_parameter_services_ = other.start_parameter_services_;
-    this->start_parameter_event_publisher_ = other.start_parameter_event_publisher_;
-    this->clock_qos_ = other.clock_qos_;
-    this->parameter_event_qos_ = other.parameter_event_qos_;
-    this->rosout_qos_ = other.rosout_qos_;
-    this->parameter_event_publisher_options_ = other.parameter_event_publisher_options_;
+    this->allocator_ = other.allocator_;
     this->allow_undeclared_parameters_ = other.allow_undeclared_parameters_;
     this->automatically_declare_parameters_from_overrides_ =
       other.automatically_declare_parameters_from_overrides_;
-    this->allocator_ = other.allocator_;
+    this->node_options_.reset();
   }
   return *this;
 }
@@ -99,7 +94,6 @@ NodeOptions::get_rcl_node_options() const
     node_options_->allocator = this->allocator_;
     node_options_->use_global_arguments = this->use_global_arguments_;
     node_options_->enable_rosout = this->enable_rosout_;
-    node_options_->rosout_qos = this->rosout_qos_.get_rmw_qos_profile();
 
     int c_argc = 0;
     std::unique_ptr<const char *[]> c_argv;
@@ -259,19 +253,6 @@ NodeOptions::start_parameter_event_publisher(bool start_parameter_event_publishe
   return *this;
 }
 
-const rclcpp::QoS &
-NodeOptions::clock_qos() const
-{
-  return this->clock_qos_;
-}
-
-NodeOptions &
-NodeOptions::clock_qos(const rclcpp::QoS & clock_qos)
-{
-  this->clock_qos_ = clock_qos;
-  return *this;
-}
-
 const rclcpp::QoS &
 NodeOptions::parameter_event_qos() const
 {
@@ -285,20 +266,6 @@ NodeOptions::parameter_event_qos(const rclcpp::QoS & parameter_event_qos)
   return *this;
 }
 
-const rclcpp::QoS &
-NodeOptions::rosout_qos() const
-{
-  return this->rosout_qos_;
-}
-
-NodeOptions &
-NodeOptions::rosout_qos(const rclcpp::QoS & rosout_qos)
-{
-  this->node_options_.reset();
-  this->rosout_qos_ = rosout_qos;
-  return *this;
-}
-
 const rclcpp::PublisherOptionsBase &
 NodeOptions::parameter_event_publisher_options() const
 {

rclcpp/src/rclcpp/parameter_client.cpp

@@ -15,12 +15,7 @@
 #include "rclcpp/parameter_client.hpp"
 
 #include <algorithm>
-#include <chrono>
-#include <functional>
-#include <future>
-#include <iterator>
 #include <memory>
-#include <stdexcept>
 #include <string>
 #include <vector>
 
@@ -104,6 +99,36 @@ AsyncParametersClient::AsyncParametersClient(
   node_services_interface->add_client(describe_parameters_base, group);
 }
 
+AsyncParametersClient::AsyncParametersClient(
+  const rclcpp::Node::SharedPtr node,
+  const std::string & remote_node_name,
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::CallbackGroup::SharedPtr group)
+: AsyncParametersClient(
+    node->get_node_base_interface(),
+    node->get_node_topics_interface(),
+    node->get_node_graph_interface(),
+    node->get_node_services_interface(),
+    remote_node_name,
+    qos_profile,
+    group)
+{}
+
+AsyncParametersClient::AsyncParametersClient(
+  rclcpp::Node * node,
+  const std::string & remote_node_name,
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::CallbackGroup::SharedPtr group)
+: AsyncParametersClient(
+    node->get_node_base_interface(),
+    node->get_node_topics_interface(),
+    node->get_node_graph_interface(),
+    node->get_node_services_interface(),
+    remote_node_name,
+    qos_profile,
+    group)
+{}
+
 std::shared_future<std::vector<rclcpp::Parameter>>
 AsyncParametersClient::get_parameters(
   const std::vector<std::string> & names,
@@ -144,35 +169,6 @@ AsyncParametersClient::get_parameters(
   return future_result;
 }
 
-std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>
-AsyncParametersClient::describe_parameters(
-  const std::vector<std::string> & names,
-  std::function<
-    void(std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>)
-  > callback)
-{
-  auto promise_result =
-    std::make_shared<std::promise<std::vector<rcl_interfaces::msg::ParameterDescriptor>>>();
-  auto future_result = promise_result->get_future().share();
-
-  auto request = std::make_shared<rcl_interfaces::srv::DescribeParameters::Request>();
-  request->names = names;
-
-  describe_parameters_client_->async_send_request(
-    request,
-    [promise_result, future_result, callback](
-      rclcpp::Client<rcl_interfaces::srv::DescribeParameters>::SharedFuture cb_f)
-    {
-      promise_result->set_value(cb_f.get()->descriptors);
-      if (callback != nullptr) {
-        callback(future_result);
-      }
-    }
-  );
-
-  return future_result;
-}
-
 std::shared_future<std::vector<rclcpp::ParameterType>>
 AsyncParametersClient::get_parameter_types(
   const std::vector<std::string> & names,
@@ -341,17 +337,87 @@ AsyncParametersClient::wait_for_service_nanoseconds(std::chrono::nanoseconds tim
   return true;
 }
 
+SyncParametersClient::SyncParametersClient(
+  rclcpp::Node::SharedPtr 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,
+    qos_profile)
+{}
+
+SyncParametersClient::SyncParametersClient(
+  rclcpp::Executor::SharedPtr executor,
+  rclcpp::Node::SharedPtr 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,
+    qos_profile)
+{}
+
+SyncParametersClient::SyncParametersClient(
+  rclcpp::Node * 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,
+    qos_profile)
+{}
+
+SyncParametersClient::SyncParametersClient(
+  rclcpp::Executor::SharedPtr executor,
+  rclcpp::Node * 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,
+    qos_profile)
+{}
+
+SyncParametersClient::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,
+    qos_profile);
+}
+
 std::vector<rclcpp::Parameter>
-SyncParametersClient::get_parameters(
-  const std::vector<std::string> & parameter_names,
-  std::chrono::nanoseconds timeout)
+SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_names)
 {
   auto f = async_parameters_client_->get_parameters(parameter_names);
   using rclcpp::executors::spin_node_until_future_complete;
   if (
     spin_node_until_future_complete(
-      *executor_, node_base_interface_, f,
-      timeout) == rclcpp::FutureReturnCode::SUCCESS)
+      *executor_, node_base_interface_,
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -368,34 +434,16 @@ SyncParametersClient::has_parameter(const std::string & parameter_name)
   return vars.names.size() > 0;
 }
 
-std::vector<rcl_interfaces::msg::ParameterDescriptor>
-SyncParametersClient::describe_parameters(
-  const std::vector<std::string> & parameter_names,
-  std::chrono::nanoseconds timeout)
-{
-  auto f = async_parameters_client_->describe_parameters(parameter_names);
-
-  using rclcpp::executors::spin_node_until_future_complete;
-  rclcpp::FutureReturnCode future =
-    spin_node_until_future_complete(*executor_, node_base_interface_, f, timeout);
-  if (future == rclcpp::FutureReturnCode::SUCCESS) {
-    return f.get();
-  }
-  return std::vector<rcl_interfaces::msg::ParameterDescriptor>();
-}
-
 std::vector<rclcpp::ParameterType>
-SyncParametersClient::get_parameter_types(
-  const std::vector<std::string> & parameter_names,
-  std::chrono::nanoseconds timeout)
+SyncParametersClient::get_parameter_types(const std::vector<std::string> & parameter_names)
 {
   auto f = async_parameters_client_->get_parameter_types(parameter_names);
 
   using rclcpp::executors::spin_node_until_future_complete;
   if (
     spin_node_until_future_complete(
-      *executor_, node_base_interface_, f,
-      timeout) == rclcpp::FutureReturnCode::SUCCESS)
+      *executor_, node_base_interface_,
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -404,16 +452,15 @@ SyncParametersClient::get_parameter_types(
 
 std::vector<rcl_interfaces::msg::SetParametersResult>
 SyncParametersClient::set_parameters(
-  const std::vector<rclcpp::Parameter> & parameters,
-  std::chrono::nanoseconds timeout)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   auto f = async_parameters_client_->set_parameters(parameters);
 
   using rclcpp::executors::spin_node_until_future_complete;
   if (
     spin_node_until_future_complete(
-      *executor_, node_base_interface_, f,
-      timeout) == rclcpp::FutureReturnCode::SUCCESS)
+      *executor_, node_base_interface_,
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -422,16 +469,15 @@ SyncParametersClient::set_parameters(
 
 rcl_interfaces::msg::SetParametersResult
 SyncParametersClient::set_parameters_atomically(
-  const std::vector<rclcpp::Parameter> & parameters,
-  std::chrono::nanoseconds timeout)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   auto f = async_parameters_client_->set_parameters_atomically(parameters);
 
   using rclcpp::executors::spin_node_until_future_complete;
   if (
     spin_node_until_future_complete(
-      *executor_, node_base_interface_, f,
-      timeout) == rclcpp::FutureReturnCode::SUCCESS)
+      *executor_, node_base_interface_,
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -442,16 +488,15 @@ SyncParametersClient::set_parameters_atomically(
 rcl_interfaces::msg::ListParametersResult
 SyncParametersClient::list_parameters(
   const std::vector<std::string> & parameter_prefixes,
-  uint64_t depth,
-  std::chrono::nanoseconds timeout)
+  uint64_t depth)
 {
   auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth);
 
   using rclcpp::executors::spin_node_until_future_complete;
   if (
     spin_node_until_future_complete(
-      *executor_, node_base_interface_, f,
-      timeout) == rclcpp::FutureReturnCode::SUCCESS)
+      *executor_, node_base_interface_,
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }

rclcpp/src/rclcpp/parameter_service.cpp

@@ -119,7 +119,7 @@ ParameterService::ParameterService(
         RCLCPP_WARN(
           rclcpp::get_logger("rclcpp"), "Failed to set parameters atomically: %s", ex.what());
         response->result.successful = false;
-        response->result.reason = "One or more parameters were not declared before setting";
+        response->result.reason = "One or more parameters wer not declared before setting";
       }
     },
     qos_profile, nullptr);

rclcpp/src/rclcpp/publisher_base.cpp

@@ -262,9 +262,7 @@ PublisherBase::default_incompatible_qos_callback(
   std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
   RCLCPP_WARN(
     rclcpp::get_logger(rcl_node_get_logger_name(rcl_node_handle_.get())),
-    "New subscription discovered on topic '%s', requesting incompatible QoS. "
+    "New subscription discovered on this topic, requesting incompatible QoS. "
     "No messages will be sent to it. "
-    "Last incompatible policy: %s",
-    get_topic_name(),
-    policy_name.c_str());
+    "Last incompatible policy: %s", policy_name.c_str());
 }

rclcpp/src/rclcpp/qos.cpp

@@ -99,13 +99,6 @@ QoS::history(rmw_qos_history_policy_t history)
   return *this;
 }
 
-QoS &
-QoS::history(HistoryPolicy history)
-{
-  rmw_qos_profile_.history = static_cast<rmw_qos_history_policy_t>(history);
-  return *this;
-}
-
 QoS &
 QoS::keep_last(size_t depth)
 {
@@ -129,13 +122,6 @@ QoS::reliability(rmw_qos_reliability_policy_t reliability)
   return *this;
 }
 
-QoS &
-QoS::reliability(ReliabilityPolicy reliability)
-{
-  rmw_qos_profile_.reliability = static_cast<rmw_qos_reliability_policy_t>(reliability);
-  return *this;
-}
-
 QoS &
 QoS::reliable()
 {
@@ -155,13 +141,6 @@ QoS::durability(rmw_qos_durability_policy_t durability)
   return *this;
 }
 
-QoS &
-QoS::durability(DurabilityPolicy durability)
-{
-  rmw_qos_profile_.durability = static_cast<rmw_qos_durability_policy_t>(durability);
-  return *this;
-}
-
 QoS &
 QoS::durability_volatile()
 {
@@ -207,14 +186,6 @@ QoS::liveliness(rmw_qos_liveliness_policy_t liveliness)
   return *this;
 }
 
-QoS &
-QoS::liveliness(LivelinessPolicy liveliness)
-{
-  rmw_qos_profile_.liveliness = static_cast<rmw_qos_liveliness_policy_t>(liveliness);
-  return *this;
-}
-
-
 QoS &
 QoS::liveliness_lease_duration(rmw_time_t liveliness_lease_duration)
 {
@@ -235,51 +206,6 @@ QoS::avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions)
   return *this;
 }
 
-HistoryPolicy
-QoS::history() const
-{
-  return static_cast<HistoryPolicy>(rmw_qos_profile_.history);
-}
-
-size_t
-QoS::depth() const {return rmw_qos_profile_.depth;}
-
-ReliabilityPolicy
-QoS::reliability() const
-{
-  return static_cast<ReliabilityPolicy>(rmw_qos_profile_.reliability);
-}
-
-DurabilityPolicy
-QoS::durability() const
-{
-  return static_cast<DurabilityPolicy>(rmw_qos_profile_.durability);
-}
-
-Duration
-QoS::deadline() const {return Duration::from_rmw_time(rmw_qos_profile_.deadline);}
-
-Duration
-QoS::lifespan() const {return Duration::from_rmw_time(rmw_qos_profile_.lifespan);}
-
-LivelinessPolicy
-QoS::liveliness() const
-{
-  return static_cast<LivelinessPolicy>(rmw_qos_profile_.liveliness);
-}
-
-Duration
-QoS::liveliness_lease_duration() const
-{
-  return Duration::from_rmw_time(rmw_qos_profile_.liveliness_lease_duration);
-}
-
-bool
-QoS::avoid_ros_namespace_conventions() const
-{
-  return rmw_qos_profile_.avoid_ros_namespace_conventions;
-}
-
 namespace
 {
 /// Check if two rmw_time_t have the same values.
@@ -309,12 +235,6 @@ bool operator!=(const QoS & left, const QoS & right)
   return !(left == right);
 }
 
-ClockQoS::ClockQoS(const QoSInitialization & qos_initialization)
-// Using `rmw_qos_profile_sensor_data` intentionally.
-// It's best effort and `qos_initialization` is overriding the depth to 1.
-: QoS(qos_initialization, rmw_qos_profile_sensor_data)
-{}
-
 SensorDataQoS::SensorDataQoS(const QoSInitialization & qos_initialization)
 : QoS(qos_initialization, rmw_qos_profile_sensor_data)
 {}
@@ -331,10 +251,6 @@ ParameterEventsQoS::ParameterEventsQoS(const QoSInitialization & qos_initializat
 : QoS(qos_initialization, rmw_qos_profile_parameter_events)
 {}
 
