9.2.0

Signed-off-by: William Woodall <william@osrfoundation.org>

README.md

@@ -12,6 +12,6 @@ Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) fo
 
 ### Examples
 
-The ROS 2 tutorials [Writing a simple publisher and subscriber](https://index.ros.org/doc/ros2/Tutorials/Writing-A-Simple-Cpp-Publisher-And-Subscriber/)
-and [Writing a simple service and client](https://index.ros.org/doc/ros2/Tutorials/Writing-A-Simple-Cpp-Service-And-Client/)
+The ROS 2 tutorials [Writing a simple publisher and subscriber](https://docs.ros.org/en/rolling/Tutorials/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html).
+and [Writing a simple service and client](https://docs.ros.org/en/rolling/Tutorials/Writing-A-Simple-Cpp-Service-And-Client.html)
 contain some examples of rclcpp APIs in use.

rclcpp/CHANGELOG.rst

@@ -2,6 +2,55 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+9.2.0 (2021-09-17)
+------------------
+* Added thread safe for_each_callback_group method (`#1741 <https://github.com/ros2/rclcpp/issues/1741>`_)
+* Added a function rclcpp::wait_for_message() convenience function (`#1705 <https://github.com/ros2/rclcpp/issues/1705>`_) (`#1740 <https://github.com/ros2/rclcpp/issues/1740>`_)
+* Fixed a documentation bug (`#1719 <https://github.com/ros2/rclcpp/issues/1719>`_) (`#1720 <https://github.com/ros2/rclcpp/issues/1720>`_)
+* Contributors: Aditya Pande, Karsten Knese, mergify[bot]
+
+9.1.0 (2021-05-20)
+------------------
+* Allow declaring uninitialized statically typed parameters. (`#1673 <https://github.com/ros2/rclcpp/issues/1673>`_) (`#1681 <https://github.com/ros2/rclcpp/issues/1681>`_)
+* [service] Don't use a weak_ptr to avoid leaking. (`#1668 <https://github.com/ros2/rclcpp/issues/1668>`_) (`#1670 <https://github.com/ros2/rclcpp/issues/1670>`_)
+* Contributors: Jacob Perron, Ivan Santiago Paunovic
+
+9.0.3 (2021-05-10)
+------------------
+* Use OnShutdown callback handle instead of OnShutdown callback (`#1639 <https://github.com/ros2/rclcpp/issues/1639>`_) (`#1650 <https://github.com/ros2/rclcpp/issues/1650>`_)
+* use dynamic_pointer_cast to detect allocator mismatch in intra process manager (`#1643 <https://github.com/ros2/rclcpp/issues/1643>`_) (`#1644 <https://github.com/ros2/rclcpp/issues/1644>`_)
+* Increase cppcheck timeout to 500s (`#1634 <https://github.com/ros2/rclcpp/issues/1634>`_)
+* Clarify node parameters docs (`#1631 <https://github.com/ros2/rclcpp/issues/1631>`_)
+* Contributors: Barry Xu, Jacob Perron, Michel Hidalgo, Shane Loretz, William Woodall
+
+9.0.2 (2021-04-14)
+------------------
+* Avoid returning loan when none was obtained. (`#1629 <https://github.com/ros2/rclcpp/issues/1629>`_)
+* Use a different implementation of mutex two priorities (`#1628 <https://github.com/ros2/rclcpp/issues/1628>`_)
+* Do not test the value of the history policy when testing the get_publishers/subscriptions_info_by_topic() methods (`#1626 <https://github.com/ros2/rclcpp/issues/1626>`_)
+* Check first parameter type and range before calling the user validation callbacks (`#1627 <https://github.com/ros2/rclcpp/issues/1627>`_)
+* Contributors: Ivan Santiago Paunovic, Miguel Company
+
+9.0.1 (2021-04-12)
+------------------
+* Restore test exception for Connext (`#1625 <https://github.com/ros2/rclcpp/issues/1625>`_)
+* Fix race condition in TimeSource clock thread setup (`#1623 <https://github.com/ros2/rclcpp/issues/1623>`_)
+* Contributors: Andrea Sorbini, Michel Hidalgo
+
+9.0.0 (2021-04-06)
+------------------
+* remove deprecated code which was deprecated in foxy and should be removed in galactic (`#1622 <https://github.com/ros2/rclcpp/issues/1622>`_)
+* Change index.ros.org -> docs.ros.org. (`#1620 <https://github.com/ros2/rclcpp/issues/1620>`_)
+* Unique network flows (`#1496 <https://github.com/ros2/rclcpp/issues/1496>`_)
+* Add spin_some support to the StaticSingleThreadedExecutor (`#1338 <https://github.com/ros2/rclcpp/issues/1338>`_)
+* Add publishing instrumentation (`#1600 <https://github.com/ros2/rclcpp/issues/1600>`_)
+* Create load_parameters and delete_parameters methods (`#1596 <https://github.com/ros2/rclcpp/issues/1596>`_)
+* refactor AnySubscriptionCallback and add/deprecate callback signatures (`#1598 <https://github.com/ros2/rclcpp/issues/1598>`_)
+* Add generic publisher and generic subscription for serialized messages (`#1452 <https://github.com/ros2/rclcpp/issues/1452>`_)
+* use context from `node_base\_` for clock executor. (`#1617 <https://github.com/ros2/rclcpp/issues/1617>`_)
+* updating quality declaration links (re: `ros2/docs.ros2.org#52 <https://github.com/ros2/docs.ros2.org/issues/52>`_) (`#1615 <https://github.com/ros2/rclcpp/issues/1615>`_)
+* Contributors: Ananya Muddukrishna, BriceRenaudeau, Chris Lalancette, Christophe Bedard, Nikolai Morin, Tomoya Fujita, William Woodall, mauropasse, shonigmann
+
 8.2.0 (2021-03-31)
 ------------------
 * Initialize integers in test_parameter_event_handler.cpp to avoid undefined behavior (`#1609 <https://github.com/ros2/rclcpp/issues/1609>`_)

rclcpp/CMakeLists.txt

@@ -5,6 +5,7 @@ project(rclcpp)
 find_package(Threads REQUIRED)
 
 find_package(ament_cmake_ros REQUIRED)
+find_package(ament_index_cpp REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(libstatistics_collector REQUIRED)
 find_package(rcl REQUIRED)
@@ -20,9 +21,10 @@ find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(statistics_msgs REQUIRED)
 find_package(tracetools REQUIRED)
 
-# Default to C++14
+# TODO(wjwwood): remove this when gtest can build on its own, when using target_compile_features()
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   # About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
@@ -51,12 +53,14 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
-  src/rclcpp/expand_topic_or_service_name.cpp
   src/rclcpp/executors/multi_threaded_executor.cpp
   src/rclcpp/executors/single_threaded_executor.cpp
   src/rclcpp/executors/static_executor_entities_collector.cpp
   src/rclcpp/executors/static_single_threaded_executor.cpp
+  src/rclcpp/expand_topic_or_service_name.cpp
   src/rclcpp/future_return_code.cpp
+  src/rclcpp/generic_publisher.cpp
+  src/rclcpp/generic_subscription.cpp
   src/rclcpp/graph_listener.cpp
   src/rclcpp/guard_condition.cpp
   src/rclcpp/init_options.cpp
@@ -66,8 +70,8 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/memory_strategies.cpp
   src/rclcpp/memory_strategy.cpp
   src/rclcpp/message_info.cpp
+  src/rclcpp/network_flow_endpoint.cpp
   src/rclcpp/node.cpp
-  src/rclcpp/node_options.cpp
   src/rclcpp/node_interfaces/node_base.cpp
   src/rclcpp/node_interfaces/node_clock.cpp
   src/rclcpp/node_interfaces/node_graph.cpp
@@ -78,13 +82,14 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/node_interfaces/node_timers.cpp
   src/rclcpp/node_interfaces/node_topics.cpp
   src/rclcpp/node_interfaces/node_waitables.cpp
+  src/rclcpp/node_options.cpp
   src/rclcpp/parameter.cpp
-  src/rclcpp/parameter_value.cpp
   src/rclcpp/parameter_client.cpp
   src/rclcpp/parameter_event_handler.cpp
   src/rclcpp/parameter_events_filter.cpp
   src/rclcpp/parameter_map.cpp
   src/rclcpp/parameter_service.cpp
+  src/rclcpp/parameter_value.cpp
   src/rclcpp/publisher_base.cpp
   src/rclcpp/qos.cpp
   src/rclcpp/qos_event.cpp
@@ -99,6 +104,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/time_source.cpp
   src/rclcpp/timer.cpp
   src/rclcpp/type_support.cpp
+  src/rclcpp/typesupport_helpers.cpp
   src/rclcpp/utilities.cpp
   src/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.cpp
   src/rclcpp/waitable.cpp
@@ -170,8 +176,12 @@ foreach(interface_file ${interface_files})
     include/rclcpp/node_interfaces/get_${interface_name}.hpp)
 endforeach()
 
-add_library(${PROJECT_NAME}
-  ${${PROJECT_NAME}_SRCS})
+add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
+# TODO(wjwwood): address all deprecation warnings and then remove this
+if(WIN32)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC "_SILENCE_ALL_CXX17_DEPRECATION_WARNINGS")
+endif()
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
@@ -179,6 +189,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
+  "ament_index_cpp"
   "libstatistics_collector"
   "rcl"
   "rcl_yaml_param_parser"
@@ -209,6 +220,7 @@ ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 ament_export_targets(${PROJECT_NAME})
 
+ament_export_dependencies(ament_index_cpp)
 ament_export_dependencies(libstatistics_collector)
 ament_export_dependencies(rcl)
 ament_export_dependencies(rcpputils)
@@ -235,3 +247,8 @@ install(
   DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/
   DESTINATION include
 )
+
+if(TEST cppcheck)
+  # must set the property after ament_package()
+  set_tests_properties(cppcheck PROPERTIES TIMEOUT 500)
+endif()

rclcpp/QUALITY_DECLARATION.md

@@ -4,13 +4,13 @@ This document is a declaration of software quality for the `rclcpp` package, bas
 
 The package `rclcpp` claims to be in the **Quality Level 1** category when it is used with a **Quality Level 1** middleware.
 
-Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories) of the ROS2 developer guide.
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://www.ros.org/reps/rep-2004.html) of the ROS2 developer guide.
 
 ## Version Policy [1]
 
 ### Version Scheme [1.i]
 
-`rclcpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+`rclcpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#versioning).
 
 ### Version Stability [1.ii]
 
@@ -39,11 +39,11 @@ Headers under the folder `detail` are not considered part of the public API and
 
 ## Change Control Process [2]
 
-`rclcpp` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process).
+`rclcpp` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process).
 
 ### Change Requests [2.i]
 
-All changes will occur through a pull request, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All changes will occur through a pull request, check [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Contributor Origin [2.ii]
 
@@ -51,7 +51,7 @@ This package uses DCO as its confirmation of contributor origin policy. More inf
 
 ### Peer Review Policy [2.iii]
 
-All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Continuous Integration [2.iv]
 
@@ -111,7 +111,7 @@ The tests aim to cover both typical usage and corner cases, but are quantified b
 
 ### Coverage [4.iii]
 
-`rclcpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#code-coverage), and opts to use line coverage instead of branch coverage.
+`rclcpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#code-coverage), and opts to use line coverage instead of branch coverage.
 
 This includes:
 
@@ -121,13 +121,13 @@ 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).
+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://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#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.
 
 ### 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.
+`rclcpp` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#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).
 
@@ -139,7 +139,7 @@ Changes that introduce regressions in performance must be adequately justified i
 
 ### Linters and Static Analysis [4.v]
 
-`rclcpp` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
+`rclcpp` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
 
 Currently nightly test results can be seen here:
 * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rclcpp/)

rclcpp/include/rclcpp/any_executable.hpp

@@ -50,12 +50,6 @@ struct AnyExecutable
   std::shared_ptr<void> data;
 };
 
-namespace executor
-{
-
-using AnyExecutable [[deprecated("use rclcpp::AnyExecutable instead")]] = AnyExecutable;
-
-}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__ANY_EXECUTABLE_HPP_

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -15,256 +15,394 @@
 #ifndef RCLCPP__ANY_SUBSCRIPTION_CALLBACK_HPP_
 #define RCLCPP__ANY_SUBSCRIPTION_CALLBACK_HPP_
 
-#include <rmw/types.h>
-
 #include <functional>
 #include <memory>
 #include <stdexcept>
 #include <type_traits>
 #include <utility>
+#include <variant>  // NOLINT[build/include_order]
 
-#include "rclcpp/allocator/allocator_common.hpp"
-#include "rclcpp/function_traits.hpp"
-#include "rclcpp/message_info.hpp"
-#include "rclcpp/visibility_control.hpp"
 #include "tracetools/tracetools.h"
 #include "tracetools/utils.hpp"
 
+#include "rclcpp/allocator/allocator_common.hpp"
+#include "rclcpp/detail/subscription_callback_type_helper.hpp"
+#include "rclcpp/function_traits.hpp"
+#include "rclcpp/message_info.hpp"
+
+template<class>
+inline constexpr bool always_false_v = false;
+
 namespace rclcpp
 {
 
-template<typename MessageT, typename Alloc>
-class AnySubscriptionCallback
+namespace detail
 {
-  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+
+template<typename MessageT, typename AllocatorT>
+struct MessageDeleterHelper
+{
+  using MessageAllocTraits = allocator::AllocRebind<MessageT, AllocatorT>;
   using MessageAlloc = typename MessageAllocTraits::allocator_type;
   using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
-  using ConstMessageSharedPtr = std::shared_ptr<const MessageT>;
-  using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
+};
 
-  using SharedPtrCallback = std::function<void (const std::shared_ptr<MessageT>)>;
-  using SharedPtrWithInfoCallback =
-    std::function<void (const std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>;
-  using ConstSharedPtrCallback = std::function<void (const std::shared_ptr<const MessageT>)>;
-  using ConstSharedPtrWithInfoCallback =
-    std::function<void (const std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>;
-  using UniquePtrCallback = std::function<void (MessageUniquePtr)>;
+template<typename MessageT, typename AllocatorT>
+struct AnySubscriptionCallbackHelper
+{
+  using MessageDeleter = typename MessageDeleterHelper<MessageT, AllocatorT>::MessageDeleter;
+
+  using ConstRefCallback =
+    std::function<void (const MessageT &)>;
+  using ConstRefWithInfoCallback =
+    std::function<void (const MessageT &, const rclcpp::MessageInfo &)>;
+
+  using UniquePtrCallback =
+    std::function<void (std::unique_ptr<MessageT, MessageDeleter>)>;
   using UniquePtrWithInfoCallback =
-    std::function<void (MessageUniquePtr, const rclcpp::MessageInfo &)>;
+    std::function<void (std::unique_ptr<MessageT, MessageDeleter>, const rclcpp::MessageInfo &)>;
 
-  SharedPtrCallback shared_ptr_callback_;
-  SharedPtrWithInfoCallback shared_ptr_with_info_callback_;
-  ConstSharedPtrCallback const_shared_ptr_callback_;
-  ConstSharedPtrWithInfoCallback const_shared_ptr_with_info_callback_;
-  UniquePtrCallback unique_ptr_callback_;
-  UniquePtrWithInfoCallback unique_ptr_with_info_callback_;
+  using SharedConstPtrCallback =
+    std::function<void (std::shared_ptr<const MessageT>)>;
+  using SharedConstPtrWithInfoCallback =
+    std::function<void (std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>;
+
+  using ConstRefSharedConstPtrCallback =
+    std::function<void (const std::shared_ptr<const MessageT> &)>;
+  using ConstRefSharedConstPtrWithInfoCallback =
+    std::function<void (const std::shared_ptr<const MessageT> &, const rclcpp::MessageInfo &)>;
+
+  // Deprecated signatures:
+  using SharedPtrCallback =
+    std::function<void (std::shared_ptr<MessageT>)>;
+  using SharedPtrWithInfoCallback =
+    std::function<void (std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>;
+
+  using variant_type = std::variant<
+    ConstRefCallback,
+    ConstRefWithInfoCallback,
+    UniquePtrCallback,
+    UniquePtrWithInfoCallback,
+    SharedConstPtrCallback,
+    SharedConstPtrWithInfoCallback,
+    ConstRefSharedConstPtrCallback,
+    ConstRefSharedConstPtrWithInfoCallback,
+    SharedPtrCallback,
+    SharedPtrWithInfoCallback
+  >;
+};
+
+}  // namespace detail
+
+template<
+  typename MessageT,
+  typename AllocatorT = std::allocator<void>
+>
+class AnySubscriptionCallback
+{
+private:
+  using HelperT = typename rclcpp::detail::AnySubscriptionCallbackHelper<MessageT, AllocatorT>;
+  using MessageDeleterHelper = rclcpp::detail::MessageDeleterHelper<MessageT, AllocatorT>;
+
+  using MessageAllocTraits = typename MessageDeleterHelper::MessageAllocTraits;
+  using MessageAlloc = typename MessageDeleterHelper::MessageAlloc;
+  using MessageDeleter = typename MessageDeleterHelper::MessageDeleter;
+
+  // See AnySubscriptionCallbackHelper for the types of these.
+  using ConstRefCallback = typename HelperT::ConstRefCallback;
+  using ConstRefWithInfoCallback = typename HelperT::ConstRefWithInfoCallback;
+
+  using UniquePtrCallback = typename HelperT::UniquePtrCallback;
+  using UniquePtrWithInfoCallback = typename HelperT::UniquePtrWithInfoCallback;
+
+  using SharedConstPtrCallback = typename HelperT::SharedConstPtrCallback;
+  using SharedConstPtrWithInfoCallback = typename HelperT::SharedConstPtrWithInfoCallback;
+
+  using ConstRefSharedConstPtrCallback =
+    typename HelperT::ConstRefSharedConstPtrCallback;
+  using ConstRefSharedConstPtrWithInfoCallback =
+    typename HelperT::ConstRefSharedConstPtrWithInfoCallback;
+
+  using SharedPtrCallback = typename HelperT::SharedPtrCallback;
+  using SharedPtrWithInfoCallback = typename HelperT::SharedPtrWithInfoCallback;
 
 public:
-  explicit AnySubscriptionCallback(std::shared_ptr<Alloc> allocator)
-  : shared_ptr_callback_(nullptr), shared_ptr_with_info_callback_(nullptr),
-    const_shared_ptr_callback_(nullptr), const_shared_ptr_with_info_callback_(nullptr),
-    unique_ptr_callback_(nullptr), unique_ptr_with_info_callback_(nullptr)
+  explicit
+  AnySubscriptionCallback(const AllocatorT & allocator = AllocatorT())  // NOLINT[runtime/explicit]
+  {
+    message_allocator_ = allocator;
+    allocator::set_allocator_for_deleter(&message_deleter_, &message_allocator_);
+  }
+
+  [[deprecated("use AnySubscriptionCallback(const AllocatorT & allocator) instead")]]
+  explicit
+  AnySubscriptionCallback(std::shared_ptr<AllocatorT> allocator)  // NOLINT[runtime/explicit]
   {
     if (allocator == nullptr) {
       throw std::runtime_error("invalid allocator");
     }
-    message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
-    allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
+    message_allocator_ = *allocator;
+    allocator::set_allocator_for_deleter(&message_deleter_, &message_allocator_);
   }
 
   AnySubscriptionCallback(const AnySubscriptionCallback &) = default;
 
-  template<
-    typename CallbackT,
-    typename std::enable_if<
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        SharedPtrCallback
-      >::value
-    >::type * = nullptr
-  >
-  void set(CallbackT callback)
+  /// Generic function for setting the callback.
+  /**
+   * There are specializations that overload this in order to deprecate some
+   * callback signatures, and also to fix ambiguity between shared_ptr and
+   * unique_ptr callback signatures when using them with lambda functions.
+   */
+  template<typename CallbackT>
+  AnySubscriptionCallback<MessageT, AllocatorT>
+  set(CallbackT callback)
   {
-    shared_ptr_callback_ = callback;
+    // Use the SubscriptionCallbackTypeHelper to determine the actual type of
+    // the CallbackT, in terms of std::function<...>, which does not happen
+    // automatically with lambda functions in cases where the arguments can be
+    // converted to one another, e.g. shared_ptr and unique_ptr.
+    using scbth = detail::SubscriptionCallbackTypeHelper<MessageT, CallbackT>;
+
+    // Determine if the given CallbackT is a deprecated signature or not.
+    constexpr auto is_deprecated =
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<MessageT>)>
+      >::value
+      ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>
+      >::value;
+
+    // Use the discovered type to force the type of callback when assigning
+    // into the variant.
+    if constexpr (is_deprecated) {
+      // If deprecated, call sub-routine that is deprecated.
+      set_deprecated(static_cast<typename scbth::callback_type>(callback));
+    } else {
+      // Otherwise just assign it.
+      callback_variant_ = static_cast<typename scbth::callback_type>(callback);
+    }
+
+    // Return copy of self for easier testing, normally will be compiled out.
+    return *this;
   }
 