-RosoutQoS::RosoutQoS(const QoSInitialization & rosout_initialization)
-: QoS(rosout_initialization, rcl_qos_profile_rosout_default)
-{}
-
 SystemDefaultsQoS::SystemDefaultsQoS(const QoSInitialization & qos_initialization)
 : QoS(qos_initialization, rmw_qos_profile_system_default)
 {}

rclcpp/src/rclcpp/qos_overriding_options.cpp

@@ -1,84 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "rclcpp/qos_overriding_options.hpp"
-
-#include <initializer_list>
-#include <ostream>
-#include <stdexcept>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "rmw/qos_policy_kind.h"
-#include "rmw/qos_string_conversions.h"
-
-namespace rclcpp
-{
-
-const char *
-qos_policy_kind_to_cstr(const QosPolicyKind & qpk)
-{
-  const char * ret = rmw_qos_policy_kind_to_str(static_cast<rmw_qos_policy_kind_t>(qpk));
-  if (!ret) {
-    throw std::invalid_argument{"unknown QoS policy kind"};
-  }
-  return ret;
-}
-
-std::ostream &
-operator<<(std::ostream & oss, const QosPolicyKind & qpk)
-{
-  return oss << qos_policy_kind_to_cstr(qpk);
-}
-
-static std::initializer_list<QosPolicyKind> kDefaultPolicies =
-{QosPolicyKind::History, QosPolicyKind::Depth, QosPolicyKind::Reliability};
-
-QosOverridingOptions::QosOverridingOptions(
-  std::initializer_list<QosPolicyKind> policy_kinds,
-  QosCallback validation_callback,
-  std::string id)
-: id_{std::move(id)},
-  policy_kinds_{policy_kinds},
-  validation_callback_{std::move(validation_callback)}
-{}
-
-QosOverridingOptions
-QosOverridingOptions::with_default_policies(
-  QosCallback validation_callback,
-  std::string id)
-{
-  return QosOverridingOptions{kDefaultPolicies, validation_callback, id};
-}
-
-const std::string &
-QosOverridingOptions::get_id() const
-{
-  return id_;
-}
-
-const std::vector<QosPolicyKind> &
-QosOverridingOptions::get_policy_kinds() const
-{
-  return policy_kinds_;
-}
-
-const QosCallback &
-QosOverridingOptions::get_validation_callback() const
-{
-  return validation_callback_;
-}
-
-}  // namespace rclcpp

rclcpp/src/rclcpp/signal_handler.cpp

@@ -243,7 +243,7 @@ SignalHandler::deferred_signal_handler()
             get_logger(),
             "deferred_signal_handler(): "
             "shutting down rclcpp::Context @ %p, because it had shutdown_on_sigint == true",
-            static_cast<void *>(context_ptr.get()));
+            context_ptr.get());
           context_ptr->shutdown("signal handler");
         }
       }

rclcpp/src/rclcpp/subscription_base.cpp

@@ -245,11 +245,9 @@ SubscriptionBase::default_incompatible_qos_callback(
   std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
   RCLCPP_WARN(
     rclcpp::get_logger(rcl_node_get_logger_name(node_handle_.get())),
-    "New publisher discovered on topic '%s', offering incompatible QoS. "
+    "New publisher discovered on this topic, offering incompatible QoS. "
     "No messages will be sent to it. "
-    "Last incompatible policy: %s",
-    get_topic_name(),
-    policy_name.c_str());
+    "Last incompatible policy: %s", policy_name.c_str());
 }
 
 bool

rclcpp/src/rclcpp/time.cpp

@@ -199,7 +199,7 @@ Time::operator-(const rclcpp::Time & rhs) const
     throw std::underflow_error("time subtraction leads to int64_t underflow");
   }
 
-  return Duration::from_nanoseconds(rcl_time_.nanoseconds - rhs.rcl_time_.nanoseconds);
+  return Duration(rcl_time_.nanoseconds - rhs.rcl_time_.nanoseconds);
 }
 
 Time

rclcpp/src/rclcpp/time_source.cpp

@@ -33,16 +33,17 @@
 namespace rclcpp
 {
 
-TimeSource::TimeSource(std::shared_ptr<rclcpp::Node> node, const rclcpp::QoS & qos)
+TimeSource::TimeSource(std::shared_ptr<rclcpp::Node> node)
 : logger_(rclcpp::get_logger("rclcpp")),
-  qos_(qos)
+  clock_subscription_(nullptr),
+  ros_time_active_(false)
 {
   this->attachNode(node);
 }
 
-TimeSource::TimeSource(const rclcpp::QoS & qos)
+TimeSource::TimeSource()
 : logger_(rclcpp::get_logger("rclcpp")),
-  qos_(qos)
+  ros_time_active_(false)
 {
 }
 
@@ -184,21 +185,11 @@ void TimeSource::set_clock(
   const builtin_interfaces::msg::Time::SharedPtr msg, bool set_ros_time_enabled,
   std::shared_ptr<rclcpp::Clock> clock)
 {
-  std::lock_guard<std::mutex> clock_guard(clock->get_clock_mutex());
-
   // Do change
   if (!set_ros_time_enabled && clock->ros_time_is_active()) {
-    auto ret = rcl_disable_ros_time_override(clock->get_clock_handle());
-    if (ret != RCL_RET_OK) {
-      rclcpp::exceptions::throw_from_rcl_error(
-        ret, "Failed to disable ros_time_override_status");
-    }
+    disable_ros_time(clock);
   } else if (set_ros_time_enabled && !clock->ros_time_is_active()) {
-    auto ret = rcl_enable_ros_time_override(clock->get_clock_handle());
-    if (ret != RCL_RET_OK) {
-      rclcpp::exceptions::throw_from_rcl_error(
-        ret, "Failed to enable ros_time_override_status");
-    }
+    enable_ros_time(clock);
   }
 
   auto ret = rcl_set_ros_time_override(clock->get_clock_handle(), rclcpp::Time(*msg).nanoseconds());
@@ -233,22 +224,11 @@ void TimeSource::create_clock_sub()
     return;
   }
 
-  rclcpp::SubscriptionOptions options;
-  options.qos_overriding_options = rclcpp::QosOverridingOptions(
-    {
-      rclcpp::QosPolicyKind::Depth,
-      rclcpp::QosPolicyKind::Durability,
-      rclcpp::QosPolicyKind::History,
-      rclcpp::QosPolicyKind::Reliability,
-    });
-
   clock_subscription_ = rclcpp::create_subscription<rosgraph_msgs::msg::Clock>(
-    node_parameters_,
     node_topics_,
     "/clock",
-    rclcpp::QoS(KeepLast(1)).best_effort(),
-    std::bind(&TimeSource::clock_cb, this, std::placeholders::_1),
-    options
+    rclcpp::QoS(QoSInitialization::from_rmw(rmw_qos_profile_default)),
+    std::bind(&TimeSource::clock_cb, this, std::placeholders::_1)
   );
 }
 
@@ -293,6 +273,24 @@ void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::S
   }
 }
 
+void TimeSource::enable_ros_time(std::shared_ptr<rclcpp::Clock> clock)
+{
+  auto ret = rcl_enable_ros_time_override(clock->get_clock_handle());
+  if (ret != RCL_RET_OK) {
+    rclcpp::exceptions::throw_from_rcl_error(
+      ret, "Failed to enable ros_time_override_status");
+  }
+}
+
+void TimeSource::disable_ros_time(std::shared_ptr<rclcpp::Clock> clock)
+{
+  auto ret = rcl_disable_ros_time_override(clock->get_clock_handle());
+  if (ret != RCL_RET_OK) {
+    rclcpp::exceptions::throw_from_rcl_error(
+      ret, "Failed to enable ros_time_override_status");
+  }
+}
+
 void TimeSource::enable_ros_time()
 {
   if (ros_time_active_) {

rclcpp/src/rclcpp/timer.cpp

@@ -76,9 +76,8 @@ TimerBase::~TimerBase()
 void
 TimerBase::cancel()
 {
-  rcl_ret_t ret = rcl_timer_cancel(timer_handle_.get());
-  if (ret != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't cancel timer");
+  if (rcl_timer_cancel(timer_handle_.get()) != RCL_RET_OK) {
+    throw std::runtime_error(std::string("Couldn't cancel timer: ") + rcl_get_error_string().str);
   }
 }
 
@@ -96,9 +95,8 @@ TimerBase::is_canceled()
 void
 TimerBase::reset()
 {
-  rcl_ret_t ret = rcl_timer_reset(timer_handle_.get());
-  if (ret != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't reset timer");
+  if (rcl_timer_reset(timer_handle_.get()) != RCL_RET_OK) {
+    throw std::runtime_error(std::string("Couldn't reset timer: ") + rcl_get_error_string().str);
   }
 }
 
@@ -106,9 +104,8 @@ bool
 TimerBase::is_ready()
 {
   bool ready = false;
-  rcl_ret_t ret = rcl_timer_is_ready(timer_handle_.get(), &ready);
-  if (ret != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to check timer");
+  if (rcl_timer_is_ready(timer_handle_.get(), &ready) != RCL_RET_OK) {
+    throw std::runtime_error(std::string("Failed to check timer: ") + rcl_get_error_string().str);
   }
   return ready;
 }
@@ -117,10 +114,14 @@ std::chrono::nanoseconds
 TimerBase::time_until_trigger()
 {
   int64_t time_until_next_call = 0;
-  rcl_ret_t ret = rcl_timer_get_time_until_next_call(
-    timer_handle_.get(), &time_until_next_call);
-  if (ret != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "Timer could not get time until next call");
+  if (
+    rcl_timer_get_time_until_next_call(
+      timer_handle_.get(),
+      &time_until_next_call) != RCL_RET_OK)
+  {
+    throw std::runtime_error(
+            std::string(
+              "Timer could not get time until next call: ") + rcl_get_error_string().str);
   }
   return std::chrono::nanoseconds(time_until_next_call);
 }

rclcpp/src/rclcpp/utilities.cpp

@@ -14,14 +14,11 @@
 
 #include "rclcpp/utilities.hpp"
 
-#include <chrono>
-#include <functional>
 #include <string>
 #include <vector>
 
 #include "./signal_handler.hpp"
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/detail/utilities.hpp"
 #include "rclcpp/exceptions.hpp"
 
 #include "rcl/error_handling.h"
@@ -57,47 +54,6 @@ uninstall_signal_handlers()
   return SignalHandler::get_global_signal_handler().uninstall();
 }
 
-static
-std::vector<std::string>
-_remove_ros_arguments(
-  char const * const argv[],
-  const rcl_arguments_t * args,
-  rcl_allocator_t alloc)
-{
-  rcl_ret_t ret;
-  int nonros_argc = 0;
-  const char ** nonros_argv = NULL;
-
-  ret = rcl_remove_ros_arguments(
-    argv,
-    args,
-    alloc,
-    &nonros_argc,
-    &nonros_argv);
-
-  if (RCL_RET_OK != ret || nonros_argc < 0) {
-    // Not using throw_from_rcl_error, because we may need to append deallocation failures.
-    exceptions::RCLError exc(ret, rcl_get_error_state(), "");
-    rcl_reset_error();
-    if (NULL != nonros_argv) {
-      alloc.deallocate(nonros_argv, alloc.state);
-    }
-    throw exc;
-  }
-
-  std::vector<std::string> return_arguments(static_cast<size_t>(nonros_argc));
-
-  for (size_t ii = 0; ii < static_cast<size_t>(nonros_argc); ++ii) {
-    return_arguments[ii] = std::string(nonros_argv[ii]);
-  }
-
-  if (NULL != nonros_argv) {
-    alloc.deallocate(nonros_argv, alloc.state);
-  }
-
-  return return_arguments;
-}
-
 std::vector<std::string>
 init_and_remove_ros_arguments(
   int argc,
@@ -105,10 +61,7 @@ init_and_remove_ros_arguments(
   const InitOptions & init_options)
 {
   init(argc, argv, init_options);
-
-  using rclcpp::contexts::get_global_default_context;
-  auto rcl_context = get_global_default_context()->get_rcl_context();
-  return _remove_ros_arguments(argv, &(rcl_context->global_arguments), rcl_get_default_allocator());
+  return remove_ros_arguments(argc, argv);
 }
 
 std::vector<std::string>
@@ -124,17 +77,40 @@ remove_ros_arguments(int argc, char const * const argv[])
     exceptions::throw_from_rcl_error(ret, "failed to parse arguments");
   }
 
-  std::vector<std::string> return_arguments;
-  try {
-    return_arguments = _remove_ros_arguments(argv, &parsed_args, alloc);
-  } catch (exceptions::RCLError & exc) {
+  int nonros_argc = 0;
+  const char ** nonros_argv = NULL;
+
+  ret = rcl_remove_ros_arguments(
+    argv,
+    &parsed_args,
+    alloc,
+    &nonros_argc,
+    &nonros_argv);
+
+  if (RCL_RET_OK != ret || nonros_argc < 0) {
+    // Not using throw_from_rcl_error, because we may need to append deallocation failures.
+    exceptions::RCLErrorBase base_exc(ret, rcl_get_error_state());
+    rcl_reset_error();
+    if (NULL != nonros_argv) {
+      alloc.deallocate(nonros_argv, alloc.state);
+    }
     if (RCL_RET_OK != rcl_arguments_fini(&parsed_args)) {
-      exc.formatted_message += std::string(
+      base_exc.formatted_message += std::string(
         ", failed also to cleanup parsed arguments, leaking memory: ") +
         rcl_get_error_string().str;
       rcl_reset_error();
     }
-    throw exc;
+    throw exceptions::RCLError(base_exc, "");
+  }
+
+  std::vector<std::string> return_arguments(static_cast<size_t>(nonros_argc));
+
+  for (size_t ii = 0; ii < static_cast<size_t>(nonros_argc); ++ii) {
+    return_arguments[ii] = std::string(nonros_argv[ii]);
+  }
+
+  if (NULL != nonros_argv) {
+    alloc.deallocate(nonros_argv, alloc.state);
   }
 
   ret = rcl_arguments_fini(&parsed_args);

rclcpp/test/CMakeLists.txt

@@ -1,15 +1,504 @@
+find_package(ament_cmake_gtest REQUIRED)
+
+find_package(rmw_implementation_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 find_package(test_msgs REQUIRED)
 
 include(cmake/rclcpp_add_build_failure_test.cmake)
 
-add_subdirectory(benchmark)
-add_subdirectory(rclcpp)
+add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/resources")
 