-  template<
-    typename CallbackT,
-    typename std::enable_if<
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        SharedPtrWithInfoCallback
-      >::value
-    >::type * = nullptr
-  >
-  void set(CallbackT callback)
+  /// Function for shared_ptr to non-const MessageT, which is deprecated.
+  // TODO(wjwwood): enable this deprecation after Galactic
+  // [[deprecated(
+  //   "use 'void (std::shared_ptr<const MessageT>)' instead"
+  // )]]
+  void
+  set_deprecated(std::function<void(std::shared_ptr<MessageT>)> callback)
+  // set(CallbackT callback)
   {
-    shared_ptr_with_info_callback_ = callback;
+    callback_variant_ = callback;
   }
 
-  template<
-    typename CallbackT,
-    typename std::enable_if<
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        ConstSharedPtrCallback
-      >::value
-    >::type * = nullptr
-  >
-  void set(CallbackT callback)
+  /// Function for shared_ptr to non-const MessageT with MessageInfo, which is deprecated.
+  // TODO(wjwwood): enable this deprecation after Galactic
+  // [[deprecated(
+  //   "use 'void (std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)' instead"
+  // )]]
+  void
+  set_deprecated(
+    std::function<void(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)> callback)
   {
-    const_shared_ptr_callback_ = callback;
+    callback_variant_ = callback;
   }
 
-  template<
-    typename CallbackT,
-    typename std::enable_if<
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        ConstSharedPtrWithInfoCallback
-      >::value
-    >::type * = nullptr
-  >
-  void set(CallbackT callback)
+  std::unique_ptr<MessageT, MessageDeleter>
+  create_unique_ptr_from_shared_ptr_message(const std::shared_ptr<const MessageT> & message)
   {
-    const_shared_ptr_with_info_callback_ = callback;
+    auto ptr = MessageAllocTraits::allocate(message_allocator_, 1);
+    MessageAllocTraits::construct(message_allocator_, ptr, *message);
+    return std::unique_ptr<MessageT, MessageDeleter>(ptr, message_deleter_);
   }
 
-  template<
-    typename CallbackT,
-    typename std::enable_if<
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        UniquePtrCallback
-      >::value
-    >::type * = nullptr
-  >
-  void set(CallbackT callback)
-  {
-    unique_ptr_callback_ = callback;
-  }
-
-  template<
-    typename CallbackT,
-    typename std::enable_if<
-      rclcpp::function_traits::same_arguments<
-        CallbackT,
-        UniquePtrWithInfoCallback
-      >::value
-    >::type * = nullptr
-  >
-  void set(CallbackT callback)
-  {
-    unique_ptr_with_info_callback_ = callback;
-  }
-
-  void dispatch(
-    std::shared_ptr<MessageT> message, const rclcpp::MessageInfo & message_info)
+  void
+  dispatch(
+    std::shared_ptr<MessageT> message,
+    const rclcpp::MessageInfo & message_info)
   {
     TRACEPOINT(callback_start, static_cast<const void *>(this), false);
-    if (shared_ptr_callback_) {
-      shared_ptr_callback_(message);
-    } else if (shared_ptr_with_info_callback_) {
-      shared_ptr_with_info_callback_(message, message_info);
-    } else if (const_shared_ptr_callback_) {
-      const_shared_ptr_callback_(message);
-    } else if (const_shared_ptr_with_info_callback_) {
-      const_shared_ptr_with_info_callback_(message, message_info);
-    } else if (unique_ptr_callback_) {
-      auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-      MessageAllocTraits::construct(*message_allocator_.get(), ptr, *message);
-      unique_ptr_callback_(MessageUniquePtr(ptr, message_deleter_));
-    } else if (unique_ptr_with_info_callback_) {
-      auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-      MessageAllocTraits::construct(*message_allocator_.get(), ptr, *message);
-      unique_ptr_with_info_callback_(MessageUniquePtr(ptr, message_deleter_), message_info);
-    } else {
-      throw std::runtime_error("unexpected message without any callback set");
-    }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
-  }
-
-  void dispatch_intra_process(
-    ConstMessageSharedPtr message, const rclcpp::MessageInfo & message_info)
-  {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
-    if (const_shared_ptr_callback_) {
-      const_shared_ptr_callback_(message);
-    } else if (const_shared_ptr_with_info_callback_) {
-      const_shared_ptr_with_info_callback_(message, message_info);
-    } else {
-      if (
-        unique_ptr_callback_ || unique_ptr_with_info_callback_ ||
-        shared_ptr_callback_ || shared_ptr_with_info_callback_)
-      {
-        throw std::runtime_error(
-                "unexpected dispatch_intra_process const shared "
-                "message call with no const shared_ptr callback");
-      } else {
-        throw std::runtime_error("unexpected message without any callback set");
+    // Check if the variant is "unset", throw if it is.
+    if (callback_variant_.index() == 0) {
+      if (std::get<0>(callback_variant_) == nullptr) {
+        // This can happen if it is default initialized, or if it is assigned nullptr.
+        throw std::runtime_error("dispatch called on an unset AnySubscriptionCallback");
       }
     }
+    // Dispatch.
+    std::visit(
+      [&message, &message_info, this](auto && callback) {
+        using T = std::decay_t<decltype(callback)>;
+
+        if constexpr (std::is_same_v<T, ConstRefCallback>) {
+          callback(*message);
+        } else if constexpr (std::is_same_v<T, ConstRefWithInfoCallback>) {
+          callback(*message, message_info);
+        } else if constexpr (std::is_same_v<T, UniquePtrCallback>) {
+          callback(create_unique_ptr_from_shared_ptr_message(message));
+        } else if constexpr (std::is_same_v<T, UniquePtrWithInfoCallback>) {
+          callback(create_unique_ptr_from_shared_ptr_message(message), message_info);
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, SharedConstPtrCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrCallback>||
+          std::is_same_v<T, SharedPtrCallback>)
+        {
+          callback(message);
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, SharedConstPtrWithInfoCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrWithInfoCallback>||
+          std::is_same_v<T, SharedPtrWithInfoCallback>)
+        {
+          callback(message, message_info);
+        } else {
+          static_assert(always_false_v<T>, "unhandled callback type");
+        }
+      }, callback_variant_);
     TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
-  void dispatch_intra_process(
-    MessageUniquePtr message, const rclcpp::MessageInfo & message_info)
+  void
+  dispatch_intra_process(
+    std::shared_ptr<const MessageT> message,
+    const rclcpp::MessageInfo & message_info)
   {
     TRACEPOINT(callback_start, static_cast<const void *>(this), true);
-    if (shared_ptr_callback_) {
-      typename std::shared_ptr<MessageT> shared_message = std::move(message);
-      shared_ptr_callback_(shared_message);
-    } else if (shared_ptr_with_info_callback_) {
-      typename std::shared_ptr<MessageT> shared_message = std::move(message);
-      shared_ptr_with_info_callback_(shared_message, message_info);
-    } else if (unique_ptr_callback_) {
-      unique_ptr_callback_(std::move(message));
-    } else if (unique_ptr_with_info_callback_) {
-      unique_ptr_with_info_callback_(std::move(message), message_info);
-    } else if (const_shared_ptr_callback_ || const_shared_ptr_with_info_callback_) {
-      throw std::runtime_error(
-              "unexpected dispatch_intra_process unique message call"
-              " with const shared_ptr callback");
-    } else {
-      throw std::runtime_error("unexpected message without any callback set");
+    // Check if the variant is "unset", throw if it is.
+    if (callback_variant_.index() == 0) {
+      if (std::get<0>(callback_variant_) == nullptr) {
+        // This can happen if it is default initialized, or if it is assigned nullptr.
+        throw std::runtime_error("dispatch called on an unset AnySubscriptionCallback");
+      }
     }
+    // Dispatch.
+    std::visit(
+      [&message, &message_info, this](auto && callback) {
+        using T = std::decay_t<decltype(callback)>;
+
+        if constexpr (std::is_same_v<T, ConstRefCallback>) {
+          callback(*message);
+        } else if constexpr (std::is_same_v<T, ConstRefWithInfoCallback>) {
+          callback(*message, message_info);
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, UniquePtrCallback>||
+          std::is_same_v<T, SharedPtrCallback>)
+        {
+          callback(create_unique_ptr_from_shared_ptr_message(message));
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, UniquePtrWithInfoCallback>||
+          std::is_same_v<T, SharedPtrWithInfoCallback>)
+        {
+          callback(create_unique_ptr_from_shared_ptr_message(message), message_info);
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, SharedConstPtrCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrCallback>)
+        {
+          callback(message);
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, SharedConstPtrWithInfoCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrWithInfoCallback>)
+        {
+          callback(message, message_info);
+        } else {
+          static_assert(always_false_v<T>, "unhandled callback type");
+        }
+      }, callback_variant_);
     TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
-  bool use_take_shared_method() const
+  void
+  dispatch_intra_process(
+    std::unique_ptr<MessageT, MessageDeleter> message,
+    const rclcpp::MessageInfo & message_info)
   {
-    return const_shared_ptr_callback_ || const_shared_ptr_with_info_callback_;
+    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    // Check if the variant is "unset", throw if it is.
+    if (callback_variant_.index() == 0) {
+      if (std::get<0>(callback_variant_) == nullptr) {
+        // This can happen if it is default initialized, or if it is assigned nullptr.
+        throw std::runtime_error("dispatch called on an unset AnySubscriptionCallback");
+      }
+    }
+    // Dispatch.
+    std::visit(
+      [&message, &message_info](auto && callback) {
+        using T = std::decay_t<decltype(callback)>;
+
+        if constexpr (std::is_same_v<T, ConstRefCallback>) {
+          callback(*message);
+        } else if constexpr (std::is_same_v<T, ConstRefWithInfoCallback>) {
+          callback(*message, message_info);
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, UniquePtrCallback>||
+          std::is_same_v<T, SharedConstPtrCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrCallback>||
+          std::is_same_v<T, SharedPtrCallback>)
+        {
+          callback(std::move(message));
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, UniquePtrWithInfoCallback>||
+          std::is_same_v<T, SharedConstPtrWithInfoCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrWithInfoCallback>||
+          std::is_same_v<T, SharedPtrWithInfoCallback>)
+        {
+          callback(std::move(message), message_info);
+        } else {
+          static_assert(always_false_v<T>, "unhandled callback type");
+        }
+      }, callback_variant_);
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
-  void register_callback_for_tracing()
+  constexpr
+  bool
+  use_take_shared_method() const
+  {
+    return
+      std::holds_alternative<SharedConstPtrCallback>(callback_variant_) ||
+      std::holds_alternative<SharedConstPtrWithInfoCallback>(callback_variant_) ||
+      std::holds_alternative<ConstRefSharedConstPtrCallback>(callback_variant_) ||
+      std::holds_alternative<ConstRefSharedConstPtrWithInfoCallback>(callback_variant_);
+  }
+
+  void
+  register_callback_for_tracing()
   {
 #ifndef TRACETOOLS_DISABLED
-    if (shared_ptr_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        static_cast<const void *>(this),
-        tracetools::get_symbol(shared_ptr_callback_));
-    } else if (shared_ptr_with_info_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        static_cast<const void *>(this),
-        tracetools::get_symbol(shared_ptr_with_info_callback_));
-    } else if (unique_ptr_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        static_cast<const void *>(this),
-        tracetools::get_symbol(unique_ptr_callback_));
-    } else if (unique_ptr_with_info_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        static_cast<const void *>(this),
-        tracetools::get_symbol(unique_ptr_with_info_callback_));
-    }
+    std::visit(
+      [this](auto && callback) {
+        TRACEPOINT(
+          rclcpp_callback_register,
+          static_cast<const void *>(this),
+          tracetools::get_symbol(callback));
+      }, callback_variant_);
 #endif  // TRACETOOLS_DISABLED
   }
 
+  typename HelperT::variant_type &
+  get_variant()
+  {
+    return callback_variant_;
+  }
+
+  const typename HelperT::variant_type &
+  get_variant() const
+  {
+    return callback_variant_;
+  }
+
 private:
-  std::shared_ptr<MessageAlloc> message_allocator_;
+  // TODO(wjwwood): switch to inheriting from std::variant (i.e. HelperT::variant_type) once
+  // inheriting from std::variant is realistic (maybe C++23?), see:
+  //   http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2020/p2162r0.html
+  // For now, compose the variant into this class as a private attribute.
+  typename HelperT::variant_type callback_variant_;
+
+  MessageAlloc message_allocator_;
   MessageDeleter message_deleter_;
 };
 

rclcpp/include/rclcpp/callback_group.hpp

@@ -222,13 +222,6 @@ private:
   }
 };
 
-namespace callback_group
-{
-
-using CallbackGroupType [[deprecated("use rclcpp::CallbackGroupType instead")]] = CallbackGroupType;
-using CallbackGroup [[deprecated("use rclcpp::CallbackGroup instead")]] = CallbackGroup;
-
-}  // namespace callback_group
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CALLBACK_GROUP_HPP_

rclcpp/include/rclcpp/context.hpp

@@ -23,6 +23,7 @@
 #include <typeindex>
 #include <typeinfo>
 #include <unordered_map>
+#include <unordered_set>
 #include <utility>
 #include <vector>
 
@@ -47,6 +48,17 @@ public:
 /// Forward declare WeakContextsWrapper
 class WeakContextsWrapper;
 
+class OnShutdownCallbackHandle
+{
+  friend class Context;
+
+public:
+  using OnShutdownCallbackType = std::function<void ()>;
+
+private:
+  std::weak_ptr<OnShutdownCallbackType> callback;
+};
+
 /// Context which encapsulates shared state between nodes and other similar entities.
 /**
  * A context also represents the lifecycle between init and shutdown of rclcpp.
@@ -177,7 +189,7 @@ public:
   bool
   shutdown(const std::string & reason);
 
-  using OnShutdownCallback = std::function<void ()>;
+  using OnShutdownCallback = OnShutdownCallbackHandle::OnShutdownCallbackType;
 
   /// Add a on_shutdown callback to be called when shutdown is called for this context.
   /**
@@ -203,23 +215,47 @@ public:
   OnShutdownCallback
   on_shutdown(OnShutdownCallback callback);
 
-  /// Return the shutdown callbacks as const.
+  /// Add a on_shutdown callback to be called when shutdown is called for this context.
   /**
-   * Using the returned reference is not thread-safe with calls that modify
-   * the list of "on shutdown" callbacks, i.e. on_shutdown().
+   * These callbacks will be called in the order they are added as the second
+   * to last step in shutdown().
+   *
+   * When shutdown occurs due to the signal handler, these callbacks are run
+   * asynchronously in the dedicated singal handling thread.
+   *
+   * Also, shutdown() may be called from the destructor of this function.
+   * Therefore, it is not safe to throw exceptions from these callbacks.
+   * Instead, log errors or use some other mechanism to indicate an error has
+   * occurred.
+   *
+   * On shutdown callbacks may be registered before init and after shutdown,
+   * and persist on repeated init's.
+   *
+   * \param[in] callback the on_shutdown callback to be registered
+   * \return the created callback handle
    */
   RCLCPP_PUBLIC
-  const std::vector<OnShutdownCallback> &
-  get_on_shutdown_callbacks() const;
+  virtual
+  OnShutdownCallbackHandle
+  add_on_shutdown_callback(OnShutdownCallback callback);
+
+  /// Remove an registered on_shutdown callbacks.
+  /**
+   * \param[in] callback_handle the on_shutdown callback handle to be removed.
+   * \return true if the callback is found and removed, otherwise false.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  remove_on_shutdown_callback(const OnShutdownCallbackHandle & callback_handle);
 
   /// Return the shutdown callbacks.
   /**
-   * Using the returned reference is not thread-safe with calls that modify
-   * the list of "on shutdown" callbacks, i.e. on_shutdown().
+   * Returned callbacks are a copy of the registered callbacks.
    */
   RCLCPP_PUBLIC
-  std::vector<OnShutdownCallback> &
-  get_on_shutdown_callbacks();
+  std::vector<OnShutdownCallback>
+  get_on_shutdown_callbacks() const;
 
   /// Return the internal rcl context.
   RCLCPP_PUBLIC
@@ -299,8 +335,8 @@ private:
   // attempt to acquire another sub context.
   std::recursive_mutex sub_contexts_mutex_;
 
-  std::vector<OnShutdownCallback> on_shutdown_callbacks_;
-  std::mutex on_shutdown_callbacks_mutex_;
+  std::unordered_set<std::shared_ptr<OnShutdownCallback>> on_shutdown_callbacks_;
+  mutable std::mutex on_shutdown_callbacks_mutex_;
 
   /// Condition variable for timed sleep (see sleep_for).
   std::condition_variable interrupt_condition_variable_;

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -36,22 +36,6 @@ RCLCPP_PUBLIC
 DefaultContext::SharedPtr
 get_global_default_context();
 
-namespace default_context
-{
-
-using DefaultContext
-[[deprecated("use rclcpp::contexts::DefaultContext instead")]] = DefaultContext;
-
-[[deprecated("use rclcpp::contexts::get_global_default_context() instead")]]
-RCLCPP_PUBLIC
-inline
-DefaultContext::SharedPtr
-get_global_default_context()
-{
-  return rclcpp::contexts::get_global_default_context();
-}
-
-}  // namespace default_context
 }  // namespace contexts
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/create_generic_publisher.hpp

@@ -0,0 +1,69 @@
+// Copyright 2020, Apex.AI 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__CREATE_GENERIC_PUBLISHER_HPP_
+#define RCLCPP__CREATE_GENERIC_PUBLISHER_HPP_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/generic_publisher.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/typesupport_helpers.hpp"
+
+namespace rclcpp
+{
+
+/// Create and return a GenericPublisher.
+/**
+ * The returned pointer will never be empty, but this function can throw various exceptions, for
+ * instance when the message's package can not be found on the AMENT_PREFIX_PATH.
+ *
+ * \param topics_interface NodeTopicsInterface pointer used in parts of the setup
+ * \param topic_name Topic name
+ * \param topic_type Topic type
+ * \param qos %QoS settings
+ * \param options %Publisher options.
+ * Not all publisher options are currently respected, the only relevant options for this
+ * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
+ */
+template<typename AllocatorT = std::allocator<void>>
+std::shared_ptr<GenericPublisher> create_generic_publisher(
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
+  const std::string & topic_name,
+  const std::string & topic_type,
+  const rclcpp::QoS & qos,
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
+  )
+)
+{
+  auto ts_lib = rclcpp::get_typesupport_library(topic_type, "rosidl_typesupport_cpp");
+  auto pub = std::make_shared<GenericPublisher>(
+    topics_interface->get_node_base_interface(),
+    std::move(ts_lib),
+    topic_name,
+    topic_type,
+    qos,
+    options);
+  topics_interface->add_publisher(pub, options.callback_group);
+  return pub;
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_GENERIC_PUBLISHER_HPP_

rclcpp/include/rclcpp/create_generic_subscription.hpp

@@ -0,0 +1,79 @@
+// Copyright 2020, Apex.AI 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__CREATE_GENERIC_SUBSCRIPTION_HPP_
+#define RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_
+
+#include <functional>
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rcl/subscription.h"
+#include "rclcpp/generic_subscription.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/serialized_message.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/typesupport_helpers.hpp"
+
+namespace rclcpp
+{
+
+/// Create and return a GenericSubscription.
+/**
+ * The returned pointer will never be empty, but this function can throw various exceptions, for
+ * instance when the message's package can not be found on the AMENT_PREFIX_PATH.
+ *
+ * \param topics_interface NodeTopicsInterface pointer used in parts of the setup.
+ * \param topic_name Topic name
+ * \param topic_type Topic type
+ * \param qos %QoS settings
+ * \param callback Callback for new messages of serialized form
+ * \param options %Publisher options.
+ * Not all publisher options are currently respected, the only relevant options for this
+ * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
+ */
+template<typename AllocatorT = std::allocator<void>>
+std::shared_ptr<GenericSubscription> create_generic_subscription(
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
+  const std::string & topic_name,
+  const std::string & topic_type,
+  const rclcpp::QoS & qos,
+  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
+  )
+)
+{
+  auto ts_lib = rclcpp::get_typesupport_library(
+    topic_type, "rosidl_typesupport_cpp");
+
+  auto subscription = std::make_shared<GenericSubscription>(
+    topics_interface->get_node_base_interface(),
+    std::move(ts_lib),
+    topic_name,
+    topic_type,
+    qos,
+    callback,
+    options);
+
+  topics_interface->add_subscription(subscription, options.callback_group);
+
+  return subscription;
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_

rclcpp/include/rclcpp/detail/mutex_two_priorities.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__DETAIL__MUTEX_TWO_PRIORITIES_HPP_
 #define RCLCPP__DETAIL__MUTEX_TWO_PRIORITIES_HPP_
 
+#include <condition_variable>
 #include <mutex>
 
 namespace rclcpp
@@ -62,11 +63,11 @@ private:
   get_low_priority_lockable();
 
 private:
-  // Implementation detail: the idea here is that only one low priority thread can be
-  // trying to take the data_ mutex while the others are excluded by the barrier_ mutex.
-  // All high priority threads are already waiting for the data_ mutex.
-  std::mutex barrier_;
-  std::mutex data_;
+  std::condition_variable hp_cv_;
+  std::condition_variable lp_cv_;
+  std::mutex cv_mutex_;
+  size_t hp_waiting_count_{0u};
+  bool data_taken_{false};
 };
 
 }  // namespace detail

rclcpp/include/rclcpp/detail/subscription_callback_type_helper.hpp

@@ -0,0 +1,164 @@
+// Copyright 2021 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__SUBSCRIPTION_CALLBACK_TYPE_HELPER_HPP_
+#define RCLCPP__DETAIL__SUBSCRIPTION_CALLBACK_TYPE_HELPER_HPP_
+
+#include <memory>
+#include <type_traits>
+
+#include "rclcpp/function_traits.hpp"
+#include "rclcpp/message_info.hpp"
+
+namespace rclcpp
+{
+namespace detail
+{
+
+/// Template metaprogramming helper used to resolve the callback argument into a std::function.
+/**
+ * Sometimes the CallbackT is a std::function already, but it could also be a
+ * function pointer, lambda, bind, or some variant of those.
+ * In some cases, like a lambda where the arguments can be converted between one
+ * another, e.g. std::function<void (shared_ptr<...>)> and
+ * std::function<void (unique_ptr<...>)>, you need to make that not ambiguous
+ * by checking the arguments independently using function traits rather than
+ * rely on overloading the two std::function types.
+ *
+ * This issue, with the lambda's, can be demonstrated with this minimal program:
+ *
+ *   #include <functional>
+ *   #include <memory>
+ *
+ *   void f(std::function<void (std::shared_ptr<int>)>) {}
+ *   void f(std::function<void (std::unique_ptr<int>)>) {}
+ *
+ *   int main() {
+ *     // Fails to compile with an "ambiguous call" error.
+ *     f([](std::shared_ptr<int>){});
+ *
+ *     // Works.
+ *     std::function<void (std::shared_ptr<int>)> cb = [](std::shared_ptr<int>){};
+ *     f(cb);
+ *   }
+ *
+ * If this program ever starts working in a future version of C++, this class
+ * may become redundant.
+ *
+ * This helper works by using SFINAE with rclcpp::function_traits::same_arguments<>
+ * to narrow down the exact std::function<> type for the given CallbackT.
+ */
+template<typename MessageT, typename CallbackT, typename Enable = void>
+struct SubscriptionCallbackTypeHelper
+{
+  using callback_type = typename rclcpp::function_traits::as_std_function<CallbackT>::type;
+};
+
+template<typename MessageT, typename CallbackT>
+struct SubscriptionCallbackTypeHelper<
+  MessageT,
+  CallbackT,
+  typename std::enable_if_t<
+    rclcpp::function_traits::same_arguments<
+      CallbackT,
+      std::function<void(std::shared_ptr<const MessageT>)>
+    >::value
+  >
+>
+{
+  using callback_type = std::function<void (std::shared_ptr<const MessageT>)>;
+};
+
+template<typename MessageT, typename CallbackT>
+struct SubscriptionCallbackTypeHelper<
+  MessageT,
+  CallbackT,
+  typename std::enable_if_t<
+    rclcpp::function_traits::same_arguments<
+      CallbackT,
+      std::function<void(std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>
+    >::value
+  >
+>
+{
+  using callback_type =
+    std::function<void (std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>;
+};
+
+template<typename MessageT, typename CallbackT>
+struct SubscriptionCallbackTypeHelper<
+  MessageT,
+  CallbackT,
+  typename std::enable_if_t<
+    rclcpp::function_traits::same_arguments<
+      CallbackT,
+      std::function<void(const std::shared_ptr<const MessageT> &)>
+    >::value
+  >
+>
+{
+  using callback_type = std::function<void (const std::shared_ptr<const MessageT> &)>;
+};
+
+template<typename MessageT, typename CallbackT>
+struct SubscriptionCallbackTypeHelper<
+  MessageT,
+  CallbackT,
+  typename std::enable_if_t<
+    rclcpp::function_traits::same_arguments<
+      CallbackT,
+      std::function<void(const std::shared_ptr<const MessageT> &, const rclcpp::MessageInfo &)>
+    >::value
+  >
+>
+{
+  using callback_type =
+    std::function<void (const std::shared_ptr<const MessageT> &, const rclcpp::MessageInfo &)>;
+};
+
+template<typename MessageT, typename CallbackT>
+struct SubscriptionCallbackTypeHelper<
+  MessageT,
+  CallbackT,
+  typename std::enable_if_t<
+    rclcpp::function_traits::same_arguments<
+      CallbackT,
+      std::function<void(std::shared_ptr<MessageT>)>
+    >::value
+  >
+>
+{
+  using callback_type = std::function<void (std::shared_ptr<MessageT>)>;
+};
+
+template<typename MessageT, typename CallbackT>
+struct SubscriptionCallbackTypeHelper<
+  MessageT,
+  CallbackT,
+  typename std::enable_if_t<
+    rclcpp::function_traits::same_arguments<
+      CallbackT,
+      std::function<void(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>
+    >::value
+  >
+>
+{
+  using callback_type =
+    std::function<void (std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>;
+};
+
+}  // namespace detail
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DETAIL__SUBSCRIPTION_CALLBACK_TYPE_HELPER_HPP_

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -282,8 +282,8 @@ class ParameterModifiedInCallbackException : public std::runtime_error
   using std::runtime_error::runtime_error;
 };
 
-/// Thrown when a parameter override wasn't provided and one was required.
-class NoParameterOverrideProvided : public std::runtime_error
+/// Thrown when an uninitialized parameter is accessed.
+class ParameterUninitializedException : public std::runtime_error
 {
 public:
   /// Construct an instance.
@@ -291,8 +291,8 @@ public:
    * \param[in] name the name of the parameter.
    * \param[in] message custom exception message.
    */
-  explicit NoParameterOverrideProvided(const std::string & name)
-  : std::runtime_error("parameter '" + name + "' requires an user provided parameter override")
+  explicit ParameterUninitializedException(const std::string & name)
+  : std::runtime_error("parameter '" + name + "' is not initialized")
   {}
 };
 

rclcpp/include/rclcpp/executor.hpp

@@ -30,6 +30,7 @@
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
 
+#include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/executor_options.hpp"
@@ -544,7 +545,7 @@ protected:
   RCLCPP_DISABLE_COPY(Executor)
 
   RCLCPP_PUBLIC
-  void
+  virtual void
   spin_once_impl(std::chrono::nanoseconds timeout);
 
   typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
@@ -571,14 +572,11 @@ protected:
   /// nodes that are associated with the executor
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>
   weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// shutdown callback handle registered to Context
+  rclcpp::OnShutdownCallbackHandle shutdown_callback_handle_;
 };
 
-namespace executor
-{
-
-using Executor [[deprecated("use rclcpp::Executor instead")]] = rclcpp::Executor;
-
-}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__EXECUTOR_HPP_

rclcpp/include/rclcpp/executor_options.hpp

@@ -38,20 +38,6 @@ struct ExecutorOptions
   size_t max_conditions;
 };
 
-namespace executor
-{
-
-using ExecutorArgs [[deprecated("use rclcpp::ExecutorOptions instead")]] = ExecutorOptions;
-
-[[deprecated("use rclcpp::ExecutorOptions() instead")]]
-inline
-rclcpp::ExecutorOptions
-create_default_executor_arguments()
-{
-  return rclcpp::ExecutorOptions();
-}
-
-}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__EXECUTOR_OPTIONS_HPP_

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -68,6 +68,10 @@ public:
     rcl_guard_condition_t * executor_guard_condition);
 
   /// Finalize StaticExecutorEntitiesCollector to clear resources
+  RCLCPP_PUBLIC
+  bool
+  is_init() {return initialized_;}
+
   RCLCPP_PUBLIC
   void
   fini();
@@ -339,6 +343,9 @@ private:
 
   /// Executable list: timers, subscribers, clients, services and waitables
   rclcpp::experimental::ExecutableList exec_list_;
+
+  /// Bool to check if the entities collector has been initialized
+  bool initialized_ = false;
 };
 
 }  // namespace executors

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
 #define RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
 
+#include <chrono>
 #include <cassert>
 #include <cstdlib>
 #include <memory>
@@ -78,6 +79,42 @@ public:
   void
   spin() override;
 
+  /// Static executor implementation of spin some
+  /**
+   * This non-blocking function will execute entities that
+   * were ready when this API was called, until timeout or no
+   * more work available. Entities that got ready while
+   * executing work, won't be taken into account here.
+   *
+   * Example:
+   *   while(condition) {
+   *     spin_some();
+   *     sleep(); // User should have some sync work or
+   *              // sleep to avoid a 100% CPU usage
+   *   }
+   */
+  RCLCPP_PUBLIC
+  void
+  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)) override;
+
+  /// Static executor implementation of spin all
+  /**
+   * This non-blocking function will execute entities until
+   * timeout or no more work available. If new entities get ready
+   * while executing work available, they will be executed
+   * as long as the timeout hasn't expired.
+   *
+   * Example:
+   *   while(condition) {
+   *     spin_all();
+   *     sleep(); // User should have some sync work or
+   *              // sleep to avoid a 100% CPU usage
+   *   }
+   */
+  RCLCPP_PUBLIC
+  void
+  spin_all(std::chrono::nanoseconds max_duration) override;
+
   /// Add a callback group to an executor.
   /**
    * \sa rclcpp::Executor::add_callback_group
@@ -155,113 +192,23 @@ 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
-   *   accessed without blocking (though it may still throw an exception).
-   * \param[in] timeout Optional timeout parameter, which gets passed to
-   *    Executor::execute_ready_executables.
-   *   `-1` is block forever, `0` is non-blocking.
-   *   If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return
-   *   code.
-   * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
-   *
-   *  Example usage:
-   *  rclcpp::executors::StaticSingleThreadedExecutor exec;
-   *  // ... other part of code like creating node
-   *  // define future
-   *  exec.add_node(node);
-   *  exec.spin_until_future_complete(future);
-   */
-  template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-  rclcpp::FutureReturnCode
-  spin_until_future_complete(
-    FutureT & future,
-    std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
-  {
-    std::future_status status = future.wait_for(std::chrono::seconds(0));
-    if (status == std::future_status::ready) {
-      return rclcpp::FutureReturnCode::SUCCESS;
-    }
-
-    auto end_time = std::chrono::steady_clock::now();
-    std::chrono::nanoseconds timeout_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
-      timeout);
-    if (timeout_ns > std::chrono::nanoseconds::zero()) {
-      end_time += timeout_ns;
-    }
-    std::chrono::nanoseconds timeout_left = timeout_ns;
-
-    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.
-      entities_collector_->refresh_wait_set(timeout_left);
-      execute_ready_executables();
-      // Check if the future is set, return SUCCESS if it is.
-      status = future.wait_for(std::chrono::seconds(0));
-      if (status == std::future_status::ready) {
-        return rclcpp::FutureReturnCode::SUCCESS;
-      }
-      // If the original timeout is < 0, then this is blocking, never TIMEOUT.
-      if (timeout_ns < std::chrono::nanoseconds::zero()) {
-        continue;
-      }
-      // Otherwise check if we still have time to wait, return TIMEOUT if not.
-      auto now = std::chrono::steady_clock::now();
-      if (now >= end_time) {
-        return rclcpp::FutureReturnCode::TIMEOUT;
-      }
-      // Subtract the elapsed time from the original timeout.
-      timeout_left = std::chrono::duration_cast<std::chrono::nanoseconds>(end_time - now);
-    }
-
-    // The future did not complete before ok() returned false, return INTERRUPTED.
-    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.
   /**
-   * \param[in] exec_list Structure that can hold subscriptionbases, timerbases, etc
-   * \param[in] timeout Optional timeout parameter.
+   * @brief Executes ready executables from wait set.
+   * @param spin_once if true executes only the first ready executable.
+   * @return true if any executable was ready.
    */
+  RCLCPP_PUBLIC
+  bool
+  execute_ready_executables(bool spin_once = false);
+
   RCLCPP_PUBLIC
   void
-  execute_ready_executables();
+  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
+
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout) override;
 
 private:
   RCLCPP_DISABLE_COPY(StaticSingleThreadedExecutor)

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -202,7 +202,8 @@ public:
       // None of the buffers require ownership, so we promote the pointer
       std::shared_ptr<MessageT> msg = std::move(message);
 
-      this->template add_shared_msg_to_buffers<MessageT>(msg, sub_ids.take_shared_subscriptions);
+      this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
+        msg, sub_ids.take_shared_subscriptions);
     } else if (!sub_ids.take_ownership_subscriptions.empty() && // NOLINT
       sub_ids.take_shared_subscriptions.size() <= 1)
     {
@@ -227,7 +228,7 @@ public:
       // for the buffers that do not require ownership
       auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
 
-      this->template add_shared_msg_to_buffers<MessageT>(
+      this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
         shared_msg, sub_ids.take_shared_subscriptions);
       this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
         std::move(message), sub_ids.take_ownership_subscriptions, allocator);
@@ -263,7 +264,7 @@ public:
       // If there are no owning, just convert to shared.
       std::shared_ptr<MessageT> shared_msg = std::move(message);
       if (!sub_ids.take_shared_subscriptions.empty()) {
-        this->template add_shared_msg_to_buffers<MessageT>(
+        this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
           shared_msg, sub_ids.take_shared_subscriptions);
       }
       return shared_msg;
@@ -273,7 +274,7 @@ public:
       auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
 
       if (!sub_ids.take_shared_subscriptions.empty()) {
-        this->template add_shared_msg_to_buffers<MessageT>(
+        this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
           shared_msg,
           sub_ids.take_shared_subscriptions);
       }
@@ -350,7 +351,10 @@ private:
   bool
   can_communicate(PublisherInfo pub_info, SubscriptionInfo sub_info) const;
 
-  template<typename MessageT>
+  template<
+    typename MessageT,
+    typename Alloc,
+    typename Deleter>
   void
   add_shared_msg_to_buffers(
     std::shared_ptr<const MessageT> message,
@@ -363,9 +367,16 @@ private:
       }
       auto subscription_base = subscription_it->second.subscription.lock();
       if (subscription_base) {
-        auto subscription = std::static_pointer_cast<
-          rclcpp::experimental::SubscriptionIntraProcess<MessageT>
+        auto subscription = std::dynamic_pointer_cast<
+          rclcpp::experimental::SubscriptionIntraProcess<MessageT, Alloc, Deleter>
           >(subscription_base);
+        if (nullptr == subscription) {
+          throw std::runtime_error(
+                  "failed to dynamic cast SubscriptionIntraProcessBase to "
+                  "SubscriptionIntraProcess<MessageT, Alloc, Deleter>, which "
+                  "can happen when the publisher and subscription use different "
+                  "allocator types, which is not supported");
+        }
 
         subscription->provide_intra_process_message(message);
       } else {
@@ -394,9 +405,16 @@ private:
       }
       auto subscription_base = subscription_it->second.subscription.lock();
       if (subscription_base) {
-        auto subscription = std::static_pointer_cast<
-          rclcpp::experimental::SubscriptionIntraProcess<MessageT>
+        auto subscription = std::dynamic_pointer_cast<
+          rclcpp::experimental::SubscriptionIntraProcess<MessageT, Alloc, Deleter>
           >(subscription_base);
+        if (nullptr == subscription) {
+          throw std::runtime_error(
+                  "failed to dynamic cast SubscriptionIntraProcessBase to "
+                  "SubscriptionIntraProcess<MessageT, Alloc, Deleter>, which "
+                  "can happen when the publisher and subscription use different "
+                  "allocator types, which is not supported");
+        }
 
         if (std::next(it) == subscription_ids.end()) {
           // If this is the last subscription, give up ownership

rclcpp/include/rclcpp/function_traits.hpp

@@ -162,6 +162,32 @@ struct same_arguments : std::is_same<
 >
 {};
 
+namespace detail
+{
+
+template<typename ReturnTypeT, typename ... Args>
+struct as_std_function_helper;
+
+template<typename ReturnTypeT, typename ... Args>
+struct as_std_function_helper<ReturnTypeT, std::tuple<Args ...>>
+{
+  using type = std::function<ReturnTypeT(Args ...)>;
+};
+
+}  // namespace detail
+
+template<
+  typename FunctorT,
+  typename FunctionTraits = function_traits<FunctorT>
+>
+struct as_std_function
+{
+  using type = typename detail::as_std_function_helper<
+    typename FunctionTraits::return_type,
+    typename FunctionTraits::arguments
+    >::type;
+};
+
 }  // namespace function_traits
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/generic_publisher.hpp

@@ -0,0 +1,127 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright 2021, Apex.AI 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__GENERIC_PUBLISHER_HPP_
+#define RCLCPP__GENERIC_PUBLISHER_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rcpputils/shared_library.hpp"
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/serialized_message.hpp"
+#include "rclcpp/typesupport_helpers.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+/// %Publisher for serialized messages whose type is not known at compile time.
+/**
+ * Since the type is not known at compile time, this is not a template, and the dynamic library
+ * containing type support information has to be identified and loaded based on the type name.
+ *
+ * It does not support intra-process handling.
+ */
+class GenericPublisher : public rclcpp::PublisherBase
+{
+public:
+  // cppcheck-suppress unknownMacro
+  RCLCPP_SMART_PTR_DEFINITIONS(GenericPublisher)
+
+  /// Constructor.
+  /**
+   * In order to properly publish to a topic, this publisher needs to be added to
+   * the node_topic_interface of the node passed into this constructor.
+   *
+   * \sa rclcpp::Node::create_generic_publisher() or rclcpp::create_generic_publisher() for
+   * creating an instance of this class and adding it to the node_topic_interface.
+   *
+   * \param node_base Pointer to parent node's NodeBaseInterface
+   * \param ts_lib Type support library, needs to correspond to topic_type
+   * \param topic_name Topic name
+   * \param topic_type Topic type
+   * \param qos %QoS settings
+   * \param callback Callback for new messages of serialized form
+   * \param options %Publisher options.
+   * Not all publisher options are currently respected, the only relevant options for this
+   * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
+   */
+  template<typename AllocatorT = std::allocator<void>>
+  GenericPublisher(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    std::shared_ptr<rcpputils::SharedLibrary> ts_lib,
+    const std::string & topic_name,
+    const std::string & topic_type,
+    const rclcpp::QoS & qos,
+    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+  : rclcpp::PublisherBase(
+      node_base,
+      topic_name,
+      *rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
+      options.template to_rcl_publisher_options<rclcpp::SerializedMessage>(qos)),
+    ts_lib_(ts_lib)
+  {
+    // This is unfortunately duplicated with the code in publisher.hpp.
+    // TODO(nnmm): Deduplicate by moving this into PublisherBase.
+    if (options.event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        options.event_callbacks.deadline_callback,
+        RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
+    }
+    if (options.event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        options.event_callbacks.liveliness_callback,
+        RCL_PUBLISHER_LIVELINESS_LOST);
+    }
+    if (options.event_callbacks.incompatible_qos_callback) {
+      this->add_event_handler(
+        options.event_callbacks.incompatible_qos_callback,
+        RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
+    } else if (options.use_default_callbacks) {
+      // Register default callback when not specified
+      try {
+        this->add_event_handler(
+          [this](QOSOfferedIncompatibleQoSInfo & info) {
+            this->default_incompatible_qos_callback(info);
+          },
+          RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
+      } catch (UnsupportedEventTypeException & /*exc*/) {
+        // pass
+      }
+    }
+  }
+
+  RCLCPP_PUBLIC
+  virtual ~GenericPublisher() = default;
+
+  /// Publish a rclcpp::SerializedMessage.
+  RCLCPP_PUBLIC
+  void publish(const rclcpp::SerializedMessage & message);
+
+private:
+  // The type support library should stay loaded, so it is stored in the GenericPublisher
+  std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__GENERIC_PUBLISHER_HPP_