-ament_add_gtest(test_rclcpp_gtest_macros utils/test_rclcpp_gtest_macros.cpp)
-if(TARGET test_rclcpp_gtest_macros)
-  target_link_libraries(test_rclcpp_gtest_macros ${PROJECT_NAME})
+rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
+  msg/Header.msg
+  msg/MessageWithHeader.msg
+  DEPENDENCIES builtin_interfaces
+  LIBRARY_NAME ${PROJECT_NAME}
+  SKIP_INSTALL
+)
+
+ament_add_gtest(test_any_service_callback rclcpp/test_any_service_callback.cpp)
+if(TARGET test_any_service_callback)
+  ament_target_dependencies(test_any_service_callback
+    "test_msgs"
+  )
+  target_link_libraries(test_any_service_callback ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_any_subscription_callback rclcpp/test_any_subscription_callback.cpp)
+if(TARGET test_any_subscription_callback)
+  ament_target_dependencies(test_any_subscription_callback
+    "test_msgs"
+  )
+  target_link_libraries(test_any_subscription_callback ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_client rclcpp/test_client.cpp)
+if(TARGET test_client)
+  ament_target_dependencies(test_client
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_client ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_create_timer rclcpp/test_create_timer.cpp)
+if(TARGET test_create_timer)
+  ament_target_dependencies(test_create_timer
+    "rcl_interfaces"
+    "rmw"
+    "rcl"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_create_timer ${PROJECT_NAME})
+  target_include_directories(test_create_timer PRIVATE rclcpp/)
+endif()
+ament_add_gtest(test_create_subscription rclcpp/test_create_subscription.cpp)
+if(TARGET test_create_subscription)
+  target_link_libraries(test_create_subscription ${PROJECT_NAME})
+  ament_target_dependencies(test_create_subscription
+    "test_msgs"
+  )
+endif()
+ament_add_gtest(test_expand_topic_or_service_name rclcpp/test_expand_topic_or_service_name.cpp)
+if(TARGET test_expand_topic_or_service_name)
+  ament_target_dependencies(test_expand_topic_or_service_name
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_function_traits rclcpp/test_function_traits.cpp)
+if(TARGET test_function_traits)
+  target_include_directories(test_function_traits PUBLIC ../include)
+  ament_target_dependencies(test_function_traits
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+endif()
+ament_add_gmock(test_intra_process_manager rclcpp/test_intra_process_manager.cpp)
+if(TARGET test_intra_process_manager)
+  ament_target_dependencies(test_intra_process_manager
+    "rcl"
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_ring_buffer_implementation rclcpp/test_ring_buffer_implementation.cpp)
+if(TARGET test_ring_buffer_implementation)
+  ament_target_dependencies(test_ring_buffer_implementation
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_ring_buffer_implementation ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_intra_process_buffer rclcpp/test_intra_process_buffer.cpp)
+if(TARGET test_intra_process_buffer)
+  ament_target_dependencies(test_intra_process_buffer
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_intra_process_buffer ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_loaned_message rclcpp/test_loaned_message.cpp)
+ament_target_dependencies(test_loaned_message
+  "test_msgs"
+)
+target_link_libraries(test_loaned_message ${PROJECT_NAME})
+
+ament_add_gtest(test_node rclcpp/test_node.cpp TIMEOUT 240)
+if(TARGET test_node)
+  ament_target_dependencies(test_node
+    "rcl_interfaces"
+    "rcpputils"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_node ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_node_interfaces__get_node_interfaces
+  rclcpp/node_interfaces/test_get_node_interfaces.cpp)
+if(TARGET test_node_interfaces__get_node_interfaces)
+  target_link_libraries(test_node_interfaces__get_node_interfaces ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_base
+  rclcpp/node_interfaces/test_node_base.cpp)
+if(TARGET test_node_interfaces__node_base)
+  target_link_libraries(test_node_interfaces__node_base ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_clock
+  rclcpp/node_interfaces/test_node_clock.cpp)
+if(TARGET test_node_interfaces__node_clock)
+  target_link_libraries(test_node_interfaces__node_clock ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_graph
+  rclcpp/node_interfaces/test_node_graph.cpp)
+if(TARGET test_node_interfaces__node_graph)
+  ament_target_dependencies(
+    test_node_interfaces__node_graph
+    "test_msgs")
+  target_link_libraries(test_node_interfaces__node_graph ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_parameters
+  rclcpp/node_interfaces/test_node_parameters.cpp)
+if(TARGET test_node_interfaces__node_parameters)
+  target_link_libraries(test_node_interfaces__node_parameters ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_services
+  rclcpp/node_interfaces/test_node_services.cpp)
+if(TARGET test_node_interfaces__node_services)
+  target_link_libraries(test_node_interfaces__node_services ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_timers
+  rclcpp/node_interfaces/test_node_timers.cpp)
+if(TARGET test_node_interfaces__node_timers)
+  target_link_libraries(test_node_interfaces__node_timers ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_topics
+  rclcpp/node_interfaces/test_node_topics.cpp)
+if(TARGET test_node_interfaces__node_topics)
+  ament_target_dependencies(
+    test_node_interfaces__node_topics
+    "test_msgs")
+  target_link_libraries(test_node_interfaces__node_topics ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_waitables
+  rclcpp/node_interfaces/test_node_waitables.cpp)
+if(TARGET test_node_interfaces__node_waitables)
+  target_link_libraries(test_node_interfaces__node_waitables ${PROJECT_NAME})
+endif()
+
+# TODO(wjwwood): reenable these build failure tests when I can get Jenkins to ignore their output
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_rclcpp_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+#   ${PROJECT_NAME})
+
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_rclcpp_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+#   ${PROJECT_NAME})
+
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_wrapped_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_wrapped_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+#   ${PROJECT_NAME})
+
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_wrapped_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_wrapped_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+#   ${PROJECT_NAME})
+
+ament_add_gtest(test_node_global_args rclcpp/test_node_global_args.cpp)
+if(TARGET test_node_global_args)
+  ament_target_dependencies(test_node_global_args
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_node_global_args ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_options rclcpp/test_node_options.cpp)
+if(TARGET test_node_options)
+  ament_target_dependencies(test_node_options "rcl")
+  target_link_libraries(test_node_options ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter_client rclcpp/test_parameter_client.cpp)
+if(TARGET test_parameter_client)
+  ament_target_dependencies(test_parameter_client
+    "rcl_interfaces"
+  )
+  target_link_libraries(test_parameter_client ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter_events_filter rclcpp/test_parameter_events_filter.cpp)
+if(TARGET test_parameter_events_filter)
+  ament_target_dependencies(test_parameter_events_filter
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_parameter_events_filter ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter rclcpp/test_parameter.cpp)
+if(TARGET test_parameter)
+  ament_target_dependencies(test_parameter
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_parameter ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter_map rclcpp/test_parameter_map.cpp)
+if(TARGET test_parameter_map)
+  target_link_libraries(test_parameter_map ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_publisher rclcpp/test_publisher.cpp)
+if(TARGET test_publisher)
+  ament_target_dependencies(test_publisher
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_publisher ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_publisher_subscription_count_api rclcpp/test_publisher_subscription_count_api.cpp)
+if(TARGET test_publisher_subscription_count_api)
+  ament_target_dependencies(test_publisher_subscription_count_api
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_qos rclcpp/test_qos.cpp)
+if(TARGET test_qos)
+  ament_target_dependencies(test_qos
+    "rmw"
+  )
+  target_link_libraries(test_qos
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_qos_event rclcpp/test_qos_event.cpp)
+if(TARGET test_qos_event)
+  ament_target_dependencies(test_qos_event
+    "rmw"
+    "test_msgs"
+  )
+  target_link_libraries(test_qos_event
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_rate rclcpp/test_rate.cpp)
+if(TARGET test_rate)
+  ament_target_dependencies(test_rate
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_rate
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_serialized_message_allocator rclcpp/test_serialized_message_allocator.cpp)
+if(TARGET test_serialized_message_allocator)
+  ament_target_dependencies(test_serialized_message_allocator
+    test_msgs
+  )
+  target_link_libraries(test_serialized_message_allocator
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_serialized_message rclcpp/test_serialized_message.cpp)
+if(TARGET test_serialized_message)
+  ament_target_dependencies(test_serialized_message
+    test_msgs
+  )
+  target_link_libraries(test_serialized_message
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_service rclcpp/test_service.cpp)
+if(TARGET test_service)
+  ament_target_dependencies(test_service
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_service ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_subscription rclcpp/test_subscription.cpp)
+if(TARGET test_subscription)
+  ament_target_dependencies(test_subscription
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_subscription ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_subscription_publisher_count_api rclcpp/test_subscription_publisher_count_api.cpp)
+if(TARGET test_subscription_publisher_count_api)
+  ament_target_dependencies(test_subscription_publisher_count_api
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_subscription_traits rclcpp/test_subscription_traits.cpp)
+if(TARGET test_subscription_traits)
+  ament_target_dependencies(test_subscription_traits
+    "rcl"
+    "test_msgs"
+  )
+  target_link_libraries(test_subscription_traits ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_find_weak_nodes rclcpp/test_find_weak_nodes.cpp)
+if(TARGET test_find_weak_nodes)
+  ament_target_dependencies(test_find_weak_nodes
+    "rcl"
+  )
+  target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
+endif()
+
+set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
+if(WIN32)
+  set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
+endif()
+
+ament_add_gtest(test_externally_defined_services rclcpp/test_externally_defined_services.cpp)
+ament_target_dependencies(test_externally_defined_services
+  "rcl"
+  "test_msgs"
+)
+target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
+
+ament_add_gtest(test_duration rclcpp/test_duration.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_duration)
+  ament_target_dependencies(test_duration
+    "rcl")
+  target_link_libraries(test_duration ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_executor rclcpp/test_executor.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_executor)
+  ament_target_dependencies(test_executor
+    "rcl")
+  target_link_libraries(test_executor ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_logger rclcpp/test_logger.cpp)
+target_link_libraries(test_logger ${PROJECT_NAME})
+
+ament_add_gmock(test_logging rclcpp/test_logging.cpp)
+target_link_libraries(test_logging ${PROJECT_NAME})
+
+ament_add_gtest(test_time rclcpp/test_time.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_time)
+  ament_target_dependencies(test_time
+    "rcl")
+  target_link_libraries(test_time ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_timer rclcpp/test_timer.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_timer)
+  ament_target_dependencies(test_timer
+    "rcl")
+  target_link_libraries(test_timer ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_time_source rclcpp/test_time_source.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_time_source)
+  ament_target_dependencies(test_time_source
+    "rcl")
+  target_link_libraries(test_time_source ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_utilities rclcpp/test_utilities.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_utilities)
+  ament_target_dependencies(test_utilities
+    "rcl")
+  target_link_libraries(test_utilities ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_init rclcpp/test_init.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_init)
+  ament_target_dependencies(test_init
+    "rcl")
+  target_link_libraries(test_init ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_interface_traits rclcpp/test_interface_traits.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_interface_traits)
+  ament_target_dependencies(test_interface_traits
+    "rcl")
+  target_link_libraries(test_interface_traits ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_multi_threaded_executor rclcpp/executors/test_multi_threaded_executor.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_multi_threaded_executor)
+  ament_target_dependencies(test_multi_threaded_executor
+    "rcl")
+  target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_guard_condition rclcpp/test_guard_condition.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_guard_condition)
+  target_link_libraries(test_guard_condition ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_timer_count rclcpp/test_timer_call_count.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_timer_count)
+  target_link_libraries(test_timer_count ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_wait_set rclcpp/test_wait_set.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_wait_set)
+  ament_target_dependencies(test_wait_set "test_msgs")
+  target_link_libraries(test_wait_set ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_subscription_topic_statistics rclcpp/topic_statistics/test_subscription_topic_statistics.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}"
+)
+if(TARGET test_subscription_topic_statistics)
+  ament_target_dependencies(test_subscription_topic_statistics
+    "builtin_interfaces"
+    "libstatistics_collector"
+    "rcl_interfaces"
+    "rcutils"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "statistics_msgs"
+    "test_msgs")
+  rosidl_target_interfaces(test_subscription_topic_statistics ${PROJECT_NAME}_test_msgs "rosidl_typesupport_cpp")
+  target_link_libraries(test_subscription_topic_statistics ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_subscription_options rclcpp/test_subscription_options.cpp)
+if(TARGET test_subscription_options)
+  ament_target_dependencies(test_subscription_options "rcl")
+  target_link_libraries(test_subscription_options ${PROJECT_NAME})
 endif()
 
 # Install test resources

rclcpp/test/benchmark/CMakeLists.txt

@@ -1,44 +0,0 @@
-find_package(ament_cmake_google_benchmark REQUIRED)
-find_package(performance_test_fixture REQUIRED)
-
-# These benchmarks are only being created and run for the default RMW
-# implementation. We are looking to test the performance of the ROS 2 code, not
-# the underlying middleware.
-
-add_performance_test(benchmark_client benchmark_client.cpp)
-if(TARGET benchmark_client)
-  target_link_libraries(benchmark_client ${PROJECT_NAME})
-  ament_target_dependencies(benchmark_client test_msgs rcl_interfaces)
-endif()
-
-add_performance_test(benchmark_executor benchmark_executor.cpp)
-if(TARGET benchmark_executor)
-  target_link_libraries(benchmark_executor ${PROJECT_NAME})
-  ament_target_dependencies(benchmark_executor test_msgs)
-endif()
-
-add_performance_test(benchmark_init_shutdown benchmark_init_shutdown.cpp)
-if(TARGET benchmark_init_shutdown)
-  target_link_libraries(benchmark_init_shutdown ${PROJECT_NAME})
-endif()
-
-add_performance_test(benchmark_node benchmark_node.cpp)
-if(TARGET benchmark_node)
-  target_link_libraries(benchmark_node ${PROJECT_NAME})
-endif()
-
-add_performance_test(benchmark_node_parameters_interface benchmark_node_parameters_interface.cpp)
-if(TARGET benchmark_node_parameters_interface)
-  target_link_libraries(benchmark_node_parameters_interface ${PROJECT_NAME})
-endif()
-
-ament_add_google_benchmark(benchmark_parameter_client benchmark_parameter_client.cpp)
-if(TARGET benchmark_parameter_client)
-  target_link_libraries(benchmark_parameter_client ${PROJECT_NAME})
-endif()
-
-add_performance_test(benchmark_service benchmark_service.cpp)
-if(TARGET benchmark_service)
-  target_link_libraries(benchmark_service ${PROJECT_NAME})
-  ament_target_dependencies(benchmark_service test_msgs rcl_interfaces)
-endif()

rclcpp/test/benchmark/benchmark_client.cpp

@@ -1,153 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <memory>
-#include <string>
-
-#include "performance_test_fixture/performance_test_fixture.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "test_msgs/srv/empty.hpp"
-
-using performance_test_fixture::PerformanceTest;
-
-constexpr char empty_service_name[] = "empty_service";
-
-class ClientPerformanceTest : public PerformanceTest
-{
-public:
-  explicit ClientPerformanceTest(rclcpp::NodeOptions = rclcpp::NodeOptions()) {}
-  void SetUp(benchmark::State & state)
-  {
-    rclcpp::init(0, nullptr);
-    node = std::make_unique<rclcpp::Node>("node", "ns");
-
-    auto empty_service_callback =
-      [](
-      const test_msgs::srv::Empty::Request::SharedPtr,
-      test_msgs::srv::Empty::Response::SharedPtr) {};
-    empty_service =
-      node->create_service<test_msgs::srv::Empty>(empty_service_name, empty_service_callback);
-
-    performance_test_fixture::PerformanceTest::SetUp(state);
-  }
-
-  void TearDown(benchmark::State & state)
-  {
-    performance_test_fixture::PerformanceTest::TearDown(state);
-    empty_service.reset();
-    node.reset();
-    rclcpp::shutdown();
-  }
-
-protected:
-  std::unique_ptr<rclcpp::Node> node;
-  std::shared_ptr<rclcpp::Service<test_msgs::srv::Empty>> empty_service;
-};
-
-BENCHMARK_F(ClientPerformanceTest, construct_client_no_service)(benchmark::State & state) {
-  // Prime cache
-  auto outer_client = node->create_client<test_msgs::srv::Empty>("not_an_existing_service");
-  outer_client.reset();
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    auto client = node->create_client<test_msgs::srv::Empty>("not_an_existing_service");
-    benchmark::DoNotOptimize(client);
-    benchmark::ClobberMemory();
-
-    state.PauseTiming();
-    client.reset();
-    state.ResumeTiming();
-  }
-}
-
-BENCHMARK_F(ClientPerformanceTest, construct_client_empty_srv)(benchmark::State & state) {
-  // Prime cache
-  auto outer_client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
-  outer_client.reset();
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    auto client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
-    benchmark::DoNotOptimize(client);
-    benchmark::ClobberMemory();
-
-    state.PauseTiming();
-    client.reset();
-    state.ResumeTiming();
-  }
-}
-
-BENCHMARK_F(ClientPerformanceTest, destroy_client_empty_srv)(benchmark::State & state) {
-  // Prime cache
-  auto outer_client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
-  outer_client.reset();
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    state.PauseTiming();
-    auto client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
-    state.ResumeTiming();
-    benchmark::DoNotOptimize(client);
-    benchmark::ClobberMemory();
-
-    client.reset();
-  }
-}
-
-BENCHMARK_F(ClientPerformanceTest, wait_for_service)(benchmark::State & state) {
-  int count = 0;
-  for (auto _ : state) {
-    state.PauseTiming();
-    const std::string service_name = std::string("service_") + std::to_string(count++);
-    // Create client before service so it has to 'discover' the service after construction
-    auto client = node->create_client<test_msgs::srv::Empty>(service_name);
-    auto callback =
-      [](
-      const test_msgs::srv::Empty::Request::SharedPtr,
-      test_msgs::srv::Empty::Response::SharedPtr) {};
-    auto service =
-      node->create_service<test_msgs::srv::Empty>(service_name, callback);
-    state.ResumeTiming();
-
-    client->wait_for_service(std::chrono::seconds(1));
-    benchmark::ClobberMemory();
-  }
-}
-
-BENCHMARK_F(ClientPerformanceTest, async_send_request_only)(benchmark::State & state) {
-  auto client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
-  auto shared_request = std::make_shared<test_msgs::srv::Empty::Request>();
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    auto future = client->async_send_request(shared_request);
-    benchmark::DoNotOptimize(future);
-    benchmark::ClobberMemory();
-  }
-}
-
-BENCHMARK_F(ClientPerformanceTest, async_send_request_and_response)(benchmark::State & state) {
-  auto client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
-  auto shared_request = std::make_shared<test_msgs::srv::Empty::Request>();
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    auto future = client->async_send_request(shared_request);
-    rclcpp::spin_until_future_complete(
-      node->get_node_base_interface(), future, std::chrono::seconds(1));
-    benchmark::DoNotOptimize(future);
-    benchmark::ClobberMemory();
-  }
-}