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -0,0 +1,161 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright 2021, Apex.AI 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__GENERIC_SUBSCRIPTION_HPP_
+#define RCLCPP__GENERIC_SUBSCRIPTION_HPP_
+
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rcpputils/shared_library.hpp"
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/serialized_message.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/typesupport_helpers.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+/// %Subscription for serialized messages whose type is not known at compile time.
+/**
+ * Since the type is not known at compile time, this is not a template, and the dynamic library
+ * containing type support information has to be identified and loaded based on the type name.
+ *
+ * It does not support intra-process handling.
+ */
+class GenericSubscription : public rclcpp::SubscriptionBase
+{
+public:
+  // cppcheck-suppress unknownMacro
+  RCLCPP_SMART_PTR_DEFINITIONS(GenericSubscription)
+
+  /// Constructor.
+  /**
+   * In order to properly subscribe to a topic, this subscription needs to be added to
+   * the node_topic_interface of the node passed into this constructor.
+   *
+   * \sa rclcpp::Node::create_generic_subscription() or rclcpp::create_generic_subscription() for
+   * creating an instance of this class and adding it to the node_topic_interface.
+   *
+   * \param node_base Pointer to parent node's NodeBaseInterface
+   * \param ts_lib Type support library, needs to correspond to topic_type
+   * \param topic_name Topic name
+   * \param topic_type Topic type
+   * \param qos %QoS settings
+   * \param callback Callback for new messages of serialized form
+   * \param options %Subscription options.
+   * Not all subscription options are currently respected, the only relevant options for this
+   * subscription are `event_callbacks`, `use_default_callbacks`, `ignore_local_publications`, and
+   * `%callback_group`.
+   */
+  template<typename AllocatorT = std::allocator<void>>
+  GenericSubscription(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::shared_ptr<rcpputils::SharedLibrary> ts_lib,
+    const std::string & topic_name,
+    const std::string & topic_type,
+    const rclcpp::QoS & qos,
+    // TODO(nnmm): Add variant for callback with message info. See issue #1604.
+    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
+  : SubscriptionBase(
+      node_base,
+      *rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
+      topic_name,
+      options.template to_rcl_subscription_options<rclcpp::SerializedMessage>(qos),
+      true),
+    callback_(callback),
+    ts_lib_(ts_lib)
+  {
+    // This is unfortunately duplicated with the code in subscription.hpp.
+    // TODO(nnmm): Deduplicate by moving this into SubscriptionBase.
+    if (options.event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        options.event_callbacks.deadline_callback,
+        RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
+    }
+    if (options.event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        options.event_callbacks.liveliness_callback,
+        RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
+    }
+    if (options.event_callbacks.incompatible_qos_callback) {
+      this->add_event_handler(
+        options.event_callbacks.incompatible_qos_callback,
+        RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
+    } else if (options.use_default_callbacks) {
+      // Register default callback when not specified
+      try {
+        this->add_event_handler(
+          [this](QOSRequestedIncompatibleQoSInfo & info) {
+            this->default_incompatible_qos_callback(info);
+          },
+          RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
+      } catch (UnsupportedEventTypeException & /*exc*/) {
+        // pass
+      }
+    }
+    if (options.event_callbacks.message_lost_callback) {
+      this->add_event_handler(
+        options.event_callbacks.message_lost_callback,
+        RCL_SUBSCRIPTION_MESSAGE_LOST);
+    }
+  }
+
+  RCLCPP_PUBLIC
+  virtual ~GenericSubscription() = default;
+
+  // Same as create_serialized_message() as the subscription is to serialized_messages only
+  RCLCPP_PUBLIC
+  std::shared_ptr<void> create_message() override;
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<rclcpp::SerializedMessage> create_serialized_message() override;
+
+  /// Cast the message to a rclcpp::SerializedMessage and call the callback.
+  RCLCPP_PUBLIC
+  void handle_message(
+    std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) override;
+
+  /// This function is currently not implemented.
+  RCLCPP_PUBLIC
+  void handle_loaned_message(
+    void * loaned_message, const rclcpp::MessageInfo & message_info) override;
+
+  // Same as return_serialized_message() as the subscription is to serialized_messages only
+  RCLCPP_PUBLIC
+  void return_message(std::shared_ptr<void> & message) override;
+
+  RCLCPP_PUBLIC
+  void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
+
+private:
+  RCLCPP_DISABLE_COPY(GenericSubscription)
+
+  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback_;
+  // The type support library should stay loaded, so it is stored in the GenericSubscription
+  std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__GENERIC_SUBSCRIPTION_HPP_

rclcpp/include/rclcpp/network_flow_endpoint.hpp

@@ -0,0 +1,115 @@
+// Copyright 2020 Ericsson AB
+//
+// 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__NETWORK_FLOW_ENDPOINT_HPP_
+#define RCLCPP__NETWORK_FLOW_ENDPOINT_HPP_
+
+#include <cstdint>
+#include <string>
+#include <iostream>
+
+#include "rcl/network_flow_endpoints.h"
+
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+/// Forward declaration
+class NetworkFlowEndpoint;
+
+/// Check if two NetworkFlowEndpoint instances are equal
+RCLCPP_PUBLIC
+bool operator==(const NetworkFlowEndpoint & left, const NetworkFlowEndpoint & right);
+
+/// Check if two NetworkFlowEndpoint instances are not equal
+RCLCPP_PUBLIC
+bool operator!=(const NetworkFlowEndpoint & left, const NetworkFlowEndpoint & right);
+
+/// Streaming helper for NetworkFlowEndpoint
+RCLCPP_PUBLIC
+std::ostream & operator<<(std::ostream & os, const NetworkFlowEndpoint & network_flow_endpoint);
+
+/**
+ * Class describes a network flow endpoint based on the counterpart definition
+ * in the RMW layer.
+ */
+class NetworkFlowEndpoint
+{
+public:
+  /// Construct from rcl_network_flow_endpoint_t
+  RCLCPP_PUBLIC
+  explicit NetworkFlowEndpoint(const rcl_network_flow_endpoint_t & network_flow_endpoint)
+  : transport_protocol_(
+      rcl_network_flow_endpoint_get_transport_protocol_string(network_flow_endpoint.
+      transport_protocol)),
+    internet_protocol_(
+      rcl_network_flow_endpoint_get_internet_protocol_string(
+        network_flow_endpoint.internet_protocol)),
+    transport_port_(network_flow_endpoint.transport_port),
+    flow_label_(network_flow_endpoint.flow_label),
+    dscp_(network_flow_endpoint.dscp),
+    internet_address_(network_flow_endpoint.internet_address)
+  {
+  }
+
+  /// Get transport protocol
+  RCLCPP_PUBLIC
+  const std::string & transport_protocol() const;
+
+  /// Get internet protocol
+  RCLCPP_PUBLIC
+  const std::string & internet_protocol() const;
+
+  /// Get transport port
+  RCLCPP_PUBLIC
+  uint16_t transport_port() const;
+
+  /// Get flow label
+  RCLCPP_PUBLIC
+  uint32_t flow_label() const;
+
+  /// Get DSCP
+  RCLCPP_PUBLIC
+  uint8_t dscp() const;
+
+  /// Get internet address
+  RCLCPP_PUBLIC
+  const std::string & internet_address() const;
+
+  /// Compare two NetworkFlowEndpoint instances
+  friend bool rclcpp::operator==(
+    const NetworkFlowEndpoint & left,
+    const NetworkFlowEndpoint & right);
+  friend bool rclcpp::operator!=(
+    const NetworkFlowEndpoint & left,
+    const NetworkFlowEndpoint & right);
+
+  /// Streaming helper
+  friend std::ostream & rclcpp::operator<<(
+    std::ostream & os,
+    const NetworkFlowEndpoint & network_flow_endpoint);
+
+private:
+  std::string transport_protocol_;
+  std::string internet_protocol_;
+  uint16_t transport_port_;
+  uint32_t flow_label_;
+  uint8_t dscp_;
+  std::string internet_address_;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NETWORK_FLOW_ENDPOINT_HPP_

rclcpp/include/rclcpp/node.hpp

@@ -17,6 +17,7 @@
 
 #include <atomic>
 #include <condition_variable>
+#include <functional>
 #include <list>
 #include <map>
 #include <memory>
@@ -41,6 +42,8 @@
 #include "rclcpp/clock.hpp"
 #include "rclcpp/context.hpp"
 #include "rclcpp/event.hpp"
+#include "rclcpp/generic_publisher.hpp"
+#include "rclcpp/generic_subscription.hpp"
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
@@ -150,6 +153,17 @@ public:
   const std::vector<rclcpp::CallbackGroup::WeakPtr> &
   get_callback_groups() const;
 
+  /// Iterate over the callback groups in the node, calling the given function on each valid one.
+  /**
+   * This method is called in a thread-safe way, and also makes sure to only call the given
+   * function on those items that are still valid.
+   *
+   * \param[in] func The callback function to call on each valid callback group.
+   */
+  RCLCPP_PUBLIC
+  void
+  for_each_callback_group(const node_interfaces::NodeBaseInterface::CallbackGroupFunction & func);
+
   /// Create and return a Publisher.
   /**
    * The rclcpp::QoS has several convenient constructors, including a
@@ -266,6 +280,55 @@ public:
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
     rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
+  /// Create and return a GenericPublisher.
+  /**
+   * The returned pointer will never be empty, but this function can throw various exceptions, for
+   * instance when the message's package can not be found on the AMENT_PREFIX_PATH.
+   *
+   * \param[in] topic_name Topic name
+   * \param[in] topic_type Topic type
+   * \param[in] qos %QoS settings
+   * \param options %Publisher options.
+   * Not all publisher options are currently respected, the only relevant options for this
+   * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
+   * \return Shared pointer to the created generic publisher.
+   */
+  template<typename AllocatorT = std::allocator<void>>
+  std::shared_ptr<rclcpp::GenericPublisher> create_generic_publisher(
+    const std::string & topic_name,
+    const std::string & topic_type,
+    const rclcpp::QoS & qos,
+    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
+      rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
+    )
+  );
+
+  /// Create and return a GenericSubscription.
+  /**
+   * The returned pointer will never be empty, but this function can throw various exceptions, for
+   * instance when the message's package can not be found on the AMENT_PREFIX_PATH.
+   *
+   * \param[in] topic_name Topic name
+   * \param[in] topic_type Topic type
+   * \param[in] qos %QoS settings
+   * \param[in] callback Callback for new messages of serialized form
+   * \param[in] options %Subscription options.
+   * Not all subscription options are currently respected, the only relevant options for this
+ * subscription are `event_callbacks`, `use_default_callbacks`, `ignore_local_publications`, and
+ * `%callback_group`.
+   * \return Shared pointer to the created generic subscription.
+   */
+  template<typename AllocatorT = std::allocator<void>>
+  std::shared_ptr<rclcpp::GenericSubscription> create_generic_subscription(
+    const std::string & topic_name,
+    const std::string & topic_type,
+    const rclcpp::QoS & qos,
+    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
+      rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
+    )
+  );
+
   /// Declare and initialize a parameter, return the effective value.
   /**
    * This method is used to declare that a parameter exists on this node.
@@ -932,12 +995,15 @@ public:
   std::map<std::string, std::vector<std::string>>
   get_service_names_and_types() const;
 
-  /// Return the number of publishers that are advertised on a given topic.
+  /// Return a map of existing service names to list of service types for a specific node.
   /**
-   * \param[in] node_name the node_name on which to count the publishers.
-   * \param[in] namespace_ the namespace of the node associated with the name
-   * \return number of publishers that are advertised on a given topic.
-   * \throws std::runtime_error if publishers could not be counted
+   * 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.
+   * \return a map of existing service names to list of service types.
+   * \throws std::runtime_error anything that rcl_error can throw.
    */
   RCLCPP_PUBLIC
   std::map<std::string, std::vector<std::string>>

rclcpp/include/rclcpp/node_impl.hpp

@@ -36,10 +36,12 @@
 
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/create_client.hpp"
+#include "rclcpp/create_generic_publisher.hpp"
+#include "rclcpp/create_generic_subscription.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"
-#include "rclcpp/create_timer.hpp"
 #include "rclcpp/create_subscription.hpp"
+#include "rclcpp/create_timer.hpp"
 #include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/qos.hpp"
@@ -152,6 +154,43 @@ Node::create_service(
     group);
 }
 
+template<typename AllocatorT>
+std::shared_ptr<rclcpp::GenericPublisher>
+Node::create_generic_publisher(
+  const std::string & topic_name,
+  const std::string & topic_type,
+  const rclcpp::QoS & qos,
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+{
+  return rclcpp::create_generic_publisher(
+    node_topics_,
+    extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
+    topic_type,
+    qos,
+    options
+  );
+}
+
+template<typename AllocatorT>
+std::shared_ptr<rclcpp::GenericSubscription>
+Node::create_generic_subscription(
+  const std::string & topic_name,
+  const std::string & topic_type,
+  const rclcpp::QoS & qos,
+  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
+{
+  return rclcpp::create_generic_subscription(
+    node_topics_,
+    extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
+    topic_type,
+    qos,
+    std::move(callback),
+    options
+  );
+}
+
+
 template<typename ParameterT>
 auto
 Node::declare_parameter(

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -16,10 +16,13 @@
 #define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 
 #include <memory>
+#include <mutex>
 #include <string>
+#include <unordered_map>
 #include <vector>
 
 #include "rcl/node.h"
+#include "rclcpp/callback_group.hpp"
 #include "rclcpp/context.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
@@ -30,12 +33,34 @@ namespace rclcpp
 namespace node_interfaces
 {
 
+RCLCPP_PUBLIC
+void global_for_each_callback_group(
+  NodeBaseInterface * node_base_interface,
+  const NodeBaseInterface::CallbackGroupFunction & func);
+
+// Class to hold the global map of mutexes
+class map_of_mutexes final
+{
+public:
+  // Methods need to be protected by internal mutex
+  void create_mutex_of_nodebase(const NodeBaseInterface * nodebase);
+  std::shared_ptr<std::mutex>
+  get_mutex_of_nodebase(const NodeBaseInterface * nodebase);
+  void delete_mutex_of_nodebase(const NodeBaseInterface * nodebase);
+
+private:
+  std::unordered_map<const NodeBaseInterface *, std::shared_ptr<std::mutex>> data_;
+  std::mutex internal_mutex_;
+};
+
 /// Implementation of the NodeBase part of the Node API.
 class NodeBase : public NodeBaseInterface
 {
 public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBase)
 
+  static map_of_mutexes map_object;
+
   RCLCPP_PUBLIC
   NodeBase(
     const std::string & node_name,

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -38,6 +38,8 @@ class NodeBaseInterface
 public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBaseInterface)
 
+  using CallbackGroupFunction = std::function<void (rclcpp::CallbackGroup::SharedPtr)>;
+
   RCLCPP_PUBLIC
   virtual
   ~NodeBaseInterface() = default;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -130,7 +130,7 @@ public:
   std::vector<rcl_interfaces::msg::SetParametersResult>
   set_parameters(const std::vector<rclcpp::Parameter> & parameters) = 0;
 
-  /// Set and initialize a parameter, all at once.
+  /// Set one or more parameters, all at once.
   /**
    * \sa rclcpp::Node::set_parameters_atomically
    */

rclcpp/include/rclcpp/parameter_client.hpp

@@ -31,11 +31,14 @@
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters_atomically.hpp"
+#include "rcl_yaml_param_parser/parser.h"
+#include "rclcpp/exceptions.hpp"
 #include "rclcpp/executors.hpp"
 #include "rclcpp/create_subscription.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"
+#include "rclcpp/parameter_map.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/rmw.h"
@@ -154,6 +157,42 @@ public:
       void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)
     > callback = nullptr);
 
+  /// Delete several parameters at once.
+  /**
+   * This function behaves like command-line tool `ros2 param delete` would.
+   *
+   * \param parameters_names vector of parameters names
+   * \return the future of the set_parameter service used to delete the parameters
+   */
+  RCLCPP_PUBLIC
+  std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+  delete_parameters(
+    const std::vector<std::string> & parameters_names);
+
+  /// Load parameters from yaml file.
+  /**
+   * This function behaves like command-line tool `ros2 param load` would.
+   *
+   * \param yaml_filename the full name of the yaml file
+   * \return the future of the set_parameter service used to load the parameters
+   */
+  RCLCPP_PUBLIC
+  std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+  load_parameters(
+    const std::string & yaml_filename);
+
+  /// Load parameters from parameter map.
+  /**
+   * This function filters the parameters to be set based on the node name.
+   *
+   * \param yaml_filename the full name of the yaml file
+   * \return the future of the set_parameter service used to load the parameters
+   * \throw InvalidParametersException if there is no parameter to set
+   */
+  RCLCPP_PUBLIC
+  std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+  load_parameters(const rclcpp::ParameterMap & parameter_map);
+
   RCLCPP_PUBLIC
   std::shared_future<rcl_interfaces::msg::ListParametersResult>
   list_parameters(
@@ -444,6 +483,46 @@ public:
     );
   }
 
+  /// Delete several parameters at once.
+  /**
+   * This function behaves like command-line tool `ros2 param delete` would.
+   *
+   * \param parameters_names vector of parameters names
+   * \param timeout for the spin used to make it synchronous
+   * \return the future of the set_parameter service used to delete the parameters
+   */
+  template<typename RepT = int64_t, typename RatioT = std::milli>
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  delete_parameters(
+    const std::vector<std::string> & parameters_names,
+    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
+  {
+    return delete_parameters(
+      parameters_names,
+      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
+    );
+  }
+
+  /// Load parameters from yaml file.
+  /**
+   * This function behaves like command-line tool `ros2 param load` would.
+   *
+   * \param yaml_filename the full name of the yaml file
+   * \param timeout for the spin used to make it synchronous
+   * \return the future of the set_parameter service used to load the parameters
+   */
+  template<typename RepT = int64_t, typename RatioT = std::milli>
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  load_parameters(
+    const std::string & yaml_filename,
+    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
+  {
+    return load_parameters(
+      yaml_filename,
+      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
+    );
+  }
+
   template<typename RepT = int64_t, typename RatioT = std::milli>
   rcl_interfaces::msg::ListParametersResult
   list_parameters(
@@ -524,6 +603,18 @@ protected:
     const std::vector<rclcpp::Parameter> & parameters,
     std::chrono::nanoseconds timeout);
 
+  RCLCPP_PUBLIC
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  delete_parameters(
+    const std::vector<std::string> & parameters_names,
+    std::chrono::nanoseconds timeout);
+
+  RCLCPP_PUBLIC
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  load_parameters(
+    const std::string & yaml_filename,
+    std::chrono::nanoseconds timeout);
+
   RCLCPP_PUBLIC
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(

rclcpp/include/rclcpp/parameter_event_handler.hpp

@@ -52,7 +52,7 @@ struct ParameterEventCallbackHandle
   RCLCPP_SMART_PTR_DEFINITIONS(ParameterEventCallbackHandle)
 
   using ParameterEventCallbackType =
-    std::function<void (const rcl_interfaces::msg::ParameterEvent::SharedPtr &)>;
+    std::function<void (const rcl_interfaces::msg::ParameterEvent &)>;
 
   ParameterEventCallbackType callback;
 };
@@ -115,16 +115,16 @@ struct ParameterEventCallbackHandle
  * For example:
  *
  *   auto cb3 =
- *     [fqn, remote_param_name, &node](const rcl_interfaces::msg::ParameterEvent::SharedPtr & event) {
+ *     [fqn, remote_param_name, &node](const rcl_interfaces::msg::ParameterEvent & event) {
  *       // Look for any updates to parameters in "/a_namespace" as well as any parameter changes
  *       // to our own node ("this_node")
  *       std::regex re("(/a_namespace/.*)|(/this_node)");
- *       if (regex_match(event->node, re)) {
+ *       if (regex_match(event.node, re)) {
  *         // Now that we know the event matches the regular expression we scanned for, we can
  *         // use 'get_parameter_from_event' to get a specific parameter name that we're looking for
  *         rclcpp::Parameter p;
  *         if (rclcpp::ParameterEventsSubscriber::get_parameter_from_event(
- *             *event, p, remote_param_name, fqn))
+ *             event, p, remote_param_name, fqn))
  *         {
  *           RCLCPP_INFO(
  *             node->get_logger(),
@@ -136,7 +136,7 @@ struct ParameterEventCallbackHandle
  *
  *         // You can also use 'get_parameter*s*_from_event' to enumerate all changes that came
  *         // in on this event
- *         auto params = rclcpp::ParameterEventsSubscriber::get_parameters_from_event(*event);
+ *         auto params = rclcpp::ParameterEventsSubscriber::get_parameters_from_event(event);
  *         for (auto & p : params) {
  *           RCLCPP_INFO(
  *             node->get_logger(),
@@ -288,7 +288,7 @@ protected:
   /// Callback for parameter events subscriptions.
   RCLCPP_PUBLIC
   void
-  event_callback(const rcl_interfaces::msg::ParameterEvent::SharedPtr event);
+  event_callback(const rcl_interfaces::msg::ParameterEvent & event);
 
   // Utility function for resolving node path.
   std::string resolve_path(const std::string & path);

rclcpp/include/rclcpp/parameter_events_filter.hpp

@@ -37,7 +37,7 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS(ParameterEventsFilter)
   enum class EventType {NEW, DELETED, CHANGED};  ///< An enum for the type of event.
   /// Used for the listed results
-  using EventPair = std::pair<EventType, rcl_interfaces::msg::Parameter *>;
+  using EventPair = std::pair<EventType, const rcl_interfaces::msg::Parameter *>;
 