rclcpp/test/benchmark/benchmark_executor.cpp

@@ -1,390 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "performance_test_fixture/performance_test_fixture.hpp"
-
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp/scope_exit.hpp"
-#include "test_msgs/msg/empty.hpp"
-
-using namespace std::chrono_literals;
-using performance_test_fixture::PerformanceTest;
-
-constexpr unsigned int kNumberOfNodes = 10;
-
-class PerformanceTestExecutor : public PerformanceTest
-{
-public:
-  void SetUp(benchmark::State & st)
-  {
-    rclcpp::init(0, nullptr);
-    callback_count = 0;
-    for (unsigned int i = 0u; i < kNumberOfNodes; i++) {
-      nodes.push_back(std::make_shared<rclcpp::Node>("my_node_" + std::to_string(i)));
-
-      publishers.push_back(
-        nodes[i]->create_publisher<test_msgs::msg::Empty>(
-          "/empty_msgs_" + std::to_string(i), rclcpp::QoS(10)));
-
-      auto callback = [this](test_msgs::msg::Empty::SharedPtr) {this->callback_count++;};
-      subscriptions.push_back(
-        nodes[i]->create_subscription<test_msgs::msg::Empty>(
-          "/empty_msgs_" + std::to_string(i), rclcpp::QoS(10), std::move(callback)));
-    }
-    PerformanceTest::SetUp(st);
-  }
-  void TearDown(benchmark::State & st)
-  {
-    PerformanceTest::TearDown(st);
-    subscriptions.clear();
-    publishers.clear();
-    nodes.clear();
-    rclcpp::shutdown();
-  }
-
-  test_msgs::msg::Empty empty_msgs;
-  std::vector<rclcpp::Node::SharedPtr> nodes;
-  std::vector<rclcpp::Publisher<test_msgs::msg::Empty>::SharedPtr> publishers;
-  std::vector<rclcpp::Subscription<test_msgs::msg::Empty>::SharedPtr> subscriptions;
-  int callback_count;
-};
-
-BENCHMARK_F(PerformanceTestExecutor, single_thread_executor_spin_some)(benchmark::State & st)
-{
-  rclcpp::executors::SingleThreadedExecutor executor;
-  for (unsigned int i = 0u; i < kNumberOfNodes; i++) {
-    executor.add_node(nodes[i]);
-    publishers[i]->publish(empty_msgs);
-    executor.spin_some(100ms);
-  }
-
-  callback_count = 0;
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    st.PauseTiming();
-    for (unsigned int i = 0u; i < kNumberOfNodes; i++) {
-      publishers[i]->publish(empty_msgs);
-    }
-    st.ResumeTiming();
-
-    executor.spin_some(100ms);
-  }
-  if (callback_count == 0) {
-    st.SkipWithError("No message was received");
-  }
-}
-
-BENCHMARK_F(PerformanceTestExecutor, multi_thread_executor_spin_some)(benchmark::State & st)
-{
-  rclcpp::executors::MultiThreadedExecutor executor;
-  for (unsigned int i = 0u; i < kNumberOfNodes; i++) {
-    executor.add_node(nodes[i]);
-    publishers[i]->publish(empty_msgs);
-    executor.spin_some(100ms);
-  }
-
-  callback_count = 0;
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    st.PauseTiming();
-    for (unsigned int i = 0u; i < kNumberOfNodes; i++) {
-      publishers[i]->publish(empty_msgs);
-    }
-    st.ResumeTiming();
-
-    executor.spin_some(100ms);
-  }
-  if (callback_count == 0) {
-    st.SkipWithError("No message was received");
-  }
-}
-
-class PerformanceTestExecutorSimple : public PerformanceTest
-{
-public:
-  void SetUp(benchmark::State & st)
-  {
-    rclcpp::init(0, nullptr);
-    node = std::make_shared<rclcpp::Node>("my_node");
-
-    PerformanceTest::SetUp(st);
-  }
-  void TearDown(benchmark::State & st)
-  {
-    PerformanceTest::TearDown(st);
-    node.reset();
-    rclcpp::shutdown();
-  }
-
-  rclcpp::Node::SharedPtr node;
-};
-
-
-BENCHMARK_F(PerformanceTestExecutorSimple, single_thread_executor_add_node)(benchmark::State & st)
-{
-  rclcpp::executors::SingleThreadedExecutor executor;
-  for (auto _ : st) {
-    executor.add_node(node);
-    st.PauseTiming();
-    executor.remove_node(node);
-    st.ResumeTiming();
-  }
-}
-
-BENCHMARK_F(
-  PerformanceTestExecutorSimple, single_thread_executor_remove_node)(benchmark::State & st)
-{
-  rclcpp::executors::SingleThreadedExecutor executor;
-  for (auto _ : st) {
-    st.PauseTiming();
-    executor.add_node(node);
-    st.ResumeTiming();
-    executor.remove_node(node);
-  }
-}
-
-BENCHMARK_F(PerformanceTestExecutorSimple, multi_thread_executor_add_node)(benchmark::State & st)
-{
-  rclcpp::executors::MultiThreadedExecutor executor;
-  for (auto _ : st) {
-    executor.add_node(node);
-    st.PauseTiming();
-    executor.remove_node(node);
-    st.ResumeTiming();
-  }
-}
-
-BENCHMARK_F(PerformanceTestExecutorSimple, multi_thread_executor_remove_node)(benchmark::State & st)
-{
-  rclcpp::executors::MultiThreadedExecutor executor;
-  for (auto _ : st) {
-    st.PauseTiming();
-    executor.add_node(node);
-    st.ResumeTiming();
-    executor.remove_node(node);
-  }
-}
-
-BENCHMARK_F(
-  PerformanceTestExecutorSimple,
-  static_single_thread_executor_add_node)(benchmark::State & st)
-{
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  for (auto _ : st) {
-    executor.add_node(node);
-    st.PauseTiming();
-    executor.remove_node(node);
-    st.ResumeTiming();
-  }
-}
-
-BENCHMARK_F(
-  PerformanceTestExecutorSimple,
-  static_single_thread_executor_remove_node)(benchmark::State & st)
-{
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  for (auto _ : st) {
-    st.PauseTiming();
-    executor.add_node(node);
-    st.ResumeTiming();
-    executor.remove_node(node);
-  }
-}
-
-BENCHMARK_F(
-  PerformanceTestExecutorSimple,
-  static_single_thread_executor_spin_until_future_complete)(benchmark::State & st)
-{
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  // test success of an immediately finishing future
-  std::promise<bool> promise;
-  std::future<bool> future = promise.get_future();
-  promise.set_value(true);
-  auto shared_future = future.share();
-
-  auto ret = executor.spin_until_future_complete(shared_future, 100ms);
-  if (ret != rclcpp::FutureReturnCode::SUCCESS) {
-    st.SkipWithError(rcutils_get_error_string().str);
-  }
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    // static_single_thread_executor has a special design. We need to add/remove the node each
-    // time you call spin
-    st.PauseTiming();
-    executor.add_node(node);
-    st.ResumeTiming();
-
-    ret = executor.spin_until_future_complete(shared_future, 100ms);
-    if (ret != rclcpp::FutureReturnCode::SUCCESS) {
-      st.SkipWithError(rcutils_get_error_string().str);
-      break;
-    }
-    st.PauseTiming();
-    executor.remove_node(node);
-    st.ResumeTiming();
-  }
-}
-
-BENCHMARK_F(
-  PerformanceTestExecutorSimple,
-  single_thread_executor_spin_node_until_future_complete)(benchmark::State & st)
-{
-  rclcpp::executors::SingleThreadedExecutor executor;
-  // test success of an immediately finishing future
-  std::promise<bool> promise;
-  std::future<bool> future = promise.get_future();
-  promise.set_value(true);
-  auto shared_future = future.share();
-
-  auto ret = rclcpp::executors::spin_node_until_future_complete(
-    executor, node, shared_future, 1s);
-  if (ret != rclcpp::FutureReturnCode::SUCCESS) {
-    st.SkipWithError(rcutils_get_error_string().str);
-  }
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    ret = rclcpp::executors::spin_node_until_future_complete(
-      executor, node, shared_future, 1s);
-    if (ret != rclcpp::FutureReturnCode::SUCCESS) {
-      st.SkipWithError(rcutils_get_error_string().str);
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(
-  PerformanceTestExecutorSimple,
-  multi_thread_executor_spin_node_until_future_complete)(benchmark::State & st)
-{
-  rclcpp::executors::MultiThreadedExecutor executor;
-  // test success of an immediately finishing future
-  std::promise<bool> promise;
-  std::future<bool> future = promise.get_future();
-  promise.set_value(true);
-  auto shared_future = future.share();
-
-  auto ret = rclcpp::executors::spin_node_until_future_complete(
-    executor, node, shared_future, 1s);
-  if (ret != rclcpp::FutureReturnCode::SUCCESS) {
-    st.SkipWithError(rcutils_get_error_string().str);
-  }
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    ret = rclcpp::executors::spin_node_until_future_complete(
-      executor, node, shared_future, 1s);
-    if (ret != rclcpp::FutureReturnCode::SUCCESS) {
-      st.SkipWithError(rcutils_get_error_string().str);
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(
-  PerformanceTestExecutorSimple,
-  static_single_thread_executor_spin_node_until_future_complete)(benchmark::State & st)
-{
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  // test success of an immediately finishing future
-  std::promise<bool> promise;
-  std::future<bool> future = promise.get_future();
-  promise.set_value(true);
-  auto shared_future = future.share();
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    auto ret = rclcpp::executors::spin_node_until_future_complete(
-      executor, node, shared_future, 1s);
-    if (ret != rclcpp::FutureReturnCode::SUCCESS) {
-      st.SkipWithError(rcutils_get_error_string().str);
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(PerformanceTestExecutorSimple, spin_until_future_complete)(benchmark::State & st)
-{
-  // test success of an immediately finishing future
-  std::promise<bool> promise;
-  std::future<bool> future = promise.get_future();
-  promise.set_value(true);
-  auto shared_future = future.share();
-
-  auto ret = rclcpp::spin_until_future_complete(node, shared_future, 1s);
-  if (ret != rclcpp::FutureReturnCode::SUCCESS) {
-    st.SkipWithError(rcutils_get_error_string().str);
-  }
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    ret = rclcpp::spin_until_future_complete(node, shared_future, 1s);
-    if (ret != rclcpp::FutureReturnCode::SUCCESS) {
-      st.SkipWithError(rcutils_get_error_string().str);
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(
-  PerformanceTestExecutorSimple,
-  static_executor_entities_collector_execute)(benchmark::State & st)
-{
-  rclcpp::executors::StaticExecutorEntitiesCollector::SharedPtr entities_collector_ =
-    std::make_shared<rclcpp::executors::StaticExecutorEntitiesCollector>();
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  rcl_ret_t ret = rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator);
-  if (ret != RCL_RET_OK) {
-    st.SkipWithError(rcutils_get_error_string().str);
-  }
-  RCLCPP_SCOPE_EXIT(
-  {
-    rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
-    if (ret != RCL_RET_OK) {
-      st.SkipWithError(rcutils_get_error_string().str);
-    }
-  });
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
-
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
-
-  reset_heap_counters();
-
-  for (auto _ : st) {
-    std::shared_ptr<void> data = entities_collector_->take_data();
-    entities_collector_->execute(data);
-  }
-}

rclcpp/test/benchmark/benchmark_init_shutdown.cpp

@@ -1,53 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "performance_test_fixture/performance_test_fixture.hpp"
-
-#include "rclcpp/rclcpp.hpp"
-
-using performance_test_fixture::PerformanceTest;
-
-BENCHMARK_F(PerformanceTest, rclcpp_init)(benchmark::State & state)
-{
-  // Warmup and prime caches
-  rclcpp::init(0, nullptr);
-  rclcpp::shutdown();
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    rclcpp::init(0, nullptr);
-
-    state.PauseTiming();
-    rclcpp::shutdown();
-    state.ResumeTiming();
-    benchmark::ClobberMemory();
-  }
-}
-
-BENCHMARK_F(PerformanceTest, rclcpp_shutdown)(benchmark::State & state)
-{
-  // Warmup and prime caches
-  rclcpp::init(0, nullptr);
-  rclcpp::shutdown();
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    state.PauseTiming();
-    rclcpp::init(0, nullptr);
-    state.ResumeTiming();
-
-    rclcpp::shutdown();
-    benchmark::ClobberMemory();
-  }
-}

rclcpp/test/benchmark/benchmark_node.cpp

@@ -1,77 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <memory>
-#include <string>
-
-#include "performance_test_fixture/performance_test_fixture.hpp"
-#include "rclcpp/rclcpp.hpp"
-
-using performance_test_fixture::PerformanceTest;
-
-class NodePerformanceTest : public PerformanceTest
-{
-public:
-  void SetUp(benchmark::State & state)
-  {
-    rclcpp::init(0, nullptr);
-    performance_test_fixture::PerformanceTest::SetUp(state);
-  }
-
-  void TearDown(benchmark::State & state)
-  {
-    performance_test_fixture::PerformanceTest::TearDown(state);
-    rclcpp::shutdown();
-  }
-};
-
-BENCHMARK_F(NodePerformanceTest, create_node)(benchmark::State & state)
-{
-  // Warmup and prime caches
-  auto outer_node = std::make_shared<rclcpp::Node>("node");
-  outer_node.reset();
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    // Using pointer to separate construction and destruction in timing
-    auto node = std::make_shared<rclcpp::Node>("node");
-    benchmark::DoNotOptimize(node);
-    benchmark::ClobberMemory();
-
-    // Ensure destruction of node is not counted toward timing
-    state.PauseTiming();
-    node.reset();
-    state.ResumeTiming();
-  }
-}
-
-BENCHMARK_F(NodePerformanceTest, destroy_node)(benchmark::State & state)
-{
-  // Warmup and prime caches
-  auto outer_node = std::make_shared<rclcpp::Node>("node");
-  outer_node.reset();
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    // Using pointer to separate construction and destruction in timing
-    state.PauseTiming();
-    auto node = std::make_shared<rclcpp::Node>("node");
-    state.ResumeTiming();
-
-    benchmark::DoNotOptimize(node);
-    benchmark::ClobberMemory();
-
-    node.reset();
-  }
-}