   /// Construct a filtered view of a parameter event.
   /**
@@ -60,7 +60,7 @@ public:
    */
   RCLCPP_PUBLIC
   ParameterEventsFilter(
-    rcl_interfaces::msg::ParameterEvent::SharedPtr event,
+    std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event,
     const std::vector<std::string> & names,
     const std::vector<EventType> & types);
 
@@ -74,7 +74,7 @@ public:
 private:
   // access only allowed via const accessor.
   std::vector<EventPair> result_;  ///< Storage of the resultant vector
-  rcl_interfaces::msg::ParameterEvent::SharedPtr event_;  ///< Keep event in scope
+  std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event_;  ///< Keep event in scope
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/parameter_map.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__PARAMETER_MAP_HPP_
 #define RCLCPP__PARAMETER_MAP_HPP_
 
+#include <rcl_yaml_param_parser/parser.h>
 #include <rcl_yaml_param_parser/types.h>
 
 #include <string>
@@ -48,6 +49,14 @@ RCLCPP_PUBLIC
 ParameterValue
 parameter_value_from(const rcl_variant_t * const c_value);
 
+/// Get the ParameterMap from a yaml file.
+/// \param[in] yaml_filename full name of the yaml file.
+/// \returns an instance of a parameter map
+/// \throws from rcl error of rcl_parse_yaml_file()
+RCLCPP_PUBLIC
+ParameterMap
+parameter_map_from_yaml_file(const std::string & yaml_filename);
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__PARAMETER_MAP_HPP_

rclcpp/include/rclcpp/publisher.hpp

@@ -40,6 +40,8 @@
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
+#include "tracetools/tracetools.h"
+
 namespace rclcpp
 {
 
@@ -279,6 +281,10 @@ protected:
   void
   do_inter_process_publish(const MessageT & msg)
   {
+    TRACEPOINT(
+      rclcpp_publish,
+      static_cast<const void *>(publisher_handle_.get()),
+      static_cast<const void *>(&msg));
     auto status = rcl_publish(publisher_handle_.get(), &msg, nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {

rclcpp/include/rclcpp/publisher_base.hpp

@@ -28,6 +28,7 @@
 #include "rcl/publisher.h"
 
 #include "rclcpp/macros.hpp"
+#include "rclcpp/network_flow_endpoint.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
 #include "rclcpp/type_support_decl.hpp"
@@ -193,6 +194,15 @@ public:
     uint64_t intra_process_publisher_id,
     IntraProcessManagerSharedPtr ipm);
 
+  /// Get network flow endpoints
+  /**
+   * Describes network flow endpoints that this publisher is sending messages out on
+   * \return vector of NetworkFlowEndpoint
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::NetworkFlowEndpoint>
+  get_network_flow_endpoints() const;
+
 protected:
   template<typename EventCallbackT>
   void

rclcpp/include/rclcpp/publisher_options.hpp

@@ -45,6 +45,11 @@ struct PublisherOptionsBase
   /// Whether or not to use default callbacks when user doesn't supply any in event_callbacks
   bool use_default_callbacks = true;
 
+  /// Require middleware to generate unique network flow endpoints
+  /// Disabled by default
+  rmw_unique_network_flow_endpoints_requirement_t require_unique_network_flow_endpoints =
+    RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED;
+
   /// Callback group in which the waitable items from the publisher should be placed.
   std::shared_ptr<rclcpp::CallbackGroup> callback_group;
 
@@ -80,6 +85,8 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
     auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
     result.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc);
     result.qos = qos.get_rmw_qos_profile();
+    result.rmw_publisher_options.require_unique_network_flow_endpoints =
+      this->require_unique_network_flow_endpoints;
 
     // Apply payload to rcl_publisher_options if necessary.
     if (rmw_implementation_payload && rmw_implementation_payload->has_been_customized()) {

rclcpp/include/rclcpp/qos.hpp

@@ -103,8 +103,8 @@ struct RCLCPP_PUBLIC KeepLast : public rclcpp::QoSInitialization
  * 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 href="https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html">
+ *     https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html
  *   </a>
  */
 class RCLCPP_PUBLIC QoS

rclcpp/include/rclcpp/rclcpp.hpp

@@ -117,6 +117,15 @@
  * - Allocator related items:
  *   - rclcpp/allocator/allocator_common.hpp
  *   - rclcpp/allocator/allocator_deleter.hpp
+ * - Generic publisher
+ *   - rclcpp::Node::create_generic_publisher()
+ *   - rclcpp::GenericPublisher
+ *   - rclcpp::GenericPublisher::publish()
+ *   - rclcpp/generic_publisher.hpp
+ * - Generic subscription
+ *   - rclcpp::Node::create_generic_subscription()
+ *   - rclcpp::GenericSubscription
+ *   - rclcpp/generic_subscription.hpp
  * - Memory management tools:
  *   - rclcpp/memory_strategies.hpp
  *   - rclcpp/memory_strategy.hpp
@@ -134,6 +143,7 @@
  *   - rclcpp/scope_exit.hpp
  *   - rclcpp/time.hpp
  *   - rclcpp/utilities.hpp
+ *   - rclcpp/typesupport_helpers.hpp
  *   - rclcpp/visibility_control.hpp
  */
 

rclcpp/include/rclcpp/service.hpp

@@ -177,25 +177,16 @@ public:
     using rosidl_typesupport_cpp::get_service_type_support_handle;
     auto service_type_support_handle = get_service_type_support_handle<ServiceT>();
 
-    std::weak_ptr<rcl_node_t> weak_node_handle(node_handle_);
     // rcl does the static memory allocation here
     service_handle_ = std::shared_ptr<rcl_service_t>(
-      new rcl_service_t, [weak_node_handle, service_name](rcl_service_t * service)
+      new rcl_service_t, [handle = node_handle_, service_name](rcl_service_t * service)
       {
-        auto handle = weak_node_handle.lock();
-        if (handle) {
-          if (rcl_service_fini(service, handle.get()) != RCL_RET_OK) {
-            RCLCPP_ERROR(
-              rclcpp::get_node_logger(handle.get()).get_child("rclcpp"),
-              "Error in destruction of rcl service handle: %s",
-              rcl_get_error_string().str);
-            rcl_reset_error();
-          }
-        } else {
-          RCLCPP_ERROR_STREAM(
-            rclcpp::get_logger("rclcpp"),
-            "Error in destruction of rcl service handle " << service_name <<
-              ": the Node Handle was destructed too early. You will leak memory");
+        if (rcl_service_fini(service, handle.get()) != RCL_RET_OK) {
+          RCLCPP_ERROR(
+            rclcpp::get_node_logger(handle.get()).get_child("rclcpp"),
+            "Error in destruction of rcl service handle: %s",
+            rcl_get_error_string().str);
+          rcl_reset_error();
         }
         delete service;
       });
@@ -349,15 +340,6 @@ public:
     send_response(*request_header, *response);
   }
 
-  [[deprecated("use the send_response() which takes references instead of shared pointers")]]
-  void
-  send_response(
-    std::shared_ptr<rmw_request_id_t> req_id,
-    std::shared_ptr<typename ServiceT::Response> response)
-  {
-    send_response(*req_id, *response);
-  }
-
   void
   send_response(rmw_request_id_t & req_id, typename ServiceT::Response & response)
   {

rclcpp/include/rclcpp/subscription_base.hpp

@@ -31,6 +31,7 @@
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_info.hpp"
+#include "rclcpp/network_flow_endpoint.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
 #include "rclcpp/serialized_message.hpp"
@@ -61,8 +62,11 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
 
-  /// Default constructor.
+  /// Constructor.
   /**
+   * This accepts rcl_subscription_options_t instead of rclcpp::SubscriptionOptions because
+   * rclcpp::SubscriptionOptions::to_rcl_subscription_options depends on the message type.
+   *
    * \param[in] node_base NodeBaseInterface pointer used in parts of the setup.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
@@ -77,7 +81,7 @@ public:
     const rcl_subscription_options_t & subscription_options,
     bool is_serialized = false);
 
-  /// Default destructor.
+  /// Destructor.
   RCLCPP_PUBLIC
   virtual ~SubscriptionBase();
 
@@ -263,6 +267,15 @@ public:
   bool
   exchange_in_use_by_wait_set_state(void * pointer_to_subscription_part, bool in_use_state);
 
+  /// Get network flow endpoints
+  /**
+   * Describes network flow endpoints that this subscription is receiving messages on
+   * \return vector of NetworkFlowEndpoint
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::NetworkFlowEndpoint>
+  get_network_flow_endpoints() const;
+
 protected:
   template<typename EventCallbackT>
   void

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -93,7 +93,7 @@ create_subscription_factory(
   auto allocator = options.get_allocator();
 
   using rclcpp::AnySubscriptionCallback;
-  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_subscription_callback(allocator);
+  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_subscription_callback(*allocator);
   any_subscription_callback.set(std::forward<CallbackT>(callback));
 
   SubscriptionFactory factory {

rclcpp/include/rclcpp/subscription_options.hpp

@@ -45,6 +45,11 @@ struct SubscriptionOptionsBase
   /// True to ignore local publications.
   bool ignore_local_publications = false;
 
+  /// Require middleware to generate unique network flow endpoints
+  /// Disabled by default
+  rmw_unique_network_flow_endpoints_requirement_t require_unique_network_flow_endpoints =
+    RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED;
+
   /// The callback group for this subscription. NULL to use the default callback group.
   rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
 
@@ -108,6 +113,8 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
     result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
     result.qos = qos.get_rmw_qos_profile();
     result.rmw_subscription_options.ignore_local_publications = this->ignore_local_publications;
+    result.rmw_subscription_options.require_unique_network_flow_endpoints =
+      this->require_unique_network_flow_endpoints;
 
     // Apply payload to rcl_subscription_options if necessary.
     if (rmw_implementation_payload && rmw_implementation_payload->has_been_customized()) {

rclcpp/include/rclcpp/subscription_traits.hpp

@@ -64,7 +64,7 @@ struct is_serialized_callback
 template<typename MessageT>
 struct extract_message_type
 {
-  using type = typename std::remove_cv<MessageT>::type;
+  using type = typename std::remove_cv_t<std::remove_reference_t<MessageT>>;
 };
 
 template<typename MessageT>

rclcpp/include/rclcpp/time_source.hpp

@@ -152,11 +152,11 @@ private:
   std::shared_ptr<SubscriptionT> clock_subscription_{nullptr};
   std::mutex clock_sub_lock_;
   rclcpp::CallbackGroup::SharedPtr clock_callback_group_;
-  rclcpp::executors::SingleThreadedExecutor clock_executor_;
+  rclcpp::executors::SingleThreadedExecutor::SharedPtr clock_executor_;
   std::promise<void> cancel_clock_executor_promise_;
 
   // The clock callback itself
-  void clock_cb(const rosgraph_msgs::msg::Clock::SharedPtr msg);
+  void clock_cb(std::shared_ptr<const rosgraph_msgs::msg::Clock> msg);
 
   // Create the subscription for the clock topic
   void create_clock_sub();
@@ -170,7 +170,7 @@ private:
   std::shared_ptr<ParamSubscriptionT> parameter_subscription_;
 
   // Callback for parameter updates
-  void on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event);
+  void on_parameter_event(std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event);
 
   // An enum to hold the parameter state
   enum UseSimTimeParameterState {UNSET, SET_TRUE, SET_FALSE};
@@ -191,7 +191,7 @@ private:
   // This is needed when new clocks are added.
   bool ros_time_active_{false};
   // Last set message to be passed to newly registered clocks
-  rosgraph_msgs::msg::Clock::SharedPtr last_msg_set_;
+  std::shared_ptr<const rosgraph_msgs::msg::Clock> last_msg_set_;
 
   // A lock to protect iterating the associated_clocks_ field.
   std::mutex clock_list_lock_;

rclcpp/include/rclcpp/typesupport_helpers.hpp

@@ -0,0 +1,57 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright 2021, Apex.AI 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__TYPESUPPORT_HELPERS_HPP_
+#define RCLCPP__TYPESUPPORT_HELPERS_HPP_
+
+#include <memory>
+#include <string>
+#include <tuple>
+
+#include "rcpputils/shared_library.hpp"
+#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
+
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+/// Load the type support library for the given type.
+/**
+ * \param[in] type The topic type, e.g. "std_msgs/msg/String"
+ * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+ * \return A shared library
+ */
+RCLCPP_PUBLIC
+std::shared_ptr<rcpputils::SharedLibrary>
+get_typesupport_library(const std::string & type, const std::string & typesupport_identifier);
+
+/// Extract the type support handle from the library.
+/**
+ * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
+ * \param[in] type The topic type, e.g. "std_msgs/msg/String"
+ * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
+ * \param[in] library The shared type support library
+ * \return A type support handle
+ */
+RCLCPP_PUBLIC
+const rosidl_message_type_support_t *
+get_typesupport_handle(
+  const std::string & type,
+  const std::string & typesupport_identifier,
+  rcpputils::SharedLibrary & library);
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__TYPESUPPORT_HELPERS_HPP_

rclcpp/include/rclcpp/utilities.hpp

@@ -143,21 +143,6 @@ RCLCPP_PUBLIC
 bool
 ok(rclcpp::Context::SharedPtr context = nullptr);
 
-/// Return true if init() has already been called for the given context.
-/**
- * If nullptr is given for the context, then the global context is used, i.e.
- * the context initialized by rclcpp::init().
- *
- * Deprecated, as it is no longer different from rcl_ok().
- *
- * \param[in] context Optional check for initialization of this Context.
- * \return true if the context is initialized, and false otherwise
- */
-[[deprecated("use the function ok() instead, which has the same usage.")]]
-RCLCPP_PUBLIC
-bool
-is_initialized(rclcpp::Context::SharedPtr context = nullptr);
-
 /// Shutdown rclcpp context, invalidating it for derived entities.
 /**
  * If nullptr is given for the context, then the global context is used, i.e.

rclcpp/include/rclcpp/wait_for_message.hpp

@@ -0,0 +1,100 @@
+// Copyright 2021 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__WAIT_FOR_MESSAGE_HPP_
+#define RCLCPP__WAIT_FOR_MESSAGE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/node.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "rclcpp/wait_set.hpp"
+
+namespace rclcpp
+{
+/// Wait for the next incoming message.
+/**
+ * Given an already initialized subscription,
+ * wait for the next incoming message to arrive before the specified timeout.
+ *
+ * \param[out] out is the message to be filled when a new message is arriving.
+ * \param[in] subscription shared pointer to a previously initialized subscription.
+ * \param[in] context shared pointer to a context to watch for SIGINT requests.
+ * \param[in] time_to_wait parameter specifying the timeout before returning.
+ * \return true if a message was successfully received, false if message could not
+ * be obtained or shutdown was triggered asynchronously on the context.
+ */
+template<class MsgT, class Rep = int64_t, class Period = std::milli>
+bool wait_for_message(
+  MsgT & out,
+  std::shared_ptr<rclcpp::Subscription<MsgT>> subscription,
+  std::shared_ptr<rclcpp::Context> context,
+  std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1))
+{
+  auto gc = std::make_shared<rclcpp::GuardCondition>(context);
+  auto shutdown_callback_handle = context->add_on_shutdown_callback(
+    [weak_gc = std::weak_ptr<rclcpp::GuardCondition>{gc}]() {
+      auto strong_gc = weak_gc.lock();
+      if (strong_gc) {
+        strong_gc->trigger();
+      }
+    });
+
+  rclcpp::WaitSet wait_set;
+  wait_set.add_subscription(subscription);
+  wait_set.add_guard_condition(gc);
+  auto ret = wait_set.wait(time_to_wait);
+  if (ret.kind() != rclcpp::WaitResultKind::Ready) {
+    return false;
+  }
+
+  if (wait_set.get_rcl_wait_set().guard_conditions[0]) {
+    return false;
+  }
+
+  rclcpp::MessageInfo info;
+  if (!subscription->take(out, info)) {
+    return false;
+  }
+
+  return true;
+}
+
+/// Wait for the next incoming message.
+/**
+ * Wait for the next incoming message to arrive on a specified topic before the specified timeout.
+ *
+ * \param[out] out is the message to be filled when a new message is arriving.
+ * \param[in] node the node pointer to initialize the subscription on.
+ * \param[in] topic the topic to wait for messages.
+ * \param[in] time_to_wait parameter specifying the timeout before returning.
+ * \return true if a message was successfully received, false if message could not
+ * be obtained or shutdown was triggered asynchronously on the context.
+ */
+template<class MsgT, class Rep = int64_t, class Period = std::milli>
+bool wait_for_message(
+  MsgT & out,
+  rclcpp::Node::SharedPtr node,
+  const std::string & topic,
+  std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1))
+{
+  auto sub = node->create_subscription<MsgT>(topic, 1, [](const std::shared_ptr<MsgT>) {});
+  return wait_for_message<MsgT, Rep, Period>(
+    out, sub, node->get_node_options().context(), time_to_wait);
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__WAIT_FOR_MESSAGE_HPP_

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>8.2.0</version>
+  <version>9.2.0</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>
@@ -12,12 +12,14 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
+  <build_depend>ament_index_cpp</build_depend>
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>rcl_interfaces</build_depend>
   <build_depend>rosgraph_msgs</build_depend>
   <build_depend>rosidl_runtime_cpp</build_depend>
   <build_depend>rosidl_typesupport_c</build_depend>
   <build_depend>rosidl_typesupport_cpp</build_depend>
+  <build_export_depend>ament_index_cpp</build_export_depend>
   <build_export_depend>builtin_interfaces</build_export_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rosgraph_msgs</build_export_depend>

rclcpp/src/rclcpp/context.cpp

@@ -315,9 +315,13 @@ Context::shutdown(const std::string & reason)
   // set shutdown reason
   shutdown_reason_ = reason;
   // call each shutdown callback
-  for (const auto & callback : on_shutdown_callbacks_) {
-    callback();
+  {
+    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+    for (const auto & callback : on_shutdown_callbacks_) {
+      (*callback)();
+    }
   }
+
   // interrupt all blocking sleep_for() and all blocking executors or wait sets
   this->interrupt_all_sleep_for();
   // remove self from the global contexts
@@ -344,20 +348,48 @@ Context::shutdown(const std::string & reason)
 rclcpp::Context::OnShutdownCallback
 Context::on_shutdown(OnShutdownCallback callback)
 {
-  on_shutdown_callbacks_.push_back(callback);
+  add_on_shutdown_callback(callback);
   return callback;
 }
 
-const std::vector<rclcpp::Context::OnShutdownCallback> &
-Context::get_on_shutdown_callbacks() const
+rclcpp::OnShutdownCallbackHandle
+Context::add_on_shutdown_callback(OnShutdownCallback callback)
 {
-  return on_shutdown_callbacks_;
+  auto callback_shared_ptr = std::make_shared<OnShutdownCallback>(callback);
+  {
+    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+    on_shutdown_callbacks_.emplace(callback_shared_ptr);
+  }
+
+  OnShutdownCallbackHandle callback_handle;
+  callback_handle.callback = callback_shared_ptr;
+  return callback_handle;
 }
 
-std::vector<rclcpp::Context::OnShutdownCallback> &
-Context::get_on_shutdown_callbacks()
+bool
+Context::remove_on_shutdown_callback(const OnShutdownCallbackHandle & callback_handle)
 {
-  return on_shutdown_callbacks_;
+  std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+  auto callback_shared_ptr = callback_handle.callback.lock();
+  if (callback_shared_ptr == nullptr) {
+    return false;
+  }
+  return on_shutdown_callbacks_.erase(callback_shared_ptr) == 1;
+}
+
+std::vector<rclcpp::Context::OnShutdownCallback>
+Context::get_on_shutdown_callbacks() const
+{
+  std::vector<OnShutdownCallback> callbacks;
+
+  {
+    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+    for (auto & iter : on_shutdown_callbacks_) {
+      callbacks.emplace_back(*iter);
+    }
+  }
+
+  return callbacks;
 }
 
 std::shared_ptr<rcl_context_t>

rclcpp/src/rclcpp/detail/mutex_two_priorities.cpp

@@ -31,13 +31,31 @@ HighPriorityLockable::HighPriorityLockable(MutexTwoPriorities & parent)
 void
 HighPriorityLockable::lock()
 {
-  parent_.data_.lock();
+  std::unique_lock<std::mutex> guard{parent_.cv_mutex_};
+  if (parent_.data_taken_) {
+    ++parent_.hp_waiting_count_;
+    while (parent_.data_taken_) {
+      parent_.hp_cv_.wait(guard);
+    }
+    --parent_.hp_waiting_count_;
+  }
+  parent_.data_taken_ = true;
 }
 
 void
 HighPriorityLockable::unlock()
 {
-  parent_.data_.unlock();
+  bool notify_lp{false};
+  {
+    std::lock_guard<std::mutex> guard{parent_.cv_mutex_};
+    parent_.data_taken_ = false;
+    notify_lp = 0u == parent_.hp_waiting_count_;
+  }
+  if (notify_lp) {
+    parent_.lp_cv_.notify_one();
+  } else {
+    parent_.hp_cv_.notify_one();
+  }
 }
 