rclcpp/test/benchmark/benchmark_node_parameters_interface.cpp

@@ -1,262 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <memory>
-#include <string>
-#include <vector>
-
-#include "performance_test_fixture/performance_test_fixture.hpp"
-
-#include "rclcpp/rclcpp.hpp"
-
-class NodeParametersInterfaceTest : public performance_test_fixture::PerformanceTest
-{
-public:
-  NodeParametersInterfaceTest()
-  : node_name("my_node"),
-    param_prefix("my_prefix"),
-    param1_name(param_prefix + ".my_param_1"),
-    param2_name(param_prefix + ".my_param_2"),
-    param3_name(param_prefix + ".my_param_3")
-  {
-  }
-
-  void SetUp(benchmark::State & state)
-  {
-    rclcpp::init(0, nullptr);
-    node = std::make_shared<rclcpp::Node>(node_name);
-
-    node->declare_parameter(param1_name);
-    node->declare_parameter(param2_name);
-    node->declare_parameter(param3_name);
-    node->undeclare_parameter(param3_name);
-
-    performance_test_fixture::PerformanceTest::SetUp(state);
-  }
-
-  void TearDown(benchmark::State & state)
-  {
-    performance_test_fixture::PerformanceTest::TearDown(state);
-
-    node.reset();
-    rclcpp::shutdown();
-  }
-
-  const std::string node_name;
-  const std::string param_prefix;
-  const std::string param1_name;
-  const std::string param2_name;
-  const std::string param3_name;
-
-protected:
-  rclcpp::Node::SharedPtr node;
-};
-
-BENCHMARK_F(NodeParametersInterfaceTest, declare_undeclare)(benchmark::State & state)
-{
-  for (auto _ : state) {
-    node->declare_parameter(param3_name);
-    node->undeclare_parameter(param3_name);
-  }
-}
-
-BENCHMARK_F(NodeParametersInterfaceTest, has_parameter_hit)(benchmark::State & state)
-{
-  for (auto _ : state) {
-    if (!node->has_parameter(param1_name)) {
-      state.SkipWithError("Parameter was expected");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(NodeParametersInterfaceTest, has_parameter_miss)(benchmark::State & state)
-{
-  for (auto _ : state) {
-    if (node->has_parameter(param3_name)) {
-      state.SkipWithError("Parameter was not expected");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(NodeParametersInterfaceTest, set_parameters_bool)(benchmark::State & state)
-{
-  const std::vector<rclcpp::Parameter> param_values1
-  {
-    rclcpp::Parameter(param1_name, true),
-    rclcpp::Parameter(param2_name, false),
-  };
-  const std::vector<rclcpp::Parameter> param_values2
-  {
-    rclcpp::Parameter(param1_name, false),
-    rclcpp::Parameter(param2_name, true),
-  };
-
-  reset_heap_counters();
-
-  for (auto _ : state) {
-    node->set_parameters(param_values2);
-    node->set_parameters(param_values1);
-  }
-}
-
-BENCHMARK_F(NodeParametersInterfaceTest, set_parameters_atomically_bool)(benchmark::State & state)
-{
-  const std::vector<rclcpp::Parameter> param_values1
-  {
-    rclcpp::Parameter(param1_name, true),
-    rclcpp::Parameter(param2_name, false),
-  };
-  const std::vector<rclcpp::Parameter> param_values2
-  {
-    rclcpp::Parameter(param1_name, false),
-    rclcpp::Parameter(param2_name, true),
-  };
-
-  reset_heap_counters();
-
-  for (auto _ : state) {
-    node->set_parameters_atomically(param_values2);
-    node->set_parameters_atomically(param_values1);
-  }
-}
-
-BENCHMARK_F(NodeParametersInterfaceTest, set_parameters_callback_bool)(benchmark::State & state)
-{
-  const std::vector<rclcpp::Parameter> param_values1
-  {
-    rclcpp::Parameter(param1_name, true),
-    rclcpp::Parameter(param2_name, false),
-  };
-  const std::vector<rclcpp::Parameter> param_values2
-  {
-    rclcpp::Parameter(param1_name, false),
-    rclcpp::Parameter(param2_name, true),
-  };
-
-  rcl_interfaces::msg::SetParametersResult callback_result;
-  bool callback_received = false;
-  callback_result.successful = true;
-  auto callback =
-    [&callback_result, &callback_received](const std::vector<rclcpp::Parameter> &) {
-      callback_received = true;
-      return callback_result;
-    };
-  auto handle = node->add_on_set_parameters_callback(callback);
-
-  reset_heap_counters();
-
-  for (auto _ : state) {
-    node->set_parameters(param_values2);
-    node->set_parameters(param_values1);
-  }
-
-  if (!callback_received) {
-    state.SkipWithError("Callback is not functioning");
-  }
-
-  node->remove_on_set_parameters_callback(handle.get());
-}
-
-BENCHMARK_F(NodeParametersInterfaceTest, set_parameters_string)(benchmark::State & state)
-{
-  const std::vector<rclcpp::Parameter> param_values1
-  {
-    rclcpp::Parameter(param1_name, "param 1 value A"),
-    rclcpp::Parameter(param2_name, "param 2 value B"),
-  };
-  const std::vector<rclcpp::Parameter> param_values2
-  {
-    rclcpp::Parameter(param1_name, "param 1 value B"),
-    rclcpp::Parameter(param2_name, "param 2 value A"),
-  };
-
-  reset_heap_counters();
-
-  for (auto _ : state) {
-    node->set_parameters(param_values2);
-    node->set_parameters(param_values1);
-  }
-}
-
-BENCHMARK_F(NodeParametersInterfaceTest, set_parameters_array)(benchmark::State & state)
-{
-  const std::vector<rclcpp::Parameter> param_values1
-  {
-    rclcpp::Parameter(param1_name, std::vector<int> {0, 1, 2}),
-    rclcpp::Parameter(param2_name, std::vector<int> {3, 4, 5}),
-  };
-  const std::vector<rclcpp::Parameter> param_values2
-  {
-    rclcpp::Parameter(param1_name, std::vector<int> {4, 5, 6}),
-    rclcpp::Parameter(param2_name, std::vector<int> {7, 8, 9}),
-  };
-
-  reset_heap_counters();
-
-  for (auto _ : state) {
-    node->set_parameters(param_values2);
-    node->set_parameters(param_values1);
-  }
-}
-
-BENCHMARK_F(NodeParametersInterfaceTest, get_parameter)(benchmark::State & state)
-{
-  rclcpp::Parameter param1_value;
-
-  reset_heap_counters();
-
-  for (auto _ : state) {
-    node->get_parameter(param1_name, param1_value);
-  }
-}
-
-BENCHMARK_F(NodeParametersInterfaceTest, list_parameters_hit)(benchmark::State & state)
-{
-  rcl_interfaces::msg::ListParametersResult param_list;
-  const std::vector<std::string> prefixes
-  {
-    param_prefix,
-  };
-
-  reset_heap_counters();
-
-  for (auto _ : state) {
-    param_list = node->list_parameters(prefixes, 10);
-    if (param_list.names.size() != 2) {
-      state.SkipWithError("Expected node names");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(NodeParametersInterfaceTest, list_parameters_miss)(benchmark::State & state)
-{
-  rcl_interfaces::msg::ListParametersResult param_list;
-  const std::vector<std::string> prefixes
-  {
-    "your_param",
-  };
-
-  reset_heap_counters();
-
-  for (auto _ : state) {
-    param_list = node->list_parameters(prefixes, 10);
-    if (param_list.names.size() != 0) {
-      state.SkipWithError("Expected no node names");
-      break;
-    }
-  }
-}

rclcpp/test/benchmark/benchmark_parameter_client.cpp

@@ -1,324 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <memory>
-#include <vector>
-#include <string>
-
-#include "benchmark/benchmark.h"
-
-#include "rclcpp/rclcpp.hpp"
-
-class RemoteNodeTest : public benchmark::Fixture
-{
-public:
-  RemoteNodeTest()
-  : remote_node_name("my_remote_node")
-  {
-  }
-
-#ifdef __GNUC__
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Woverloaded-virtual"
-#endif
-  void SetUp(benchmark::State &)
-  {
-    remote_context = std::make_shared<rclcpp::Context>();
-    remote_context->init(0, nullptr, rclcpp::InitOptions().auto_initialize_logging(false));
-
-    rclcpp::ExecutorOptions exec_options;
-    exec_options.context = remote_context;
-
-    remote_executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>(exec_options);
-
-    remote_node = std::make_shared<rclcpp::Node>(
-      remote_node_name, rclcpp::NodeOptions().context(remote_context));
-    remote_executor->add_node(remote_node);
-
-    remote_thread = std::thread(&rclcpp::executors::SingleThreadedExecutor::spin, remote_executor);
-  }
-
-  void TearDown(benchmark::State &)
-  {
-    remote_executor->cancel();
-    remote_context->shutdown("Test is complete");
-    remote_thread.join();
-
-    remote_node.reset();
-    remote_executor.reset();
-    remote_context.reset();
-  }
-#ifdef __GNUC__
-#pragma GCC diagnostic pop
-#endif
-
-  const std::string remote_node_name;
-
-protected:
-  rclcpp::Context::SharedPtr remote_context;
-  rclcpp::executors::SingleThreadedExecutor::SharedPtr remote_executor;
-  rclcpp::Node::SharedPtr remote_node;
-  std::thread remote_thread;
-};
-
-class ParameterClientTest : public RemoteNodeTest
-{
-public:
-  ParameterClientTest()
-  : node_name("my_node"),
-    param_prefix("my_prefix"),
-    param1_name(param_prefix + ".my_param_1"),
-    param2_name(param_prefix + ".my_param_2"),
-    param3_name(param_prefix + ".my_param_3")
-  {
-  }
-
-  void SetUp(benchmark::State & state)
-  {
-    RemoteNodeTest::SetUp(state);
-
-    rclcpp::init(0, nullptr);
-    node = std::make_shared<rclcpp::Node>(node_name);
-
-    remote_node->declare_parameter(
-      param1_name, rclcpp::ParameterValue("param1_value"));
-    remote_node->declare_parameter(
-      param2_name, rclcpp::ParameterValue(std::vector<int> {1, 2, 3}));
-    remote_node->declare_parameter(param3_name);
-    remote_node->undeclare_parameter(param3_name);
-
-    params_client = std::make_shared<rclcpp::SyncParametersClient>(node, remote_node_name);
-
-    if (!params_client->wait_for_service()) {
-      state.SkipWithError("Client failed to become ready");
-    }
-  }
-
-  void TearDown(benchmark::State & state)
-  {
-    RemoteNodeTest::TearDown(state);
-
-    rclcpp::shutdown();
-    node.reset();
-    params_client.reset();
-  }
-
-  const std::string node_name;
-  const std::string param_prefix;
-  const std::string param1_name;
-  const std::string param2_name;
-  const std::string param3_name;
-
-protected:
-  rclcpp::Node::SharedPtr node;
-  rclcpp::SyncParametersClient::SharedPtr params_client;
-};
-
-static bool result_is_successful(rcl_interfaces::msg::SetParametersResult result)
-{
-  return result.successful;
-}
-
-BENCHMARK_F(ParameterClientTest, create_destroy_client)(benchmark::State & state)
-{
-  for (auto _ : state) {
-    params_client.reset();
-    params_client = std::make_shared<rclcpp::SyncParametersClient>(node, remote_node_name);
-    if (!params_client->wait_for_service()) {
-      state.SkipWithError("Client failed to become ready");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(ParameterClientTest, has_parameter_hit)(benchmark::State & state)
-{
-  for (auto _ : state) {
-    if (!params_client->has_parameter(param1_name)) {
-      state.SkipWithError("Parameter was expected");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(ParameterClientTest, has_parameter_miss)(benchmark::State & state)
-{
-  for (auto _ : state) {
-    if (params_client->has_parameter(param3_name)) {
-      state.SkipWithError("Parameter was not expected");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(ParameterClientTest, set_parameters_bool)(benchmark::State & state)
-{
-  const std::vector<rclcpp::Parameter> param_values1
-  {
-    rclcpp::Parameter(param1_name, true),
-    rclcpp::Parameter(param2_name, false),
-  };
-  const std::vector<rclcpp::Parameter> param_values2
-  {
-    rclcpp::Parameter(param1_name, false),
-    rclcpp::Parameter(param2_name, true),
-  };
-
-  for (auto _ : state) {
-    std::vector<rcl_interfaces::msg::SetParametersResult> results =
-      params_client->set_parameters(param_values2);
-    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
-      state.SkipWithError("Failed to set one or more parameters");
-      break;
-    }
-
-    results = params_client->set_parameters(param_values1);
-    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
-      state.SkipWithError("Failed to set one or more parameters");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(ParameterClientTest, set_parameters_atomically_bool)(benchmark::State & state)
-{
-  const std::vector<rclcpp::Parameter> param_values1
-  {
-    rclcpp::Parameter(param1_name, true),
-    rclcpp::Parameter(param2_name, false),
-  };
-  const std::vector<rclcpp::Parameter> param_values2
-  {
-    rclcpp::Parameter(param1_name, false),
-    rclcpp::Parameter(param2_name, true),
-  };
-
-  for (auto _ : state) {
-    rcl_interfaces::msg::SetParametersResult result =
-      params_client->set_parameters_atomically(param_values2);
-    if (!result.successful) {
-      state.SkipWithError(("Failed to set parameters: " + result.reason).c_str());
-      break;
-    }
-
-    result = params_client->set_parameters_atomically(param_values1);
-    if (!result.successful) {
-      state.SkipWithError(("Failed to set parameters: " + result.reason).c_str());
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(ParameterClientTest, set_parameters_string)(benchmark::State & state)
-{
-  const std::vector<rclcpp::Parameter> param_values1
-  {
-    rclcpp::Parameter(param1_name, "param 1 value A"),
-    rclcpp::Parameter(param2_name, "param 2 value B"),
-  };
-  const std::vector<rclcpp::Parameter> param_values2
-  {
-    rclcpp::Parameter(param1_name, "param 1 value B"),
-    rclcpp::Parameter(param2_name, "param 2 value A"),
-  };
-
-  for (auto _ : state) {
-    std::vector<rcl_interfaces::msg::SetParametersResult> results =
-      params_client->set_parameters(param_values2);
-    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
-      state.SkipWithError("Failed to set one or more parameters");
-      break;
-    }
-
-    results = params_client->set_parameters(param_values1);
-    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
-      state.SkipWithError("Failed to set one or more parameters");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(ParameterClientTest, set_parameters_array)(benchmark::State & state)
-{
-  const std::vector<rclcpp::Parameter> param_values1
-  {
-    rclcpp::Parameter(param1_name, std::vector<int> {0, 1, 2}),
-    rclcpp::Parameter(param2_name, std::vector<int> {3, 4, 5}),
-  };
-  const std::vector<rclcpp::Parameter> param_values2
-  {
-    rclcpp::Parameter(param1_name, std::vector<int> {4, 5, 6}),
-    rclcpp::Parameter(param2_name, std::vector<int> {7, 8, 9}),
-  };
-
-  for (auto _ : state) {
-    std::vector<rcl_interfaces::msg::SetParametersResult> results =
-      params_client->set_parameters(param_values2);
-    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
-      state.SkipWithError("Failed to set one or more parameters");
-      break;
-    }
-
-    results = params_client->set_parameters(param_values1);
-    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
-      state.SkipWithError("Failed to set one or more parameters");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(ParameterClientTest, get_parameters)(benchmark::State & state)
-{
-  for (auto _ : state) {
-    std::vector<rclcpp::Parameter> results = params_client->get_parameters({param1_name});
-    if (results.size() != 1 || results[0].get_name() != param1_name) {
-      state.SkipWithError("Got the wrong parameter(s)");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(ParameterClientTest, list_parameters_hit)(benchmark::State & state)
-{
-  const std::vector<std::string> prefixes
-  {
-    param_prefix,
-  };
-
-  for (auto _ : state) {
-    rcl_interfaces::msg::ListParametersResult param_list =
-      params_client->list_parameters(prefixes, 10);
-    if (param_list.names.size() != 2) {
-      state.SkipWithError("Expected parameters");
-      break;
-    }
-  }
-}
-
-BENCHMARK_F(ParameterClientTest, list_parameters_miss)(benchmark::State & state)
-{
-  const std::vector<std::string> prefixes
-  {
-    "your_prefix",
-  };
-
-  for (auto _ : state) {
-    rcl_interfaces::msg::ListParametersResult param_list =
-      params_client->list_parameters(prefixes, 10);
-    if (param_list.names.size() != 0) {
-      state.SkipWithError("Expected no parameters");
-      break;
-    }
-  }
-}