 LowPriorityLockable::LowPriorityLockable(MutexTwoPriorities & parent)
@@ -47,16 +65,27 @@ LowPriorityLockable::LowPriorityLockable(MutexTwoPriorities & parent)
 void
 LowPriorityLockable::lock()
 {
-  std::unique_lock<std::mutex> barrier_guard{parent_.barrier_};
-  parent_.data_.lock();
-  barrier_guard.release();
+  std::unique_lock<std::mutex> guard{parent_.cv_mutex_};
+  while (parent_.data_taken_ || parent_.hp_waiting_count_) {
+    parent_.lp_cv_.wait(guard);
+  }
+  parent_.data_taken_ = true;
 }
 
 void
 LowPriorityLockable::unlock()
 {
-  std::lock_guard<std::mutex> barrier_guard{parent_.barrier_, std::adopt_lock};
-  parent_.data_.unlock();
+  bool notify_lp{false};
+  {
+    std::lock_guard<std::mutex> guard{parent_.cv_mutex_};
+    parent_.data_taken_ = false;
+    notify_lp = 0u == parent_.hp_waiting_count_;
+  }
+  if (notify_lp) {
+    parent_.lp_cv_.notify_one();
+  } else {
+    parent_.hp_cv_.notify_one();
+  }
 }
 
 HighPriorityLockable

rclcpp/src/rclcpp/executor.cpp

@@ -30,6 +30,7 @@
 #include "rclcpp/node.hpp"
 #include "rclcpp/scope_exit.hpp"
 #include "rclcpp/utilities.hpp"
+#include "rclcpp/node_interfaces/node_base.hpp"
 
 #include "rcutils/logging_macros.h"
 
@@ -56,7 +57,7 @@ Executor::Executor(const rclcpp::ExecutorOptions & options)
     throw_from_rcl_error(ret, "Failed to create interrupt guard condition in Executor constructor");
   }
 
-  context_->on_shutdown(
+  shutdown_callback_handle_ = context_->add_on_shutdown_callback(
     [weak_gc = std::weak_ptr<rclcpp::GuardCondition>{shutdown_guard_condition_}]() {
       auto strong_gc = weak_gc.lock();
       if (strong_gc) {
@@ -138,6 +139,14 @@ Executor::~Executor()
   }
   // Remove and release the sigint guard condition
   memory_strategy_->remove_guard_condition(&shutdown_guard_condition_->get_rcl_guard_condition());
+
+  // Remove shutdown callback handle registered to Context
+  if (!context_->remove_on_shutdown_callback(shutdown_callback_handle_)) {
+    RCUTILS_LOG_ERROR_NAMED(
+      "rclcpp",
+      "failed to remove registered on_shutdown callback");
+    rcl_reset_error();
+  }
 }
 
 std::vector<rclcpp::CallbackGroup::WeakPtr>
@@ -182,14 +191,13 @@ 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)
+      rclcpp::node_interfaces::global_for_each_callback_group(
+        node.get(),
+        [this, node](rclcpp::CallbackGroup::SharedPtr shared_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())
+          if (
+            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,
@@ -263,18 +271,21 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
     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())
+  rclcpp::node_interfaces::global_for_each_callback_group(
+    node_ptr.get(),
+    [this, node_ptr, notify](rclcpp::CallbackGroup::SharedPtr group_ptr)
     {
-      this->add_callback_group_to_map(
-        group_ptr,
-        node_ptr,
-        weak_groups_to_nodes_associated_with_executor_,
-        notify);
-    }
-  }
+      if (!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);
+      }
+    });
+
   weak_nodes_.push_back(node_ptr);
 }
 
@@ -610,16 +621,18 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
         return true;
       },
       [&]() {subscription->handle_loaned_message(loaned_msg, message_info);});
-    rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
-      subscription->get_subscription_handle().get(),
-      loaned_msg);
-    if (RCL_RET_OK != ret) {
-      RCLCPP_ERROR(
-        rclcpp::get_logger("rclcpp"),
-        "rcl_return_loaned_message_from_subscription() failed for subscription on topic '%s': %s",
-        subscription->get_topic_name(), rcl_get_error_string().str);
+    if (nullptr != loaned_msg) {
+      rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
+        subscription->get_subscription_handle().get(),
+        loaned_msg);
+      if (RCL_RET_OK != ret) {
+        RCLCPP_ERROR(
+          rclcpp::get_logger("rclcpp"),
+          "rcl_return_loaned_message_from_subscription() failed for subscription on topic '%s': %s",
+          subscription->get_topic_name(), rcl_get_error_string().str);
+      }
+      loaned_msg = nullptr;
     }
-    loaned_msg = nullptr;
   } else {
     // This case is taking a copy of the message data from the middleware via
     // inter-process communication.

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

@@ -23,6 +23,7 @@
 
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
+#include "rclcpp/node_interfaces/node_base.hpp"
 
 using rclcpp::executors::StaticExecutorEntitiesCollector;
 
@@ -76,9 +77,13 @@ StaticExecutorEntitiesCollector::init(
 
   // Add executor's guard condition
   memory_strategy_->add_guard_condition(executor_guard_condition);
+
   // Get memory strategy and executable list. Prepare wait_set_
   std::shared_ptr<void> shared_ptr;
   execute(shared_ptr);
+
+  // The entities collector is now initialized
+  initialized_ = true;
 }
 
 void
@@ -286,18 +291,21 @@ StaticExecutorEntitiesCollector::add_node(
   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())
+  rclcpp::node_interfaces::global_for_each_callback_group(
+    node_ptr.get(),
+    [this, node_ptr, &is_new_node](rclcpp::CallbackGroup::SharedPtr group_ptr)
     {
-      is_new_node = (add_callback_group(
+      if (
+        !group_ptr->get_associated_with_executor_atomic().load() &&
+        group_ptr->automatically_add_to_executor_with_node())
+      {
+        is_new_node = (add_callback_group(
           group_ptr,
           node_ptr,
           weak_groups_to_nodes_associated_with_executor_) ||
         is_new_node);
-    }
-  }
+      }
+    });
   weak_nodes_.push_back(node_ptr);
   return is_new_node;
 }
@@ -463,13 +471,11 @@ StaticExecutorEntitiesCollector::add_callback_groups_from_nodes_associated_to_ex
   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)
+      rclcpp::node_interfaces::global_for_each_callback_group(
+        node.get(),
+        [this, node](rclcpp::CallbackGroup::SharedPtr shared_group_ptr)
         {
-          auto shared_group_ptr = group_ptr.lock();
-          if (shared_group_ptr && shared_group_ptr->automatically_add_to_executor_with_node() &&
+          if (shared_group_ptr->automatically_add_to_executor_with_node() &&
           !shared_group_ptr->get_associated_with_executor_atomic().load())
           {
             add_callback_group(

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -14,6 +14,7 @@
 
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
 
+#include <chrono>
 #include <memory>
 #include <vector>
 
@@ -29,7 +30,12 @@ StaticSingleThreadedExecutor::StaticSingleThreadedExecutor(
   entities_collector_ = std::make_shared<StaticExecutorEntitiesCollector>();
 }
 
-StaticSingleThreadedExecutor::~StaticSingleThreadedExecutor() {}
+StaticSingleThreadedExecutor::~StaticSingleThreadedExecutor()
+{
+  if (entities_collector_->is_init()) {
+    entities_collector_->fini();
+  }
+}
 
 void
 StaticSingleThreadedExecutor::spin()
@@ -42,7 +48,6 @@ 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
@@ -51,6 +56,79 @@ StaticSingleThreadedExecutor::spin()
   }
 }
 
+void
+StaticSingleThreadedExecutor::spin_some(std::chrono::nanoseconds max_duration)
+{
+  // In this context a 0 input max_duration means no duration limit
+  if (std::chrono::nanoseconds(0) == max_duration) {
+    max_duration = std::chrono::nanoseconds::max();
+  }
+
+  return this->spin_some_impl(max_duration, false);
+}
+
+void
+StaticSingleThreadedExecutor::spin_all(std::chrono::nanoseconds max_duration)
+{
+  if (max_duration <= std::chrono::nanoseconds(0)) {
+    throw std::invalid_argument("max_duration must be positive");
+  }
+  return this->spin_some_impl(max_duration, true);
+}
+
+void
+StaticSingleThreadedExecutor::spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive)
+{
+  // Make sure the entities collector has been initialized
+  if (!entities_collector_->is_init()) {
+    entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
+  }
+
+  auto start = std::chrono::steady_clock::now();
+  auto max_duration_not_elapsed = [max_duration, start]() {
+      if (std::chrono::nanoseconds(0) == max_duration) {
+        // told to spin forever if need be
+        return true;
+      } else if (std::chrono::steady_clock::now() - start < max_duration) {
+        // told to spin only for some maximum amount of time
+        return true;
+      }
+      // spun too long
+      return false;
+    };
+
+  if (spinning.exchange(true)) {
+    throw std::runtime_error("spin_some() called while already spinning");
+  }
+  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+
+  while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
+    // Get executables that are ready now
+    entities_collector_->refresh_wait_set(std::chrono::milliseconds::zero());
+    // Execute ready executables
+    bool work_available = execute_ready_executables();
+    if (!work_available || !exhaustive) {
+      break;
+    }
+  }
+}
+
+void
+StaticSingleThreadedExecutor::spin_once_impl(std::chrono::nanoseconds timeout)
+{
+  // Make sure the entities collector has been initialized
+  if (!entities_collector_->is_init()) {
+    entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
+  }
+
+  if (rclcpp::ok(context_) && spinning.load()) {
+    // Wait until we have a ready entity or timeout expired
+    entities_collector_->refresh_wait_set(timeout);
+    // Execute ready executables
+    execute_ready_executables(true);
+  }
+}
+
 void
 StaticSingleThreadedExecutor::add_callback_group(
   rclcpp::CallbackGroup::SharedPtr group_ptr,
@@ -138,14 +216,20 @@ StaticSingleThreadedExecutor::remove_node(std::shared_ptr<rclcpp::Node> node_ptr
   this->remove_node(node_ptr->get_node_base_interface(), notify);
 }
 
-void
-StaticSingleThreadedExecutor::execute_ready_executables()
+bool
+StaticSingleThreadedExecutor::execute_ready_executables(bool spin_once)
 {
+  bool any_ready_executable = false;
+
   // Execute all the ready subscriptions
   for (size_t i = 0; i < wait_set_.size_of_subscriptions; ++i) {
     if (i < entities_collector_->get_number_of_subscriptions()) {
       if (wait_set_.subscriptions[i]) {
         execute_subscription(entities_collector_->get_subscription(i));
+        if (spin_once) {
+          return true;
+        }
+        any_ready_executable = true;
       }
     }
   }
@@ -154,6 +238,10 @@ StaticSingleThreadedExecutor::execute_ready_executables()
     if (i < entities_collector_->get_number_of_timers()) {
       if (wait_set_.timers[i] && entities_collector_->get_timer(i)->is_ready()) {
         execute_timer(entities_collector_->get_timer(i));
+        if (spin_once) {
+          return true;
+        }
+        any_ready_executable = true;
       }
     }
   }
@@ -162,6 +250,10 @@ StaticSingleThreadedExecutor::execute_ready_executables()
     if (i < entities_collector_->get_number_of_services()) {
       if (wait_set_.services[i]) {
         execute_service(entities_collector_->get_service(i));
+        if (spin_once) {
+          return true;
+        }
+        any_ready_executable = true;
       }
     }
   }
@@ -170,6 +262,10 @@ StaticSingleThreadedExecutor::execute_ready_executables()
     if (i < entities_collector_->get_number_of_clients()) {
       if (wait_set_.clients[i]) {
         execute_client(entities_collector_->get_client(i));
+        if (spin_once) {
+          return true;
+        }
+        any_ready_executable = true;
       }
     }
   }
@@ -179,6 +275,11 @@ StaticSingleThreadedExecutor::execute_ready_executables()
     if (waitable->is_ready(&wait_set_)) {
       auto data = waitable->take_data();
       waitable->execute(data);
+      if (spin_once) {
+        return true;
+      }
+      any_ready_executable = true;
     }
   }
+  return any_ready_executable;
 }

rclcpp/src/rclcpp/generic_publisher.cpp

@@ -0,0 +1,34 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright 2021, Apex.AI 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/generic_publisher.hpp"
+
+#include <memory>
+#include <string>
+
+namespace rclcpp
+{
+
+void GenericPublisher::publish(const rclcpp::SerializedMessage & message)
+{
+  auto return_code = rcl_publish_serialized_message(
+    get_publisher_handle().get(), &message.get_rcl_serialized_message(), NULL);
+
+  if (return_code != RCL_RET_OK) {
+    rclcpp::exceptions::throw_from_rcl_error(return_code, "failed to publish serialized message");
+  }
+}
+
+}  // namespace rclcpp

rclcpp/src/rclcpp/generic_subscription.cpp

@@ -0,0 +1,67 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright 2021, Apex.AI 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/generic_subscription.hpp"
+
+#include <memory>
+#include <string>
+
+#include "rcl/subscription.h"
+
+#include "rclcpp/exceptions.hpp"
+
+namespace rclcpp
+{
+
+std::shared_ptr<void> GenericSubscription::create_message()
+{
+  return create_serialized_message();
+}
+
+std::shared_ptr<rclcpp::SerializedMessage> GenericSubscription::create_serialized_message()
+{
+  return std::make_shared<rclcpp::SerializedMessage>(0);
+}
+
+void GenericSubscription::handle_message(
+  std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info)
+{
+  (void) message_info;
+  auto typed_message = std::static_pointer_cast<rclcpp::SerializedMessage>(message);
+  callback_(typed_message);
+}
+
+void GenericSubscription::handle_loaned_message(
+  void * message, const rclcpp::MessageInfo & message_info)
+{
+  (void) message;
+  (void) message_info;
+  throw rclcpp::exceptions::UnimplementedError(
+          "handle_loaned_message is not implemented for GenericSubscription");
+}
+
+void GenericSubscription::return_message(std::shared_ptr<void> & message)
+{
+  auto typed_message = std::static_pointer_cast<rclcpp::SerializedMessage>(message);
+  return_serialized_message(typed_message);
+}
+
+void GenericSubscription::return_serialized_message(
+  std::shared_ptr<rclcpp::SerializedMessage> & message)
+{
+  message.reset();
+}
+
+}  // namespace rclcpp

rclcpp/src/rclcpp/network_flow_endpoint.cpp

@@ -0,0 +1,84 @@
+// Copyright 2020 Ericsson AB
+//
+// 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 <string>
+
+#include "rclcpp/network_flow_endpoint.hpp"
+
+namespace rclcpp
+{
+
+const std::string &
+NetworkFlowEndpoint::transport_protocol() const
+{
+  return transport_protocol_;
+}
+
+const std::string &
+NetworkFlowEndpoint::internet_protocol() const
+{
+  return internet_protocol_;
+}
+
+uint16_t NetworkFlowEndpoint::transport_port() const
+{
+  return transport_port_;
+}
+
+uint32_t NetworkFlowEndpoint::flow_label() const
+{
+  return flow_label_;
+}
+
+uint8_t NetworkFlowEndpoint::dscp() const
+{
+  return dscp_;
+}
+
+const std::string &
+NetworkFlowEndpoint::internet_address() const
+{
+  return internet_address_;
+}
+
+bool operator==(const NetworkFlowEndpoint & left, const NetworkFlowEndpoint & right)
+{
+  return left.transport_protocol_ == right.transport_protocol_ &&
+         left.internet_protocol_ == right.internet_protocol_ &&
+         left.transport_port_ == right.transport_port_ &&
+         left.flow_label_ == right.flow_label_ &&
+         left.dscp_ == right.dscp_ &&
+         left.internet_address_ == right.internet_address_;
+}
+
+bool operator!=(const NetworkFlowEndpoint & left, const NetworkFlowEndpoint & right)
+{
+  return !(left == right);
+}
+
+std::ostream & operator<<(std::ostream & os, const NetworkFlowEndpoint & network_flow_endpoint)
+{
+  // Stream out in JSON-like format
+  os << "{" <<
+    "\"transportProtocol\": \"" << network_flow_endpoint.transport_protocol_ << "\", " <<
+    "\"internetProtocol\": \"" << network_flow_endpoint.internet_protocol_ << "\", " <<
+    "\"transportPort\": \"" << network_flow_endpoint.transport_port_ << "\", " <<
+    "\"flowLabel\": \"" << std::to_string(network_flow_endpoint.flow_label_) << "\", " <<
+    "\"dscp\": \"" << std::to_string(network_flow_endpoint.dscp_) << "\", " <<
+    "\"internetAddress\": \"" << network_flow_endpoint.internet_address_ << "\"" <<
+    "}";
+  return os;
+}
+
+}  // namespace rclcpp

rclcpp/src/rclcpp/node.cpp

@@ -605,3 +605,9 @@ Node::get_node_options() const
 {
   return this->node_options_;
 }
+
+void Node::for_each_callback_group(
+  const node_interfaces::NodeBaseInterface::CallbackGroupFunction & func)
+{
+  rclcpp::node_interfaces::global_for_each_callback_group(node_base_.get(), func);
+}

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -31,6 +31,8 @@ using rclcpp::exceptions::throw_from_rcl_error;
 
 using rclcpp::node_interfaces::NodeBase;
 
+using rclcpp::node_interfaces::map_of_mutexes;
+
 NodeBase::NodeBase(
   const std::string & node_name,
   const std::string & namespace_,
@@ -46,6 +48,9 @@ NodeBase::NodeBase(
   associated_with_executor_(false),
   notify_guard_condition_is_valid_(false)
 {
+  // Generate a mutex for this instance of NodeBase
+  NodeBase::map_object.create_mutex_of_nodebase(this);
+
   // Setup the guard condition that is notified when changes occur in the graph.
   rcl_guard_condition_options_t guard_condition_options = rcl_guard_condition_get_default_options();
   rcl_ret_t ret = rcl_guard_condition_init(
@@ -166,6 +171,8 @@ NodeBase::~NodeBase()
         "failed to destroy guard condition: %s", rcl_get_error_string().str);
     }
   }
+
+  NodeBase::map_object.delete_mutex_of_nodebase(this);
 }
 
 const char *
@@ -221,12 +228,11 @@ NodeBase::create_callback_group(
   rclcpp::CallbackGroupType group_type,
   bool automatically_add_to_executor_with_node)
 {
-  using rclcpp::CallbackGroup;
-  using rclcpp::CallbackGroupType;
-  auto group = CallbackGroup::SharedPtr(
-    new CallbackGroup(
-      group_type,
-      automatically_add_to_executor_with_node));
+  auto group = std::make_shared<rclcpp::CallbackGroup>(
+    group_type,
+    automatically_add_to_executor_with_node);
+  auto mutex_ptr = NodeBase::map_object.get_mutex_of_nodebase(this);
+  std::lock_guard<std::mutex> lock(*mutex_ptr);
   callback_groups_.push_back(group);
   return group;
 }
@@ -240,14 +246,16 @@ NodeBase::get_default_callback_group()
 bool
 NodeBase::callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group)
 {
-  bool group_belongs_to_this_node = false;
+  auto mutex_ptr = NodeBase::map_object.get_mutex_of_nodebase(this);
+  std::lock_guard<std::mutex> lock(*mutex_ptr);
+
   for (auto & weak_group : this->callback_groups_) {
     auto cur_group = weak_group.lock();
     if (cur_group && (cur_group == group)) {
-      group_belongs_to_this_node = true;
+      return true;
     }
   }
-  return group_belongs_to_this_node;
+  return false;
 }
 
 const std::vector<rclcpp::CallbackGroup::WeakPtr> &
@@ -310,3 +318,41 @@ NodeBase::resolve_topic_or_service_name(
   allocator.deallocate(output_cstr, allocator.state);
   return output;
 }
+
+map_of_mutexes NodeBase::map_object = map_of_mutexes();
+
+void map_of_mutexes::create_mutex_of_nodebase(
+  const rclcpp::node_interfaces::NodeBaseInterface * nodebase)
+{
+  std::lock_guard<std::mutex> guard(this->internal_mutex_);
+  this->data_.emplace(nodebase, std::make_shared<std::mutex>() );
+}
+
+std::shared_ptr<std::mutex> map_of_mutexes::get_mutex_of_nodebase(
+  const rclcpp::node_interfaces::NodeBaseInterface * nodebase)
+{
+  std::lock_guard<std::mutex> guard(this->internal_mutex_);
+  return this->data_[nodebase];
+}
+
+void map_of_mutexes::delete_mutex_of_nodebase(
+  const rclcpp::node_interfaces::NodeBaseInterface * nodebase)
+{
+  std::lock_guard<std::mutex> guard(this->internal_mutex_);
+  this->data_.erase(nodebase);
+}
+
+// For each callback group free function implementation
+void rclcpp::node_interfaces::global_for_each_callback_group(
+  NodeBaseInterface * node_base_interface, const NodeBaseInterface::CallbackGroupFunction & func)
+{
+  auto mutex_ptr = NodeBase::map_object.get_mutex_of_nodebase(node_base_interface);
+  std::lock_guard<std::mutex> lock(*mutex_ptr);
+
+  for (const auto & weak_group : node_base_interface->get_callback_groups()) {
+    auto group = weak_group.lock();
+    if (group) {
+      func(group);
+    }
+  }
+}