rclcpp/test/benchmark/benchmark_service.cpp

@@ -1,141 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <memory>
-
-#include "performance_test_fixture/performance_test_fixture.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "test_msgs/srv/empty.hpp"
-
-using performance_test_fixture::PerformanceTest;
-
-constexpr char empty_service_name[] = "empty_service";
-
-class ServicePerformanceTest : public PerformanceTest
-{
-public:
-  ServicePerformanceTest()
-  : callback_count(0) {}
-
-  void SetUp(benchmark::State & state)
-  {
-    rclcpp::init(0, nullptr);
-    node = std::make_unique<rclcpp::Node>("node", "ns");
-    empty_client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
-    callback_count = 0;
-
-    performance_test_fixture::PerformanceTest::SetUp(state);
-  }
-
-  void TearDown(benchmark::State & state)
-  {
-    performance_test_fixture::PerformanceTest::TearDown(state);
-
-    empty_client.reset();
-    node.reset();
-    rclcpp::shutdown();
-  }
-
-  void ServiceCallback(
-    const test_msgs::srv::Empty::Request::SharedPtr,
-    test_msgs::srv::Empty::Response::SharedPtr)
-  {
-    callback_count++;
-  }
-
-protected:
-  std::unique_ptr<rclcpp::Node> node;
-  std::shared_ptr<rclcpp::Client<test_msgs::srv::Empty>> empty_client;
-  int callback_count;
-};
-
-BENCHMARK_F(ServicePerformanceTest, construct_service_no_client)(benchmark::State & state) {
-  auto callback = std::bind(
-    &ServicePerformanceTest::ServiceCallback,
-    this, std::placeholders::_1, std::placeholders::_2);
-
-  auto outer_service = node->create_service<test_msgs::srv::Empty>("not_a_service", callback);
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    auto service = node->create_service<test_msgs::srv::Empty>("not_a_service", callback);
-    benchmark::DoNotOptimize(service);
-    benchmark::ClobberMemory();
-
-    state.PauseTiming();
-    service.reset();
-    state.ResumeTiming();
-  }
-}
-
-BENCHMARK_F(ServicePerformanceTest, construct_service_empty_srv)(benchmark::State & state) {
-  auto callback = std::bind(
-    &ServicePerformanceTest::ServiceCallback,
-    this, std::placeholders::_1, std::placeholders::_2);
-  auto outer_service = node->create_service<test_msgs::srv::Empty>(empty_service_name, callback);
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    auto service = node->create_service<test_msgs::srv::Empty>(empty_service_name, callback);
-    benchmark::DoNotOptimize(service);
-    benchmark::ClobberMemory();
-
-    state.PauseTiming();
-    service.reset();
-    state.ResumeTiming();
-  }
-}
-
-BENCHMARK_F(ServicePerformanceTest, destroy_service_empty_srv)(benchmark::State & state) {
-  auto callback = std::bind(
-    &ServicePerformanceTest::ServiceCallback,
-    this, std::placeholders::_1, std::placeholders::_2);
-  auto outer_service = node->create_service<test_msgs::srv::Empty>(empty_service_name, callback);
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    state.PauseTiming();
-    auto service = node->create_service<test_msgs::srv::Empty>(empty_service_name, callback);
-    state.ResumeTiming();
-    benchmark::DoNotOptimize(service);
-    benchmark::ClobberMemory();
-
-    service.reset();
-  }
-}
-
-BENCHMARK_F(ServicePerformanceTest, async_send_response)(benchmark::State & state) {
-  auto callback = std::bind(
-    &ServicePerformanceTest::ServiceCallback,
-    this, std::placeholders::_1, std::placeholders::_2);
-  auto service = node->create_service<test_msgs::srv::Empty>(empty_service_name, callback);
-
-  reset_heap_counters();
-  for (auto _ : state) {
-    state.PauseTiming();
-    // Clear executor queue
-    rclcpp::spin_some(node->get_node_base_interface());
-
-    auto request = std::make_shared<test_msgs::srv::Empty::Request>();
-    auto future = empty_client->async_send_request(request);
-    state.ResumeTiming();
-    benchmark::DoNotOptimize(service);
-    benchmark::ClobberMemory();
-
-    rclcpp::spin_until_future_complete(node->get_node_base_interface(), future);
-  }
-  if (callback_count == 0) {
-    state.SkipWithError("Service callback was not called");
-  }
-}

rclcpp/test/mocking_utils/patch.hpp

@@ -1,578 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Original file taken from:
-// https://github.com/ros2/rcutils/blob/master/test/mocking_utils/patch.hpp
-
-#ifndef MOCKING_UTILS__PATCH_HPP_
-#define MOCKING_UTILS__PATCH_HPP_
-
-#define MOCKING_UTILS_SUPPORT_VA_LIST
-#if (defined(__aarch64__) || defined(__arm__) || defined(_M_ARM) || defined(__thumb__))
-// In ARM machines, va_list does not define comparison operators
-// nor the compiler allows defining them via operator overloads.
-// Thus, Mimick argument matching code will not compile.
-#undef MOCKING_UTILS_SUPPORT_VA_LIST
-#endif
-
-#ifdef MOCKING_UTILS_SUPPORT_VA_LIST
-#include <cstdarg>
-#endif
-
-#include <functional>
-#include <string>
-#include <type_traits>
-#include <utility>
-
-#include "mimick/mimick.h"
-
-#include "rcutils/error_handling.h"
-#include "rcutils/macros.h"
-
-namespace mocking_utils
-{
-
-/// Mimick specific traits for each mocking_utils::Patch instance.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam SignatureT Type of the symbol to be patched.
-*/
-template<size_t ID, typename SignatureT>
-struct PatchTraits;
-
-/// Traits specialization for ReturnT(void) free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- */
-template<size_t ID, typename ReturnT>
-struct PatchTraits<ID, ReturnT(void)>
-{
-  mmk_mock_define(mock_type, ReturnT);
-};
-
-/// Traits specialization for void(void) free functions.
-/**
- * Necessary for Mimick macros to adjust accordingly when the return
- * type is `void`.
- *
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- */
-template<size_t ID>
-struct PatchTraits<ID, void(void)>
-{
-  mmk_mock_define(mock_type, void);
-};
-
-/// Traits specialization for ReturnT(ArgT0) free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgT0 Argument type.
- */
-template<size_t ID, typename ReturnT, typename ArgT0>
-struct PatchTraits<ID, ReturnT(ArgT0)>
-{
-  mmk_mock_define(mock_type, ReturnT, ArgT0);
-};
-
-/// Traits specialization for void(ArgT0) free functions.
-/**
- * Necessary for Mimick macros to adjust accordingly when the return
- * type is `void`.
- *
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ArgT0 Argument type.
- */
-template<size_t ID, typename ArgT0>
-struct PatchTraits<ID, void(ArgT0)>
-{
-  mmk_mock_define(mock_type, void, ArgT0);
-};
-
-/// Traits specialization for ReturnT(ArgT0, ArgT1) free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ReturnT,
-  typename ArgT0, typename ArgT1>
-struct PatchTraits<ID, ReturnT(ArgT0, ArgT1)>
-{
-  mmk_mock_define(mock_type, ReturnT, ArgT0, ArgT1);
-};
-
-/// Traits specialization for void(ArgT0, ArgT1) free functions.
-/**
- * Necessary for Mimick macros to adjust accordingly when the return
- * type is `void`.
- *
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ArgT0, typename ArgT1>
-struct PatchTraits<ID, void(ArgT0, ArgT1)>
-{
-  mmk_mock_define(mock_type, void, ArgT0, ArgT1);
-};
-
-/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2) free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ReturnT,
-  typename ArgT0, typename ArgT1, typename ArgT2>
-struct PatchTraits<ID, ReturnT(ArgT0, ArgT1, ArgT2)>
-{
-  mmk_mock_define(mock_type, ReturnT, ArgT0, ArgT1, ArgT2);
-};
-
-/// Traits specialization for void(ArgT0, ArgT1, ArgT2) free functions.
-/**
- * Necessary for Mimick macros to adjust accordingly when the return
- * type is `void`.
- *
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ArgT0, typename ArgT1, typename ArgT2>
-struct PatchTraits<ID, void(ArgT0, ArgT1, ArgT2)>
-{
-  mmk_mock_define(mock_type, void, ArgT0, ArgT1, ArgT2);
-};
-
-/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3) free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ReturnT,
-  typename ArgT0, typename ArgT1,
-  typename ArgT2, typename ArgT3>
-struct PatchTraits<ID, ReturnT(ArgT0, ArgT1, ArgT2, ArgT3)>
-{
-  mmk_mock_define(mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3);
-};
-
-/// Traits specialization for void(ArgT0, ArgT1, ArgT2, ArgT3) free functions.
-/**
- * Necessary for Mimick macros to adjust accordingly when the return
- * type is `void`.
- *
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID,
-  typename ArgT0, typename ArgT1,
-  typename ArgT2, typename ArgT3>
-struct PatchTraits<ID, void(ArgT0, ArgT1, ArgT2, ArgT3)>
-{
-  mmk_mock_define(mock_type, void, ArgT0, ArgT1, ArgT2, ArgT3);
-};
-
-/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4)
-/// free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ReturnT,
-  typename ArgT0, typename ArgT1,
-  typename ArgT2, typename ArgT3, typename ArgT4>
-struct PatchTraits<ID, ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4)>
-{
-  mmk_mock_define(mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4);
-};
-
-/// Traits specialization for void(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4)
-/// free functions.
-/**
- * Necessary for Mimick macros to adjust accordingly when the return
- * type is `void`.
- *
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID,
-  typename ArgT0, typename ArgT1,
-  typename ArgT2, typename ArgT3, typename ArgT4>
-struct PatchTraits<ID, void(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4)>
-{
-  mmk_mock_define(mock_type, void, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4);
-};
-
-/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5)
-/// free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ReturnT,
-  typename ArgT0, typename ArgT1,
-  typename ArgT2, typename ArgT3,
-  typename ArgT4, typename ArgT5>
-struct PatchTraits<ID, ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5)>
-{
-  mmk_mock_define(
-    mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5);
-};
-
-/// Traits specialization for void(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5)
-/// free functions.
-/**
- * Necessary for Mimick macros to adjust accordingly when the return
- * type is `void`.
- *
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID,
-  typename ArgT0, typename ArgT1,
-  typename ArgT2, typename ArgT3,
-  typename ArgT4, typename ArgT5>
-struct PatchTraits<ID, void(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5)>
-{
-  mmk_mock_define(
-    mock_type, void, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5);
-};
-
-/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6)
-/// free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ReturnT,
-  typename ArgT0, typename ArgT1,
-  typename ArgT2, typename ArgT3,
-  typename ArgT4, typename ArgT5, typename ArgT6>
-struct PatchTraits<ID, ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6)>
-{
-  mmk_mock_define(
-    mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6);
-};
-
-/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7)
-/// free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ReturnT,
-  typename ArgT0, typename ArgT1,
-  typename ArgT2, typename ArgT3,
-  typename ArgT4, typename ArgT5,
-  typename ArgT6, typename ArgT7>
-struct PatchTraits<ID, ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7)>
-{
-  mmk_mock_define(
-    mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7);
-};
-
-/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7, ArgT8)
-/// free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ReturnT,
-  typename ArgT0, typename ArgT1,
-  typename ArgT2, typename ArgT3,
-  typename ArgT4, typename ArgT5,
-  typename ArgT6, typename ArgT7, typename ArgT8>
-struct PatchTraits<ID, ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7, ArgT8)>
-{
-  mmk_mock_define(
-    mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7, ArgT8);
-};
-
-/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7,
-/// ArgT8, ArgT9) free functions.
-/**
- * \tparam ID Numerical identifier of the patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgTx Argument types.
- */
-template<size_t ID, typename ReturnT,
-  typename ArgT0, typename ArgT1,
-  typename ArgT2, typename ArgT3,
-  typename ArgT4, typename ArgT5,
-  typename ArgT6, typename ArgT7,
-  typename ArgT8, typename ArgT9>
-struct PatchTraits<ID, ReturnT(
-    ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7, ArgT8, ArgT9)>
-{
-  mmk_mock_define(
-    mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7, ArgT8, ArgT9);
-};
-
-/// Generic trampoline to wrap generalized callables in plain functions.
-/**
- * \tparam ID Numerical identifier of this trampoline. Ought to be unique.
- * \tparam SignatureT Type of the symbol this trampoline replaces.
- */
-template<size_t ID, typename SignatureT>
-struct Trampoline;
-
-/// Trampoline specialization for free functions.
-template<size_t ID, typename ReturnT, typename ... ArgTs>
-struct Trampoline<ID, ReturnT(ArgTs...)>
-{
-  static ReturnT base(ArgTs... args)
-  {
-    return target(std::forward<ArgTs>(args)...);
-  }
-
-  static std::function<ReturnT(ArgTs...)> target;
-};
-
-template<size_t ID, typename ReturnT, typename ... ArgTs>
-std::function<ReturnT(ArgTs...)>
-Trampoline<ID, ReturnT(ArgTs...)>::target;
-
-/// Setup trampoline with the given @p target.
-/**
- * \param[in] target Callable that this trampoline will target.
- * \return the plain base function of this trampoline.
- *
- * \tparam ID Numerical identifier of this trampoline. Ought to be unique.
- * \tparam SignatureT Type of the symbol this trampoline replaces.
- */
-template<size_t ID, typename SignatureT>
-auto prepare_trampoline(std::function<SignatureT> target)
-{
-  Trampoline<ID, SignatureT>::target = target;
-  return Trampoline<ID, SignatureT>::base;
-}
-
-/// Patch class for binary API mocking
-/**
- * Built on top of Mimick, to enable symbol mocking on a per dynamically
- * linked binary object basis.
- *
- * \tparam ID Numerical identifier for this patch. Ought to be unique.
- * \tparam SignatureT Type of the symbol to be patched.
- */
-template<size_t ID, typename SignatureT>
-class Patch;
-
-/// Patch specialization for ReturnT(ArgTs...) free functions.
-/**
- * \tparam ID Numerical identifier for this patch. Ought to be unique.
- * \tparam ReturnT Return value type.
- * \tparam ArgTs Argument types.
- */
-template<size_t ID, typename ReturnT, typename ... ArgTs>
-class Patch<ID, ReturnT(ArgTs...)>
-{
-public:
-  using mock_type = typename PatchTraits<ID, ReturnT(ArgTs...)>::mock_type;
-
-  /// Construct a patch.
-  /**
-   * \param[in] target Symbol target string, using Mimick syntax
-   *   i.e. "symbol(@scope)?", where scope may be "self" to target the current
-   *   binary, "lib:library_name" to target a given library, "file:path/to/library"
-   *   to target a given file, or "sym:other_symbol" to target the first library
-   *   that defines said symbol.
-   * \param[in] proxy An indirection to call the target function.
-   *   This indirection must ensure this call goes through the function's
-   *   trampoline, as setup by the dynamic linker.
-   * \return a mocking_utils::Patch instance.
-   */
-  explicit Patch(const std::string & target, std::function<ReturnT(ArgTs...)> proxy)
-  : target_(target), proxy_(proxy)
-  {
-  }
-
-  // Copy construction and assignment are disabled.
-  Patch(const Patch &) = delete;
-  Patch & operator=(const Patch &) = delete;
-
-  Patch(Patch && other)
-  {
-    mock_ = other.mock_;
-    other.mock_ = nullptr;
-  }
-
-  Patch & operator=(Patch && other)
-  {
-    if (mock_) {
-      mmk_reset(mock_);
-    }
-    mock_ = other.mock_;
-    other.mock_ = nullptr;
-  }
-
-  ~Patch()
-  {
-    if (mock_) {
-      mmk_reset(mock_);
-    }
-  }
-
-  /// Inject a @p replacement for the patched function.
-  Patch & then_call(std::function<ReturnT(ArgTs...)> replacement) &
-  {
-    replace_with(replacement);
-    return *this;
-  }
-
-  /// Inject a @p replacement for the patched function.
-  Patch && then_call(std::function<ReturnT(ArgTs...)> replacement) &&
-  {
-    replace_with(replacement);
-    return std::move(*this);
-  }
-
-private:
-  // Helper for template parameter pack expansion using `mmk_any`
-  // macro as pattern.
-  template<typename T>
-  T any() {return mmk_any(T);}
-
-  void replace_with(std::function<ReturnT(ArgTs...)> replacement)
-  {
-    if (mock_) {
-      throw std::logic_error("Cannot configure patch more than once");
-    }
-    auto type_erased_trampoline =
-      reinterpret_cast<mmk_fn>(prepare_trampoline<ID>(replacement));
-    auto MMK_MANGLE(mock_type, create) =
-      PatchTraits<ID, ReturnT(ArgTs...)>::MMK_MANGLE(mock_type, create);
-    mock_ = mmk_mock(target_.c_str(), mock_type);
-    mmk_when(proxy_(any<ArgTs>()...), .then_call = type_erased_trampoline);
-  }
-
-  mock_type mock_{nullptr};
-  std::string target_;
-  std::function<ReturnT(ArgTs...)> proxy_;
-};
-
-/// Make a patch for a `target` function.
-/**
- * Useful for type deduction during \ref mocking_utils::Patch construction.
- *
- * \param[in] target Symbol target string, using Mimick syntax.
- * \param[in] proxy An indirection to call the target function.
- * \return a mocking_utils::Patch instance.
- *
- * \tparam ID Numerical identifier for this patch. Ought to be unique.
- * \tparam SignatureT Type of the function to be patched.
- *
- * \sa mocking_utils::Patch for further reference.
- */
-template<size_t ID, typename SignatureT>
-auto make_patch(const std::string & target, std::function<SignatureT> proxy)
-{
-  return Patch<ID, SignatureT>(target, proxy);
-}
-
-/// Define a dummy operator `op` for a given `type`.
-/**
- * Useful to enable patching functions that take arguments whose types
- * do not define basic comparison operators, as required by Mimick.
-*/
-#define MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(type_, op) \
-  template<typename T> \
-  typename std::enable_if<std::is_same<T, type_>::value, bool>::type \
-  operator op(const T &, const T &) { \
-    return false; \
-  }
-
-/// Get the exact \ref mocking_utils::Patch type for a given `id` and `function`.
-/**
- * Useful to avoid ignored attribute warnings when using the \b decltype operator.
- */
-#define MOCKING_UTILS_PATCH_TYPE(id, function) \
-  decltype(mocking_utils::make_patch<id, decltype(function)>("", nullptr))
-
-/// A transparent forwarding proxy to a given `function`.
-/**
- * Useful to ensure a call to `function` goes through its trampoline.
- */
-#define MOCKING_UTILS_PATCH_PROXY(function) \
-  [] (auto && ... args)->decltype(auto) { \
-    return function(std::forward<decltype(args)>(args)...); \
-  }
-
-/// Compute a Mimick symbol target string based on which `function` is to be patched
-/// in which `scope`.
-#define MOCKING_UTILS_PATCH_TARGET(scope, function) \
-  (std::string(RCUTILS_STRINGIFY(function)) + "@" + (scope))
-
-/// Prepare a mocking_utils::Patch for patching a `function` in a given `scope`
-/// but defer applying any changes.
-#define prepare_patch(scope, function) \
-  make_patch<__COUNTER__, decltype(function)>( \
-    MOCKING_UTILS_PATCH_TARGET(scope, function), MOCKING_UTILS_PATCH_PROXY(function) \
-  )
-
-/// Patch a `function` with a used-provided `replacement` in a given `scope`.
-#define patch(scope, function, replacement) \
-  prepare_patch(scope, function).then_call(replacement)
-
-/// Patch a `function` to always yield a given `return_code` in a given `scope`.
-#define patch_and_return(scope, function, return_code) \
-  patch(scope, function, [&](auto && ...) {return return_code;})
-
-/// Patch a `function` to always yield a given `return_code` in a given `scope`.
-#define patch_to_fail(scope, function, error_message, return_code) \
-  patch( \
-    scope, function, [&](auto && ...) { \
-      RCUTILS_SET_ERROR_MSG(error_message); \
-      return return_code; \
-    })
-
-/// Patch a `function` to execute normally but always yield a given `return_code`
-/// in a given `scope`.
-/**
- * \warning On some Linux distributions (e.g. CentOS), pointers to function
- *   reference their PLT trampolines. In such cases, it is not possible to
- *   call `function` from within the mock.
- */
-#define inject_on_return(scope, function, return_code) \
-  patch( \
-    scope, function, ([&, base = function](auto && ... __args) { \
-      if (base != function) { \
-        static_cast<void>(base(std::forward<decltype(__args)>(__args)...)); \
-      } else { \
-        RCUTILS_SAFE_FWRITE_TO_STDERR( \
-          "[WARNING] mocking_utils::inject_on_return() cannot forward call to " \
-          "original '" RCUTILS_STRINGIFY(function) "' function before injection\n" \
-          "    at " __FILE__ ":" RCUTILS_STRINGIFY(__LINE__) "\n"); \
-      } \
-      return return_code; \
-    }))
-
-}  // namespace mocking_utils
-
-#ifdef MOCKING_UTILS_SUPPORT_VA_LIST
-// Define dummy comparison operators for C standard va_list type
-MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(va_list, ==)
-MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(va_list, !=)
-MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(va_list, <)
-MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(va_list, >)
-#endif
-
-#endif  // MOCKING_UTILS__PATCH_HPP_

rclcpp/test/rclcpp/CMakeLists.txt

@@ -1,665 +0,0 @@
-find_package(ament_cmake_gtest REQUIRED)
-
-find_package(rmw_implementation_cmake REQUIRED)
-
-add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/../resources")
-
-rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
-  ../msg/Header.msg
-  ../msg/MessageWithHeader.msg
-  DEPENDENCIES builtin_interfaces
-  LIBRARY_NAME ${PROJECT_NAME}
-  SKIP_INSTALL
-)
-
-ament_add_gtest(
-  test_allocator_common
-  allocator/test_allocator_common.cpp)
-if(TARGET test_allocator_common)
-  target_link_libraries(test_allocator_common ${PROJECT_NAME})
-endif()
-ament_add_gtest(
-  test_allocator_deleter
-  allocator/test_allocator_deleter.cpp)
-if(TARGET test_allocator_deleter)
-  target_link_libraries(test_allocator_deleter ${PROJECT_NAME})
-endif()
-ament_add_gtest(
-  test_exceptions
-  exceptions/test_exceptions.cpp)
-if(TARGET test_exceptions)
-  target_link_libraries(test_exceptions ${PROJECT_NAME} mimick)
-endif()
-
-# Increasing timeout because connext can take a long time to destroy nodes
-# TODO(brawner) remove when destroying Node for Connext is resolved. See:
-# https://github.com/ros2/rclcpp/issues/1250
-ament_add_gtest(
-  test_allocator_memory_strategy
-  strategies/test_allocator_memory_strategy.cpp
-  TIMEOUT 360)
-if(TARGET test_allocator_memory_strategy)
-  ament_target_dependencies(test_allocator_memory_strategy
-    "rcl"
-    "test_msgs"
-  )
-  target_link_libraries(test_allocator_memory_strategy ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_message_pool_memory_strategy strategies/test_message_pool_memory_strategy.cpp)
-if(TARGET test_message_pool_memory_strategy)
-  ament_target_dependencies(test_message_pool_memory_strategy
-    "rcl"
-    "test_msgs"
-  )
-  target_link_libraries(test_message_pool_memory_strategy ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_any_service_callback test_any_service_callback.cpp)
-if(TARGET test_any_service_callback)
-  ament_target_dependencies(test_any_service_callback
-    "test_msgs"
-  )
-  target_link_libraries(test_any_service_callback ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_any_subscription_callback test_any_subscription_callback.cpp)
-if(TARGET test_any_subscription_callback)
-  ament_target_dependencies(test_any_subscription_callback
-    "test_msgs"
-  )
-  target_link_libraries(test_any_subscription_callback ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_client test_client.cpp)
-if(TARGET test_client)
-  ament_target_dependencies(test_client
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-    "test_msgs"
-  )
-  target_link_libraries(test_client ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_create_timer test_create_timer.cpp)
-if(TARGET test_create_timer)
-  ament_target_dependencies(test_create_timer
-    "rcl_interfaces"
-    "rmw"
-    "rcl"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-  )
-  target_link_libraries(test_create_timer ${PROJECT_NAME})
-  target_include_directories(test_create_timer PRIVATE ./)
-endif()
-ament_add_gtest(test_create_subscription test_create_subscription.cpp)
-if(TARGET test_create_subscription)
-  target_link_libraries(test_create_subscription ${PROJECT_NAME})
-  ament_target_dependencies(test_create_subscription
-    "test_msgs"
-  )
-endif()
-ament_add_gtest(test_add_callback_groups_to_executor
-  test_add_callback_groups_to_executor.cpp
-  TIMEOUT 120)
-if(TARGET test_add_callback_groups_to_executor)
-  target_link_libraries(test_add_callback_groups_to_executor ${PROJECT_NAME})
-  ament_target_dependencies(test_add_callback_groups_to_executor
-    "test_msgs"
-  )
-endif()
-ament_add_gtest(test_expand_topic_or_service_name test_expand_topic_or_service_name.cpp)
-if(TARGET test_expand_topic_or_service_name)
-  ament_target_dependencies(test_expand_topic_or_service_name
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-  )
-  target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_function_traits test_function_traits.cpp)
-if(TARGET test_function_traits)
-  target_include_directories(test_function_traits PUBLIC ../../include)
-  ament_target_dependencies(test_function_traits
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-  )
-endif()
-ament_add_gtest(
-  test_future_return_code
-  test_future_return_code.cpp)
-if(TARGET test_future_return_code)
-  target_link_libraries(test_future_return_code ${PROJECT_NAME})
-endif()
-ament_add_gmock(test_intra_process_manager test_intra_process_manager.cpp)
-if(TARGET test_intra_process_manager)
-  ament_target_dependencies(test_intra_process_manager
-    "rcl"
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-  )
-  target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_ring_buffer_implementation test_ring_buffer_implementation.cpp)
-if(TARGET test_ring_buffer_implementation)
-  ament_target_dependencies(test_ring_buffer_implementation
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-  )
-  target_link_libraries(test_ring_buffer_implementation ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_intra_process_buffer test_intra_process_buffer.cpp)
-if(TARGET test_intra_process_buffer)
-  ament_target_dependencies(test_intra_process_buffer
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-  )
-  target_link_libraries(test_intra_process_buffer ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_loaned_message test_loaned_message.cpp)
-ament_target_dependencies(test_loaned_message
-  "test_msgs"
-)
-target_link_libraries(test_loaned_message ${PROJECT_NAME} mimick)
-
-ament_add_gtest(test_memory_strategy test_memory_strategy.cpp)
-ament_target_dependencies(test_memory_strategy
-  "test_msgs"
-)
-target_link_libraries(test_memory_strategy ${PROJECT_NAME})
-
-ament_add_gtest(test_message_memory_strategy test_message_memory_strategy.cpp)
-ament_target_dependencies(test_message_memory_strategy
-  "test_msgs"
-)
-target_link_libraries(test_message_memory_strategy ${PROJECT_NAME})
-
-ament_add_gtest(test_node test_node.cpp TIMEOUT 240)
-if(TARGET test_node)
-  ament_target_dependencies(test_node
-    "rcl_interfaces"
-    "rcpputils"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-    "test_msgs"
-  )
-  target_link_libraries(test_node ${PROJECT_NAME} mimick)
-endif()
-
-ament_add_gtest(test_node_interfaces__get_node_interfaces
-  node_interfaces/test_get_node_interfaces.cpp)
-if(TARGET test_node_interfaces__get_node_interfaces)
-  target_link_libraries(test_node_interfaces__get_node_interfaces ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_node_interfaces__node_base
-  node_interfaces/test_node_base.cpp)
-if(TARGET test_node_interfaces__node_base)
-  target_link_libraries(test_node_interfaces__node_base ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_node_interfaces__node_clock
-  node_interfaces/test_node_clock.cpp)
-if(TARGET test_node_interfaces__node_clock)
-  target_link_libraries(test_node_interfaces__node_clock ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_node_interfaces__node_graph
-  node_interfaces/test_node_graph.cpp
-  TIMEOUT 120)
-if(TARGET test_node_interfaces__node_graph)
-  ament_target_dependencies(
-    test_node_interfaces__node_graph
-    "test_msgs")
-  target_link_libraries(test_node_interfaces__node_graph ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_node_interfaces__node_parameters
-  node_interfaces/test_node_parameters.cpp)
-if(TARGET test_node_interfaces__node_parameters)
-  target_link_libraries(test_node_interfaces__node_parameters ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_node_interfaces__node_services
-  node_interfaces/test_node_services.cpp)
-if(TARGET test_node_interfaces__node_services)
-  target_link_libraries(test_node_interfaces__node_services ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_node_interfaces__node_timers
-  node_interfaces/test_node_timers.cpp)
-if(TARGET test_node_interfaces__node_timers)
-  target_link_libraries(test_node_interfaces__node_timers ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_node_interfaces__node_topics
-  node_interfaces/test_node_topics.cpp)
-if(TARGET test_node_interfaces__node_topics)
-  ament_target_dependencies(
-    test_node_interfaces__node_topics
-    "test_msgs")
-  target_link_libraries(test_node_interfaces__node_topics ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_node_interfaces__node_waitables
-  node_interfaces/test_node_waitables.cpp)
-if(TARGET test_node_interfaces__node_waitables)
-  target_link_libraries(test_node_interfaces__node_waitables ${PROJECT_NAME} mimick)
-endif()
-
-# TODO(wjwwood): reenable these build failure tests when I can get Jenkins to ignore their output
-# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_rclcpp_node
-#   node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_rclcpp_node.cpp)
-# target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
-#   ${PROJECT_NAME})
-
-# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
-#   node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_rclcpp_node.cpp)
-# target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
-#   ${PROJECT_NAME})
-
-# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_wrapped_node
-#   node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_wrapped_node.cpp)
-# target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
-#   ${PROJECT_NAME})
-
-# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_wrapped_node
-#   node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_wrapped_node.cpp)
-# target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
-#   ${PROJECT_NAME})
-
-ament_add_gtest(test_node_global_args test_node_global_args.cpp)
-if(TARGET test_node_global_args)
-  ament_target_dependencies(test_node_global_args
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-  )
-  target_link_libraries(test_node_global_args ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_node_options test_node_options.cpp)
-if(TARGET test_node_options)
-  ament_target_dependencies(test_node_options "rcl")
-  target_link_libraries(test_node_options ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_init_options test_init_options.cpp)
-if(TARGET test_init_options)
-  ament_target_dependencies(test_init_options "rcl")
-  target_link_libraries(test_init_options ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_parameter_client test_parameter_client.cpp)
-if(TARGET test_parameter_client)
-  ament_target_dependencies(test_parameter_client
-    "rcl_interfaces"
-  )
-  target_link_libraries(test_parameter_client ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_parameter_service test_parameter_service.cpp)
-if(TARGET test_parameter_service)
-  ament_target_dependencies(test_parameter_service
-    "rcl_interfaces"
-  )
-  target_link_libraries(test_parameter_service ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_parameter_events_filter test_parameter_events_filter.cpp)
-if(TARGET test_parameter_events_filter)
-  ament_target_dependencies(test_parameter_events_filter
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-  )
-  target_link_libraries(test_parameter_events_filter ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_parameter test_parameter.cpp)
-if(TARGET test_parameter)
-  ament_target_dependencies(test_parameter
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-  )
-  target_link_libraries(test_parameter ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_parameter_map test_parameter_map.cpp)
-if(TARGET test_parameter_map)
-  target_link_libraries(test_parameter_map ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_publisher test_publisher.cpp TIMEOUT 120)
-if(TARGET test_publisher)
-  ament_target_dependencies(test_publisher
-    "rcl"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-    "test_msgs"
-  )
-  target_link_libraries(test_publisher ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_publisher_subscription_count_api test_publisher_subscription_count_api.cpp)
-if(TARGET test_publisher_subscription_count_api)
-  ament_target_dependencies(test_publisher_subscription_count_api
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-    "test_msgs"
-  )
-  target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_qos test_qos.cpp)
-if(TARGET test_qos)
-  ament_target_dependencies(test_qos
-    "rmw"
-  )
-  target_link_libraries(test_qos
-    ${PROJECT_NAME}
-  )
-endif()
-ament_add_gtest(test_qos_event test_qos_event.cpp)
-if(TARGET test_qos_event)
-  ament_target_dependencies(test_qos_event
-    "rmw"