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -299,14 +299,15 @@ __set_parameters_atomically_common(
   const OnParametersSetCallbackType & callback,
   bool allow_undeclared = false)
 {
-  // Call the user callback to see if the new value(s) are allowed.
-  rcl_interfaces::msg::SetParametersResult result =
-    __call_on_parameters_set_callbacks(parameters, callback_container, callback);
+  // Check if the value being set complies with the descriptor.
+  rcl_interfaces::msg::SetParametersResult result = __check_parameters(
+    parameter_infos, parameters, allow_undeclared);
   if (!result.successful) {
     return result;
   }
-  // Check if the value being set complies with the descriptor.
-  result = __check_parameters(parameter_infos, parameters, allow_undeclared);
+  // Call the user callback to see if the new value(s) are allowed.
+  result =
+    __call_on_parameters_set_callbacks(parameters, callback_container, callback);
   if (!result.successful) {
     return result;
   }
@@ -348,6 +349,21 @@ __declare_parameter_common(
     initial_value = &overrides_it->second;
   }
 
+  // If there is no initial value, then skip initialization
+  if (initial_value->get_type() == rclcpp::PARAMETER_NOT_SET) {
+    // Add declared parameters to storage (without a value)
+    parameter_infos[name].descriptor.name = name;
+    if (parameter_descriptor.dynamic_typing) {
+      parameter_infos[name].descriptor.type = rclcpp::PARAMETER_NOT_SET;
+    } else {
+      parameter_infos[name].descriptor.type = parameter_descriptor.type;
+    }
+    parameters_out[name] = parameter_infos.at(name);
+    rcl_interfaces::msg::SetParametersResult result;
+    result.successful = true;
+    return result;
+  }
+
   // Check with the user's callback to see if the initial value can be set.
   std::vector<rclcpp::Parameter> parameter_wrappers {rclcpp::Parameter(name, *initial_value)};
   // This function also takes care of default vs initial value.
@@ -412,14 +428,6 @@ declare_parameter_helper(
     parameter_descriptor.type = static_cast<uint8_t>(type);
   }
 
-  if (
-    rclcpp::PARAMETER_NOT_SET == default_value.get_type() &&
-    overrides.find(name) == overrides.end() &&
-    parameter_descriptor.dynamic_typing == false)
-  {
-    throw rclcpp::exceptions::NoParameterOverrideProvided(name);
-  }
-
   rcl_interfaces::msg::ParameterEvent parameter_event;
   auto result = __declare_parameter_common(
     name,
@@ -805,14 +813,21 @@ NodeParameters::get_parameters(const std::vector<std::string> & names) const
 rclcpp::Parameter
 NodeParameters::get_parameter(const std::string & name) const
 {
-  rclcpp::Parameter parameter;
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
 
-  if (get_parameter(name, parameter)) {
-    return parameter;
+  auto param_iter = parameters_.find(name);
+  if (
+    parameters_.end() != param_iter &&
+    (param_iter->second.value.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET ||
+    param_iter->second.descriptor.dynamic_typing))
+  {
+    return rclcpp::Parameter{name, param_iter->second.value};
   } else if (this->allow_undeclared_) {
-    return parameter;
-  } else {
+    return rclcpp::Parameter{};
+  } else if (parameters_.end() == param_iter) {
     throw rclcpp::exceptions::ParameterNotDeclaredException(name);
+  } else {
+    throw rclcpp::exceptions::ParameterUninitializedException(name);
   }
 }
 
@@ -954,22 +969,6 @@ NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint6
   return result;
 }
 
-struct HandleCompare
-  : public std::unary_function<OnSetParametersCallbackHandle::WeakPtr, bool>
-{
-  explicit HandleCompare(const OnSetParametersCallbackHandle * const base)
-  : base_(base) {}
-  bool operator()(const OnSetParametersCallbackHandle::WeakPtr & handle)
-  {
-    auto shared_handle = handle.lock();
-    if (base_ == shared_handle.get()) {
-      return true;
-    }
-    return false;
-  }
-  const OnSetParametersCallbackHandle * const base_;
-};
-
 void
 NodeParameters::remove_on_set_parameters_callback(
   const OnSetParametersCallbackHandle * const handle)
@@ -980,7 +979,9 @@ NodeParameters::remove_on_set_parameters_callback(
   auto it = std::find_if(
     on_parameters_set_callback_container_.begin(),
     on_parameters_set_callback_container_.end(),
-    HandleCompare(handle));
+    [handle](const auto & weak_handle) {
+      return handle == weak_handle.lock().get();
+    });
   if (it != on_parameters_set_callback_container_.end()) {
     on_parameters_set_callback_container_.erase(it);
   } else {

rclcpp/src/rclcpp/parameter_client.cpp

@@ -42,7 +42,7 @@ AsyncParametersClient::AsyncParametersClient(
   if (remote_node_name != "") {
     remote_node_name_ = remote_node_name;
   } else {
-    remote_node_name_ = node_base_interface->get_name();
+    remote_node_name_ = node_base_interface->get_fully_qualified_name();
   }
 
   rcl_client_options_t options = rcl_client_get_default_options();
@@ -273,6 +273,55 @@ AsyncParametersClient::set_parameters_atomically(
   return future_result;
 }
 
+std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+AsyncParametersClient::delete_parameters(
+  const std::vector<std::string> & parameters_names)
+{
+  std::vector<rclcpp::Parameter> parameters;
+  for (const std::string & name : parameters_names) {
+    parameters.push_back(rclcpp::Parameter(name));
+  }
+  auto future_result = set_parameters(parameters);
+
+  return future_result;
+}
+
+std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+AsyncParametersClient::load_parameters(
+  const std::string & yaml_filename)
+{
+  rclcpp::ParameterMap parameter_map = rclcpp::parameter_map_from_yaml_file(yaml_filename);
+  return this->load_parameters(parameter_map);
+}
+
+std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+AsyncParametersClient::load_parameters(
+  const rclcpp::ParameterMap & parameter_map)
+{
+  std::vector<rclcpp::Parameter> parameters;
+  std::string remote_name = remote_node_name_.substr(remote_node_name_.substr(1).find("/") + 2);
+  for (const auto & params : parameter_map) {
+    std::string node_full_name = params.first;
+    std::string node_name = node_full_name.substr(node_full_name.find("/*/") + 3);
+    if (node_full_name == remote_node_name_ ||
+      node_full_name == "/**" ||
+      (node_name == remote_name))
+    {
+      for (const auto & param : params.second) {
+        parameters.push_back(param);
+      }
+    }
+  }
+
+  if (parameters.size() == 0) {
+    throw rclcpp::exceptions::InvalidParametersException("No valid parameter");
+  }
+  auto future_result = set_parameters(parameters);
+
+  return future_result;
+}
+
+
 std::shared_future<rcl_interfaces::msg::ListParametersResult>
 AsyncParametersClient::list_parameters(
   const std::vector<std::string> & prefixes,
@@ -420,6 +469,42 @@ SyncParametersClient::set_parameters(
   return std::vector<rcl_interfaces::msg::SetParametersResult>();
 }
 
+std::vector<rcl_interfaces::msg::SetParametersResult>
+SyncParametersClient::delete_parameters(
+  const std::vector<std::string> & parameters_names,
+  std::chrono::nanoseconds timeout)
+{
+  auto f = async_parameters_client_->delete_parameters(parameters_names);
+
+  using rclcpp::executors::spin_node_until_future_complete;
+  if (
+    spin_node_until_future_complete(
+      *executor_, node_base_interface_, f,
+      timeout) == rclcpp::FutureReturnCode::SUCCESS)
+  {
+    return f.get();
+  }
+  return std::vector<rcl_interfaces::msg::SetParametersResult>();
+}
+
+std::vector<rcl_interfaces::msg::SetParametersResult>
+SyncParametersClient::load_parameters(
+  const std::string & yaml_filename,
+  std::chrono::nanoseconds timeout)
+{
+  auto f = async_parameters_client_->load_parameters(yaml_filename);
+
+  using rclcpp::executors::spin_node_until_future_complete;
+  if (
+    spin_node_until_future_complete(
+      *executor_, node_base_interface_, f,
+      timeout) == rclcpp::FutureReturnCode::SUCCESS)
+  {
+    return f.get();
+  }
+  return std::vector<rcl_interfaces::msg::SetParametersResult>();
+}
+
 rcl_interfaces::msg::SetParametersResult
 SyncParametersClient::set_parameters_atomically(
   const std::vector<rclcpp::Parameter> & parameters,

rclcpp/src/rclcpp/parameter_event_handler.cpp

@@ -37,23 +37,6 @@ ParameterEventHandler::add_parameter_event_callback(
   return handle;
 }
 
-template<typename CallbackHandleT>
-struct HandleCompare
-  : public std::unary_function<typename CallbackHandleT::WeakPtr, bool>
-{
-  explicit HandleCompare(const CallbackHandleT * const base)
-  : base_(base) {}
-  bool operator()(const typename CallbackHandleT::WeakPtr & handle)
-  {
-    auto shared_handle = handle.lock();
-    if (base_ == shared_handle.get()) {
-      return true;
-    }
-    return false;
-  }
-  const CallbackHandleT * const base_;
-};
-
 void
 ParameterEventHandler::remove_parameter_event_callback(
   ParameterEventCallbackHandle::SharedPtr callback_handle)
@@ -62,7 +45,9 @@ ParameterEventHandler::remove_parameter_event_callback(
   auto it = std::find_if(
     event_callbacks_.begin(),
     event_callbacks_.end(),
-    HandleCompare<ParameterEventCallbackHandle>(callback_handle.get()));
+    [callback_handle](const auto & weak_handle) {
+      return callback_handle.get() == weak_handle.lock().get();
+    });
   if (it != event_callbacks_.end()) {
     event_callbacks_.erase(it);
   } else {
@@ -99,7 +84,9 @@ ParameterEventHandler::remove_parameter_callback(
   auto it = std::find_if(
     container.begin(),
     container.end(),
-    HandleCompare<ParameterCallbackHandle>(handle));
+    [handle](const auto & weak_handle) {
+      return handle == weak_handle.lock().get();
+    });
   if (it != container.end()) {
     container.erase(it);
     if (container.empty()) {
@@ -171,14 +158,13 @@ ParameterEventHandler::get_parameters_from_event(
 }
 
 void
-ParameterEventHandler::event_callback(
-  const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
+ParameterEventHandler::event_callback(const rcl_interfaces::msg::ParameterEvent & event)
 {
   std::lock_guard<std::recursive_mutex> lock(mutex_);
 
   for (auto it = parameter_callbacks_.begin(); it != parameter_callbacks_.end(); ++it) {
     rclcpp::Parameter p;
-    if (get_parameter_from_event(*event, p, it->first.first, it->first.second)) {
+    if (get_parameter_from_event(event, p, it->first.first, it->first.second)) {
       for (auto cb = it->second.begin(); cb != it->second.end(); ++cb) {
         auto shared_handle = cb->lock();
         if (nullptr != shared_handle) {

rclcpp/src/rclcpp/parameter_events_filter.cpp

@@ -14,6 +14,7 @@
 
 #include "rclcpp/parameter_events_filter.hpp"
 
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -22,7 +23,7 @@ using EventType = rclcpp::ParameterEventsFilter::EventType;
 using EventPair = rclcpp::ParameterEventsFilter::EventPair;
 
 ParameterEventsFilter::ParameterEventsFilter(
-  rcl_interfaces::msg::ParameterEvent::SharedPtr event,
+  std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event,
   const std::vector<std::string> & names,
   const std::vector<EventType> & types)
 : event_(event)

rclcpp/src/rclcpp/parameter_map.cpp

@@ -126,3 +126,15 @@ rclcpp::parameter_value_from(const rcl_variant_t * const c_param_value)
 
   throw InvalidParameterValueException("No parameter value set");
 }
+
+ParameterMap
+rclcpp::parameter_map_from_yaml_file(const std::string & yaml_filename)
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rcl_params_t * rcl_parameters = rcl_yaml_node_struct_init(allocator);
+  const char * path = yaml_filename.c_str();
+  if (!rcl_parse_yaml_file(path, rcl_parameters)) {
+    rclcpp::exceptions::throw_from_rcl_error(RCL_RET_ERROR);
+  }
+  return rclcpp::parameter_map_from(rcl_parameters);
+}

rclcpp/src/rclcpp/publisher_base.cpp

@@ -34,6 +34,7 @@
 #include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/network_flow_endpoint.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/qos_event.hpp"
 
@@ -268,3 +269,39 @@ PublisherBase::default_incompatible_qos_callback(
     get_topic_name(),
     policy_name.c_str());
 }
+
+std::vector<rclcpp::NetworkFlowEndpoint> PublisherBase::get_network_flow_endpoints() const
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rcl_network_flow_endpoint_array_t network_flow_endpoint_array =
+    rcl_get_zero_initialized_network_flow_endpoint_array();
+  rcl_ret_t ret = rcl_publisher_get_network_flow_endpoints(
+    publisher_handle_.get(), &allocator, &network_flow_endpoint_array);
+  if (RCL_RET_OK != ret) {
+    auto error_msg = std::string("error obtaining network flows of publisher: ") +
+      rcl_get_error_string().str;
+    rcl_reset_error();
+    if (RCL_RET_OK !=
+      rcl_network_flow_endpoint_array_fini(&network_flow_endpoint_array))
+    {
+      error_msg += std::string(", also error cleaning up network flow array: ") +
+        rcl_get_error_string().str;
+      rcl_reset_error();
+    }
+    rclcpp::exceptions::throw_from_rcl_error(ret, error_msg);
+  }
+
+  std::vector<rclcpp::NetworkFlowEndpoint> network_flow_endpoint_vector;
+  for (size_t i = 0; i < network_flow_endpoint_array.size; ++i) {
+    network_flow_endpoint_vector.push_back(
+      rclcpp::NetworkFlowEndpoint(
+        network_flow_endpoint_array.network_flow_endpoint[i]));
+  }
+
+  ret = rcl_network_flow_endpoint_array_fini(&network_flow_endpoint_array);
+  if (RCL_RET_OK != ret) {
+    rclcpp::exceptions::throw_from_rcl_error(ret, "error cleaning up network flow array");
+  }
+
+  return network_flow_endpoint_vector;
+}

rclcpp/src/rclcpp/subscription_base.cpp

@@ -288,3 +288,40 @@ SubscriptionBase::exchange_in_use_by_wait_set_state(
   }
   throw std::runtime_error("given pointer_to_subscription_part does not match any part");
 }
+
+std::vector<rclcpp::NetworkFlowEndpoint> SubscriptionBase::get_network_flow_endpoints() const
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rcl_network_flow_endpoint_array_t network_flow_endpoint_array =
+    rcl_get_zero_initialized_network_flow_endpoint_array();
+  rcl_ret_t ret = rcl_subscription_get_network_flow_endpoints(
+    subscription_handle_.get(), &allocator, &network_flow_endpoint_array);
+  if (RCL_RET_OK != ret) {
+    auto error_msg = std::string("Error obtaining network flows of subscription: ") +
+      rcl_get_error_string().str;
+    rcl_reset_error();
+    if (RCL_RET_OK !=
+      rcl_network_flow_endpoint_array_fini(&network_flow_endpoint_array))
+    {
+      error_msg += std::string(". Also error cleaning up network flow array: ") +
+        rcl_get_error_string().str;
+      rcl_reset_error();
+    }
+    rclcpp::exceptions::throw_from_rcl_error(ret, error_msg);
+  }
+
+  std::vector<rclcpp::NetworkFlowEndpoint> network_flow_endpoint_vector;
+  for (size_t i = 0; i < network_flow_endpoint_array.size; ++i) {
+    network_flow_endpoint_vector.push_back(
+      rclcpp::NetworkFlowEndpoint(
+        network_flow_endpoint_array.
+        network_flow_endpoint[i]));
+  }
+
+  ret = rcl_network_flow_endpoint_array_fini(&network_flow_endpoint_array);
+  if (RCL_RET_OK != ret) {
+    rclcpp::exceptions::throw_from_rcl_error(ret, "error cleaning up network flow array");
+  }
+
+  return network_flow_endpoint_vector;
+}

rclcpp/src/rclcpp/time_source.cpp

@@ -216,7 +216,7 @@ void TimeSource::set_clock(
   }
 }
 
-void TimeSource::clock_cb(const rosgraph_msgs::msg::Clock::SharedPtr msg)
+void TimeSource::clock_cb(std::shared_ptr<const rosgraph_msgs::msg::Clock> msg)
 {
   if (!this->ros_time_active_ && SET_TRUE == this->parameter_state_) {
     enable_ros_time();
@@ -256,13 +256,17 @@ void TimeSource::create_clock_sub()
       false
     );
     options.callback_group = clock_callback_group_;
+    rclcpp::ExecutorOptions exec_options;
+    exec_options.context = node_base_->get_context();
+    clock_executor_ =
+      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(exec_options);
     if (!clock_executor_thread_.joinable()) {
+      cancel_clock_executor_promise_ = std::promise<void>{};
       clock_executor_thread_ = std::thread(
         [this]() {
-          cancel_clock_executor_promise_ = std::promise<void>{};
           auto future = cancel_clock_executor_promise_.get_future();
-          clock_executor_.add_callback_group(clock_callback_group_, node_base_);
-          clock_executor_.spin_until_future_complete(future);
+          clock_executor_->add_callback_group(clock_callback_group_, node_base_);
+          clock_executor_->spin_until_future_complete(future);
         }
       );
     }
@@ -283,14 +287,15 @@ void TimeSource::destroy_clock_sub()
   std::lock_guard<std::mutex> guard(clock_sub_lock_);
   if (clock_executor_thread_.joinable()) {
     cancel_clock_executor_promise_.set_value();
-    clock_executor_.cancel();
+    clock_executor_->cancel();
     clock_executor_thread_.join();
-    clock_executor_.remove_callback_group(clock_callback_group_);
+    clock_executor_->remove_callback_group(clock_callback_group_);
   }
   clock_subscription_.reset();
 }
 