-    "test_msgs"
-  )
-  target_link_libraries(test_qos_event
-    ${PROJECT_NAME}
-    mimick
-  )
-endif()
-ament_add_gmock(test_qos_overriding_options test_qos_overriding_options.cpp)
-if(TARGET test_qos_overriding_options)
-  target_link_libraries(test_qos_overriding_options
-    ${PROJECT_NAME}
-  )
-endif()
-ament_add_gmock(test_qos_parameters test_qos_parameters.cpp)
-if(TARGET test_qos_parameters)
-  target_link_libraries(test_qos_parameters
-    ${PROJECT_NAME}
-  )
-endif()
-ament_add_gtest(test_rate test_rate.cpp)
-if(TARGET test_rate)
-  ament_target_dependencies(test_rate
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-  )
-  target_link_libraries(test_rate
-    ${PROJECT_NAME}
-  )
-endif()
-ament_add_gtest(test_serialized_message_allocator test_serialized_message_allocator.cpp)
-if(TARGET test_serialized_message_allocator)
-  ament_target_dependencies(test_serialized_message_allocator
-    test_msgs
-  )
-  target_link_libraries(test_serialized_message_allocator
-    ${PROJECT_NAME}
-  )
-endif()
-ament_add_gtest(test_serialized_message test_serialized_message.cpp)
-if(TARGET test_serialized_message)
-  ament_target_dependencies(test_serialized_message
-    test_msgs
-  )
-  target_link_libraries(test_serialized_message
-    ${PROJECT_NAME}
-  )
-endif()
-ament_add_gtest(test_service test_service.cpp)
-if(TARGET test_service)
-  ament_target_dependencies(test_service
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-    "test_msgs"
-  )
-  target_link_libraries(test_service ${PROJECT_NAME} mimick)
-endif()
-# Creating and destroying nodes is slow with Connext, so this needs larger timeout.
-ament_add_gtest(test_subscription test_subscription.cpp TIMEOUT 120)
-if(TARGET test_subscription)
-  ament_target_dependencies(test_subscription
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-    "test_msgs"
-  )
-  target_link_libraries(test_subscription ${PROJECT_NAME} mimick)
-endif()
-ament_add_gtest(test_subscription_publisher_count_api test_subscription_publisher_count_api.cpp)
-if(TARGET test_subscription_publisher_count_api)
-  ament_target_dependencies(test_subscription_publisher_count_api
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-    "test_msgs"
-  )
-  target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_subscription_traits test_subscription_traits.cpp)
-if(TARGET test_subscription_traits)
-  ament_target_dependencies(test_subscription_traits
-    "rcl"
-    "test_msgs"
-  )
-  target_link_libraries(test_subscription_traits ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_type_support test_type_support.cpp)
-if(TARGET test_type_support)
-  ament_target_dependencies(test_type_support
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-    "test_msgs"
-  )
-  target_link_libraries(test_type_support ${PROJECT_NAME})
-endif()
-ament_add_gtest(test_find_weak_nodes test_find_weak_nodes.cpp)
-if(TARGET test_find_weak_nodes)
-  ament_target_dependencies(test_find_weak_nodes
-    "rcl"
-  )
-  target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
-endif()
-
-set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
-if(WIN32)
-  set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
-endif()
-
-ament_add_gtest(test_externally_defined_services test_externally_defined_services.cpp)
-ament_target_dependencies(test_externally_defined_services
-  "rcl"
-  "test_msgs"
-)
-target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
-
-ament_add_gtest(test_duration test_duration.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_duration)
-  ament_target_dependencies(test_duration
-    "rcl")
-  target_link_libraries(test_duration ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_logger test_logger.cpp)
-target_link_libraries(test_logger ${PROJECT_NAME})
-
-ament_add_gmock(test_logging test_logging.cpp)
-target_link_libraries(test_logging ${PROJECT_NAME})
-
-ament_add_gtest(test_time test_time.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_time)
-  ament_target_dependencies(test_time
-    "rcl")
-  target_link_libraries(test_time ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_timer test_timer.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_timer)
-  ament_target_dependencies(test_timer
-    "rcl")
-  target_link_libraries(test_timer ${PROJECT_NAME} mimick)
-endif()
-
-ament_add_gtest(test_time_source test_time_source.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_time_source)
-  ament_target_dependencies(test_time_source
-    "rcl")
-  target_link_libraries(test_time_source ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_utilities test_utilities.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_utilities)
-  ament_target_dependencies(test_utilities
-    "rcl")
-  target_link_libraries(test_utilities ${PROJECT_NAME} mimick)
-endif()
-
-ament_add_gtest(test_init test_init.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_init)
-  ament_target_dependencies(test_init
-    "rcl")
-  target_link_libraries(test_init ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_interface_traits test_interface_traits.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_interface_traits)
-  ament_target_dependencies(test_interface_traits
-    "rcl")
-  target_link_libraries(test_interface_traits ${PROJECT_NAME})
-endif()
-
-# TODO(brawner) remove when destroying Node for Connext is resolved. See:
-# https://github.com/ros2/rclcpp/issues/1250
-ament_add_gtest(
-  test_executors
-  executors/test_executors.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}"
-  TIMEOUT 180)
-if(TARGET test_executors)
-  ament_target_dependencies(test_executors
-    "rcl"
-    "test_msgs")
-  target_link_libraries(test_executors ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_static_single_threaded_executor executors/test_static_single_threaded_executor.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_static_single_threaded_executor)
-  ament_target_dependencies(test_static_single_threaded_executor
-    "test_msgs")
-  target_link_libraries(test_static_single_threaded_executor ${PROJECT_NAME} mimick)
-endif()
-
-ament_add_gtest(test_multi_threaded_executor executors/test_multi_threaded_executor.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_multi_threaded_executor)
-  ament_target_dependencies(test_multi_threaded_executor
-    "rcl")
-  target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_static_executor_entities_collector executors/test_static_executor_entities_collector.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}" TIMEOUT 120)
-if(TARGET test_static_executor_entities_collector)
-  ament_target_dependencies(test_static_executor_entities_collector
-    "rcl"
-    "test_msgs")
-  target_link_libraries(test_static_executor_entities_collector ${PROJECT_NAME} mimick)
-endif()
-
-ament_add_gtest(test_guard_condition test_guard_condition.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_guard_condition)
-  target_link_libraries(test_guard_condition ${PROJECT_NAME} mimick)
-endif()
-
-ament_add_gtest(test_wait_set test_wait_set.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_wait_set)
-  ament_target_dependencies(test_wait_set "test_msgs")
-  target_link_libraries(test_wait_set ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_subscription_topic_statistics topic_statistics/test_subscription_topic_statistics.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}"
-)
-if(TARGET test_subscription_topic_statistics)
-  ament_target_dependencies(test_subscription_topic_statistics
-    "builtin_interfaces"
-    "libstatistics_collector"
-    "rcl_interfaces"
-    "rcutils"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-    "statistics_msgs"
-    "test_msgs")
-  rosidl_target_interfaces(test_subscription_topic_statistics ${PROJECT_NAME}_test_msgs "rosidl_typesupport_cpp")
-  target_link_libraries(test_subscription_topic_statistics ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_subscription_options test_subscription_options.cpp)
-if(TARGET test_subscription_options)
-  ament_target_dependencies(test_subscription_options "rcl")
-  target_link_libraries(test_subscription_options ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_dynamic_storage wait_set_policies/test_dynamic_storage.cpp)
-if(TARGET test_dynamic_storage)
-  ament_target_dependencies(test_dynamic_storage "rcl" "test_msgs")
-  target_link_libraries(test_dynamic_storage ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_storage_policy_common wait_set_policies/test_storage_policy_common.cpp)
-if(TARGET test_storage_policy_common)
-  ament_target_dependencies(test_storage_policy_common "rcl" "test_msgs")
-  target_link_libraries(test_storage_policy_common ${PROJECT_NAME} mimick)
-endif()
-
-ament_add_gtest(test_static_storage wait_set_policies/test_static_storage.cpp)
-if(TARGET test_static_storage)
-  ament_target_dependencies(test_static_storage "rcl" "test_msgs")
-  target_link_libraries(test_static_storage ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_thread_safe_synchronization wait_set_policies/test_thread_safe_synchronization.cpp)
-if(TARGET test_thread_safe_synchronization)
-  ament_target_dependencies(test_thread_safe_synchronization "rcl" "test_msgs")
-  target_link_libraries(test_thread_safe_synchronization ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_rosout_qos test_rosout_qos.cpp)
-if(TARGET test_rosout_qos)
-  ament_target_dependencies(test_rosout_qos "rcl")
-  target_link_libraries(test_rosout_qos ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_executor test_executor.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}"
-  TIMEOUT 120)
-if(TARGET test_executor)
-  ament_target_dependencies(test_executor "rcl")
-  target_link_libraries(test_executor ${PROJECT_NAME} mimick)
-endif()
-
-ament_add_gtest(test_graph_listener test_graph_listener.cpp)
-if(TARGET test_graph_listener)
-  target_link_libraries(test_graph_listener ${PROJECT_NAME} mimick)
-endif()

rclcpp/test/rclcpp/allocator/test_allocator_common.cpp

@@ -1,73 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include <memory>
-
-#include "rclcpp/allocator/allocator_common.hpp"
-
-TEST(TestAllocatorCommon, retyped_allocate) {
-  std::allocator<int> allocator;
-  void * untyped_allocator = &allocator;
-  void * allocated_mem =
-    rclcpp::allocator::retyped_allocate<std::allocator<char>>(1u, untyped_allocator);
-  // The more natural check here is ASSERT_NE(nullptr, ptr), but clang static
-  // analysis throws a false-positive memory leak warning.  Use ASSERT_TRUE instead.
-  ASSERT_TRUE(nullptr != allocated_mem);
-
-  auto code = [&untyped_allocator, allocated_mem]() {
-      rclcpp::allocator::retyped_deallocate<int, std::allocator<int>>(
-        allocated_mem, untyped_allocator);
-    };
-  EXPECT_NO_THROW(code());
-
-  allocated_mem = allocator.allocate(1);
-  // The more natural check here is ASSERT_NE(nullptr, ptr), but clang static
-  // analysis throws a false-positive memory leak warning.  Use ASSERT_TRUE instead.
-  ASSERT_TRUE(nullptr != allocated_mem);
-  void * reallocated_mem =
-    rclcpp::allocator::retyped_reallocate<int, std::allocator<int>>(
-    allocated_mem, 2u, untyped_allocator);
-  // The more natural check here is ASSERT_NE(nullptr, ptr), but clang static
-  // analysis throws a false-positive memory leak warning.  Use ASSERT_TRUE instead.
-  ASSERT_TRUE(nullptr != reallocated_mem);
-
-  auto code2 = [&untyped_allocator, reallocated_mem]() {
-      rclcpp::allocator::retyped_deallocate<int, std::allocator<int>>(
-        reallocated_mem, untyped_allocator);
-    };
-  EXPECT_NO_THROW(code2());
-}
-
-TEST(TestAllocatorCommon, get_rcl_allocator) {
-  std::allocator<int> allocator;
-  auto rcl_allocator = rclcpp::allocator::get_rcl_allocator<int>(allocator);
-  EXPECT_NE(nullptr, rcl_allocator.allocate);
-  EXPECT_NE(nullptr, rcl_allocator.deallocate);
-  EXPECT_NE(nullptr, rcl_allocator.reallocate);
-  EXPECT_NE(nullptr, rcl_allocator.zero_allocate);
-  // Not testing state as that may or may not be null depending on platform
-}
-
-TEST(TestAllocatorCommon, get_void_rcl_allocator) {
-  std::allocator<void> allocator;
-  auto rcl_allocator =
-    rclcpp::allocator::get_rcl_allocator<void, std::allocator<void>>(allocator);
-  EXPECT_NE(nullptr, rcl_allocator.allocate);
-  EXPECT_NE(nullptr, rcl_allocator.deallocate);
-  EXPECT_NE(nullptr, rcl_allocator.reallocate);
-  EXPECT_NE(nullptr, rcl_allocator.zero_allocate);
-  // Not testing state as that may or may not be null depending on platform
-}