-void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
+void TimeSource::on_parameter_event(
+  std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event)
 {
   // Filter out events on 'use_sim_time' parameter instances in other nodes.
   if (event->node != node_base_->get_fully_qualified_name()) {

rclcpp/src/rclcpp/typesupport_helpers.cpp

@@ -0,0 +1,136 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright 2021, Apex.AI 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/typesupport_helpers.hpp"
+
+#include <functional>
+#include <memory>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <tuple>
+#include <utility>
+
+#include "ament_index_cpp/get_package_prefix.hpp"
+#include "ament_index_cpp/get_resources.hpp"
+#include "rcpputils/shared_library.hpp"
+#include "rcpputils/find_library.hpp"
+#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
+
+namespace rclcpp
+{
+
+namespace
+{
+
+// Look for the library in the ament prefix paths.
+std::string get_typesupport_library_path(
+  const std::string & package_name, const std::string & typesupport_identifier)
+{
+  const char * dynamic_library_folder;
+#ifdef _WIN32
+  dynamic_library_folder = "/bin/";
+#elif __APPLE__
+  dynamic_library_folder = "/lib/";
+#else
+  dynamic_library_folder = "/lib/";
+#endif
+
+  std::string package_prefix;
+  try {
+    package_prefix = ament_index_cpp::get_package_prefix(package_name);
+  } catch (ament_index_cpp::PackageNotFoundError & e) {
+    throw std::runtime_error(e.what());
+  }
+
+  const std::string library_path = rcpputils::path_for_library(
+    package_prefix + dynamic_library_folder,
+    package_name + "__" + typesupport_identifier);
+  if (library_path.empty()) {
+    throw std::runtime_error(
+            "Typesupport library for " + package_name + " does not exist in '" + package_prefix +
+            "'.");
+  }
+  return library_path;
+}
+
+std::tuple<std::string, std::string, std::string>
+extract_type_identifier(const std::string & full_type)
+{
+  char type_separator = '/';
+  auto sep_position_back = full_type.find_last_of(type_separator);
+  auto sep_position_front = full_type.find_first_of(type_separator);
+  if (sep_position_back == std::string::npos ||
+    sep_position_back == 0 ||
+    sep_position_back == full_type.length() - 1)
+  {
+    throw std::runtime_error(
+            "Message type is not of the form package/type and cannot be processed");
+  }
+
+  std::string package_name = full_type.substr(0, sep_position_front);
+  std::string middle_module = "";
+  if (sep_position_back - sep_position_front > 0) {
+    middle_module =
+      full_type.substr(sep_position_front + 1, sep_position_back - sep_position_front - 1);
+  }
+  std::string type_name = full_type.substr(sep_position_back + 1);
+
+  return std::make_tuple(package_name, middle_module, type_name);
+}
+
+}  // anonymous namespace
+
+std::shared_ptr<rcpputils::SharedLibrary>
+get_typesupport_library(const std::string & type, const std::string & typesupport_identifier)
+{
+  auto package_name = std::get<0>(extract_type_identifier(type));
+  auto library_path = get_typesupport_library_path(package_name, typesupport_identifier);
+  return std::make_shared<rcpputils::SharedLibrary>(library_path);
+}
+
+const rosidl_message_type_support_t *
+get_typesupport_handle(
+  const std::string & type,
+  const std::string & typesupport_identifier,
+  rcpputils::SharedLibrary & library)
+{
+  std::string package_name;
+  std::string middle_module;
+  std::string type_name;
+  std::tie(package_name, middle_module, type_name) = extract_type_identifier(type);
+
+  auto mk_error = [&package_name, &type_name](auto reason) {
+      std::stringstream rcutils_dynamic_loading_error;
+      rcutils_dynamic_loading_error <<
+        "Something went wrong loading the typesupport library for message type " << package_name <<
+        "/" << type_name << ". " << reason;
+      return rcutils_dynamic_loading_error.str();
+    };
+
+  try {
+    std::string symbol_name = typesupport_identifier + "__get_message_type_support_handle__" +
+      package_name + "__" + (middle_module.empty() ? "msg" : middle_module) + "__" + type_name;
+
+    const rosidl_message_type_support_t * (* get_ts)() = nullptr;
+    // This will throw runtime_error if the symbol was not found.
+    get_ts = reinterpret_cast<decltype(get_ts)>(library.get_symbol(symbol_name));
+    return get_ts();
+  } catch (std::runtime_error &) {
+    throw std::runtime_error{mk_error("Library could not be found.")};
+  }
+}
+
+}  // namespace rclcpp

rclcpp/test/benchmark/benchmark_executor.cpp

@@ -42,7 +42,7 @@ public:
         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++;};
+      auto callback = [this](test_msgs::msg::Empty::ConstSharedPtr) {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)));

rclcpp/test/rclcpp/CMakeLists.txt

@@ -143,6 +143,13 @@ if(TARGET test_intra_process_manager)
   )
   target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
 endif()
+ament_add_gmock(test_intra_process_manager_with_allocators test_intra_process_manager_with_allocators.cpp)
+if(TARGET test_intra_process_manager_with_allocators)
+  ament_target_dependencies(test_intra_process_manager_with_allocators
+    "test_msgs"
+  )
+  target_link_libraries(test_intra_process_manager_with_allocators ${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
@@ -368,6 +375,21 @@ if(TARGET test_qos)
     ${PROJECT_NAME}
   )
 endif()
+function(test_generic_pubsub_for_rmw_implementation)
+  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
+  ament_add_gmock(test_generic_pubsub${target_suffix} test_generic_pubsub.cpp
+    ENV ${rmw_implementation_env_var}
+  )
+  if(TARGET test_generic_pubsub${target_suffix})
+    target_link_libraries(test_generic_pubsub${target_suffix} ${PROJECT_NAME})
+    ament_target_dependencies(test_generic_pubsub${target_suffix}
+      "rcpputils"
+      "rosidl_typesupport_cpp"
+      "test_msgs"
+    )
+  endif()
+endfunction()
+call_for_each_rmw_implementation(test_generic_pubsub_for_rmw_implementation)
 ament_add_gtest(test_qos_event test_qos_event.cpp)
 if(TARGET test_qos_event)
   ament_target_dependencies(test_qos_event
@@ -473,6 +495,10 @@ if(TARGET test_type_support)
   )
   target_link_libraries(test_type_support ${PROJECT_NAME})
 endif()
+ament_add_gmock(test_typesupport_helpers test_typesupport_helpers.cpp)
+if(TARGET test_typesupport_helpers)
+  target_link_libraries(test_typesupport_helpers ${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
@@ -539,12 +565,11 @@ if(TARGET test_utilities)
   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})
+ament_add_gtest(test_wait_for_message test_wait_for_message.cpp)
+if(TARGET test_wait_for_message)
+  ament_target_dependencies(test_wait_for_message
+    "test_msgs")
+  target_link_libraries(test_wait_for_message ${PROJECT_NAME})
 endif()
 
 ament_add_gtest(test_interface_traits test_interface_traits.cpp

rclcpp/test/rclcpp/executors/test_executors.cpp

@@ -62,7 +62,7 @@ public:
 
     const std::string topic_name = std::string("topic_") + test_name.str();
     publisher = node->create_publisher<test_msgs::msg::Empty>(topic_name, rclcpp::QoS(10));
-    auto callback = [this](test_msgs::msg::Empty::SharedPtr) {this->callback_count++;};
+    auto callback = [this](test_msgs::msg::Empty::ConstSharedPtr) {this->callback_count++;};
     subscription =
       node->create_subscription<test_msgs::msg::Empty>(
       topic_name, rclcpp::QoS(10), std::move(callback));
@@ -349,6 +349,190 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteWithTimeout) {
   spinner.join();
 }
 
+class TestWaitable : public rclcpp::Waitable
+{
+public:
+  TestWaitable()
+  {
+    rcl_guard_condition_options_t guard_condition_options =
+      rcl_guard_condition_get_default_options();
+
+    gc_ = rcl_get_zero_initialized_guard_condition();
+    rcl_ret_t ret = rcl_guard_condition_init(
+      &gc_,
+      rclcpp::contexts::get_global_default_context()->get_rcl_context().get(),
+      guard_condition_options);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret);
+    }
+  }
+
+  ~TestWaitable()
+  {
+    rcl_ret_t ret = rcl_guard_condition_fini(&gc_);
+    if (RCL_RET_OK != ret) {
+      fprintf(stderr, "failed to call rcl_guard_condition_fini\n");
+    }
+  }
+
+  bool
+  add_to_wait_set(rcl_wait_set_t * wait_set) override
+  {
+    rcl_ret_t ret = rcl_wait_set_add_guard_condition(wait_set, &gc_, NULL);
+    return RCL_RET_OK == ret;
+  }
+
+  bool trigger()
+  {
+    rcl_ret_t ret = rcl_trigger_guard_condition(&gc_);
+    return RCL_RET_OK == ret;
+  }
+
+  bool
+  is_ready(rcl_wait_set_t * wait_set) override
+  {
+    (void)wait_set;
+    return true;
+  }
+
+  std::shared_ptr<void>
+  take_data() override
+  {
+    return nullptr;
+  }
+
+  void
+  execute(std::shared_ptr<void> & data) override
+  {
+    (void) data;
+    count_++;
+    std::this_thread::sleep_for(3ms);
+  }
+
+  size_t
+  get_number_of_ready_guard_conditions() override {return 1;}
+
+  size_t
+  get_count()
+  {
+    return count_;
+  }
+
+private:
+  size_t count_ = 0;
+  rcl_guard_condition_t gc_;
+};
+
+TYPED_TEST(TestExecutors, spinAll) {
+  using ExecutorType = TypeParam;
+  ExecutorType executor;
+  auto waitable_interfaces = this->node->get_node_waitables_interface();
+  auto my_waitable = std::make_shared<TestWaitable>();
+  waitable_interfaces->add_waitable(my_waitable, nullptr);
+  executor.add_node(this->node);
+
+  // Long timeout, but should not block test if spin_all works as expected as we cancel the
+  // executor.
+  bool spin_exited = false;
+  std::thread spinner([&spin_exited, &executor, this]() {
+      executor.spin_all(1s);
+      executor.remove_node(this->node, true);
+      spin_exited = true;
+    });
+
+  // Do some work until sufficient calls to the waitable occur
+  auto start = std::chrono::steady_clock::now();
+  while (
+    my_waitable->get_count() <= 1 &&
+    !spin_exited &&
+    (std::chrono::steady_clock::now() - start < 1s))
+  {
+    my_waitable->trigger();
+    this->publisher->publish(test_msgs::msg::Empty());
+    std::this_thread::sleep_for(1ms);
+  }
+
+  executor.cancel();
+  start = std::chrono::steady_clock::now();
+  while (!spin_exited && (std::chrono::steady_clock::now() - start) < 1s) {
+    std::this_thread::sleep_for(1ms);
+  }
+
+  EXPECT_LT(1u, my_waitable->get_count());
+  waitable_interfaces->remove_waitable(my_waitable, nullptr);
+  ASSERT_TRUE(spin_exited);
+  spinner.join();
+}
+
+TYPED_TEST(TestExecutors, spinSome) {
+  using ExecutorType = TypeParam;
+  ExecutorType executor;
+  auto waitable_interfaces = this->node->get_node_waitables_interface();
+  auto my_waitable = std::make_shared<TestWaitable>();
+  waitable_interfaces->add_waitable(my_waitable, nullptr);
+  executor.add_node(this->node);
+
+  // Long timeout, doesn't block test from finishing because spin_some should exit after the
+  // first one completes.
+  bool spin_exited = false;
+  std::thread spinner([&spin_exited, &executor, this]() {
+      executor.spin_some(1s);
+      executor.remove_node(this->node, true);
+      spin_exited = true;
+    });
+
+  // Do some work until sufficient calls to the waitable occur, but keep going until either
+  // count becomes too large, spin exits, or the 1 second timeout completes.
+  auto start = std::chrono::steady_clock::now();
+  while (
+    my_waitable->get_count() <= 1 &&
+    !spin_exited &&
+    (std::chrono::steady_clock::now() - start < 1s))
+  {
+    my_waitable->trigger();
+    this->publisher->publish(test_msgs::msg::Empty());
+    std::this_thread::sleep_for(1ms);
+  }
+
+  EXPECT_EQ(1u, my_waitable->get_count());
+  waitable_interfaces->remove_waitable(my_waitable, nullptr);
+  EXPECT_TRUE(spin_exited);
+  // Cancel if it hasn't exited already.
+  executor.cancel();
+
+  spinner.join();
+}
+
+// Check spin_node_until_future_complete with node base pointer
+TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr) {
+  using ExecutorType = TypeParam;
+  ExecutorType executor;
+
+  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, this->node->get_node_base_interface(), shared_future, 1s);
+  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+}
+
+// Check spin_node_until_future_complete with node pointer
+TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr) {
+  using ExecutorType = TypeParam;
+  ExecutorType executor;
+
+  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, this->node, shared_future, 1s);
+  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+}
+
 // Check spin_until_future_complete can be properly interrupted.
 TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted) {
   using ExecutorType = TypeParam;
@@ -392,186 +576,6 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted) {
   spinner.join();
 }
 
-class TestWaitable : public rclcpp::Waitable
-{
-public:
-  TestWaitable()
-  {
-    rcl_guard_condition_options_t guard_condition_options =
-      rcl_guard_condition_get_default_options();
-
-    gc_ = rcl_get_zero_initialized_guard_condition();
-    rcl_ret_t ret = rcl_guard_condition_init(
-      &gc_,
-      rclcpp::contexts::get_global_default_context()->get_rcl_context().get(),
-      guard_condition_options);
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret);
-    }
-  }
-
-  ~TestWaitable()
-  {
-    rcl_ret_t ret = rcl_guard_condition_fini(&gc_);
-    if (RCL_RET_OK != ret) {
-      fprintf(stderr, "failed to call rcl_guard_condition_fini\n");
-    }
-  }
-
-  bool
-  add_to_wait_set(rcl_wait_set_t * wait_set) override
-  {
-    rcl_ret_t ret = rcl_wait_set_add_guard_condition(wait_set, &gc_, NULL);
-    if (RCL_RET_OK != ret) {
-      return false;
-    }
-    ret = rcl_trigger_guard_condition(&gc_);
-    return RCL_RET_OK == ret;
-  }
-
-  bool
-  is_ready(rcl_wait_set_t * wait_set) override
-  {
-    (void)wait_set;
-    return true;
-  }
-
-  std::shared_ptr<void>
-  take_data() override
-  {
-    return nullptr;
-  }
-
-  void
-  execute(std::shared_ptr<void> & data) override
-  {
-    (void) data;
-    count_++;
-    std::this_thread::sleep_for(1ms);
-  }
-
-  size_t
-  get_number_of_ready_guard_conditions() override {return 1;}
-
-  size_t
-  get_count()
-  {
-    return count_;
-  }
-
-private:
-  size_t count_ = 0;
-  rcl_guard_condition_t gc_;
-};
-
-TYPED_TEST(TestExecutorsStable, spinAll) {
-  using ExecutorType = TypeParam;
-  ExecutorType executor;
-  auto waitable_interfaces = this->node->get_node_waitables_interface();
-  auto my_waitable = std::make_shared<TestWaitable>();
-  waitable_interfaces->add_waitable(my_waitable, nullptr);
-  executor.add_node(this->node);
-
-  // Long timeout, but should not block test if spin_all works as expected as we cancel the
-  // executor.
-  bool spin_exited = false;
-  std::thread spinner([&spin_exited, &executor, this]() {
-      executor.spin_all(1s);
-      executor.remove_node(this->node, true);
-      spin_exited = true;
-    });
-
-  // Do some work until sufficient calls to the waitable occur
-  auto start = std::chrono::steady_clock::now();
-  while (
-    my_waitable->get_count() <= 1 &&
-    !spin_exited &&
-    (std::chrono::steady_clock::now() - start < 1s))
-  {
-    this->publisher->publish(test_msgs::msg::Empty());
-    std::this_thread::sleep_for(1ms);
-  }
-
-  executor.cancel();
-  start = std::chrono::steady_clock::now();
-  while (!spin_exited && (std::chrono::steady_clock::now() - start) < 1s) {
-    std::this_thread::sleep_for(1ms);
-  }
-
-  EXPECT_LT(1u, my_waitable->get_count());
-  waitable_interfaces->remove_waitable(my_waitable, nullptr);
-  ASSERT_TRUE(spin_exited);
-  spinner.join();
-}
-
-TYPED_TEST(TestExecutorsStable, spinSome) {
-  using ExecutorType = TypeParam;
-  ExecutorType executor;
-  auto waitable_interfaces = this->node->get_node_waitables_interface();
-  auto my_waitable = std::make_shared<TestWaitable>();
-  waitable_interfaces->add_waitable(my_waitable, nullptr);
-  executor.add_node(this->node);
-
-  // Long timeout, doesn't block test from finishing because spin_some should exit after the
-  // first one completes.
-  bool spin_exited = false;
-  std::thread spinner([&spin_exited, &executor, this]() {
-      executor.spin_some(1s);
-      executor.remove_node(this->node, true);
-      spin_exited = true;
-    });
-
-  // Do some work until sufficient calls to the waitable occur, but keep going until either
-  // count becomes too large, spin exits, or the 1 second timeout completes.
-  auto start = std::chrono::steady_clock::now();
-  while (
-    my_waitable->get_count() <= 1 &&
-    !spin_exited &&
-    (std::chrono::steady_clock::now() - start < 1s))
-  {
-    this->publisher->publish(test_msgs::msg::Empty());
-    std::this_thread::sleep_for(1ms);
-  }
-
-  EXPECT_EQ(1u, my_waitable->get_count());
-  waitable_interfaces->remove_waitable(my_waitable, nullptr);
-  EXPECT_TRUE(spin_exited);
-  // Cancel if it hasn't exited already.
-  executor.cancel();
-
-  spinner.join();
-}
-
-// Check spin_node_until_future_complete with node base pointer
-TYPED_TEST(TestExecutorsStable, testSpinNodeUntilFutureCompleteNodeBasePtr) {
-  using ExecutorType = TypeParam;
-  ExecutorType executor;
-
-  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, this->node->get_node_base_interface(), shared_future, 1s);
-  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
-}
-
-// Check spin_node_until_future_complete with node pointer
-TYPED_TEST(TestExecutorsStable, testSpinNodeUntilFutureCompleteNodePtr) {
-  using ExecutorType = TypeParam;
-  ExecutorType executor;
-
-  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, this->node, shared_future, 1s);
-  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
-}
-
 // Check spin_until_future_complete with node base pointer (instantiates its own executor)
 TEST(TestExecutors, testSpinUntilFutureCompleteNodeBasePtr) {
   rclcpp::init(0, nullptr);

rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp

@@ -41,38 +41,38 @@ struct NumberOfEntities
 std::unique_ptr<NumberOfEntities> get_number_of_default_entities(rclcpp::Node::SharedPtr node)
 {
   auto number_of_entities = std::make_unique<NumberOfEntities>();
-  for (auto & weak_group : node->get_callback_groups()) {
-    auto group = weak_group.lock();
-    EXPECT_NE(nullptr, group);
-    if (!group || !group->can_be_taken_from().load()) {
-      return nullptr;
-    }
-    group->find_subscription_ptrs_if(
-      [&number_of_entities](rclcpp::SubscriptionBase::SharedPtr &)
-      {
-        number_of_entities->subscriptions++; return false;
-      });
-    group->find_timer_ptrs_if(
-      [&number_of_entities](rclcpp::TimerBase::SharedPtr &)
-      {
-        number_of_entities->timers++; return false;
-      });
-    group->find_service_ptrs_if(
-      [&number_of_entities](rclcpp::ServiceBase::SharedPtr &)
-      {
-        number_of_entities->services++; return false;
-      });
-    group->find_client_ptrs_if(
-      [&number_of_entities](rclcpp::ClientBase::SharedPtr &)
-      {
-        number_of_entities->clients++; return false;
-      });
-    group->find_waitable_ptrs_if(
-      [&number_of_entities](rclcpp::Waitable::SharedPtr &)
-      {
-        number_of_entities->waitables++; return false;
-      });
-  }
+  node->for_each_callback_group(
+    [&number_of_entities](rclcpp::CallbackGroup::SharedPtr group)
+    {
+      if (!group->can_be_taken_from().load()) {
+        return;
+      }
+      group->find_subscription_ptrs_if(
+        [&number_of_entities](rclcpp::SubscriptionBase::SharedPtr &)
+        {
+          number_of_entities->subscriptions++; return false;
+        });
+      group->find_timer_ptrs_if(
+        [&number_of_entities](rclcpp::TimerBase::SharedPtr &)
+        {
+          number_of_entities->timers++; return false;
+        });
+      group->find_service_ptrs_if(
+        [&number_of_entities](rclcpp::ServiceBase::SharedPtr &)
+        {
+          number_of_entities->services++; return false;
+        });
+      group->find_client_ptrs_if(
+        [&number_of_entities](rclcpp::ClientBase::SharedPtr &)
+        {
+          number_of_entities->clients++; return false;
+        });
+      group->find_waitable_ptrs_if(
+        [&number_of_entities](rclcpp::Waitable::SharedPtr &)
+        {
+          number_of_entities->waitables++; return false;
+        });
+    });
 
   return number_of_entities;
 }
@@ -255,7 +255,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
   // Create 1 of each entity type
   auto subscription =
     node->create_subscription<test_msgs::msg::Empty>(
-    "topic", rclcpp::QoS(10), [](test_msgs::msg::Empty::SharedPtr) {});
+    "topic", rclcpp::QoS(10), [](test_msgs::msg::Empty::ConstSharedPtr) {});
   auto timer =
     node->create_wall_timer(std::chrono::seconds(60), []() {});
   auto service =
@@ -455,7 +455,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_add_handles_to_wait
   // Create 1 of each entity type
   auto subscription =
     node->create_subscription<test_msgs::msg::Empty>(
-    "topic", rclcpp::QoS(10), [](test_msgs::msg::Empty::SharedPtr) {});
+    "topic", rclcpp::QoS(10), [](test_msgs::msg::Empty::ConstSharedPtr) {});
   auto timer =
     node->create_wall_timer(std::chrono::seconds(60), []() {});
   auto service =

rclcpp/test/rclcpp/executors/test_static_single_threaded_executor.cpp

@@ -45,16 +45,6 @@ public:
   }
 };
 
-TEST_F(TestStaticSingleThreadedExecutor, check_unimplemented) {
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  executor.add_node(node);
-
-  EXPECT_THROW(executor.spin_some(), rclcpp::exceptions::UnimplementedError);
-  EXPECT_THROW(executor.spin_all(0ns), rclcpp::exceptions::UnimplementedError);
-  EXPECT_THROW(executor.spin_once(0ns), rclcpp::exceptions::UnimplementedError);
-}
-
 TEST_F(TestStaticSingleThreadedExecutor, add_callback_group_trigger_guard_failed) {
   rclcpp::executors::StaticSingleThreadedExecutor executor;
   auto node = std::make_shared<rclcpp::Node>("node", "ns");

rclcpp/test/rclcpp/node_interfaces/test_node_graph.cpp

@@ -335,7 +335,7 @@ TEST_F(TestNodeGraph, get_info_by_topic)
 {
   const rclcpp::QoS publisher_qos(1);
   auto publisher = node()->create_publisher<test_msgs::msg::Empty>("topic", publisher_qos);
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
 
   const rclcpp::QoS subscriber_qos(10);
   auto subscription =
@@ -364,28 +364,10 @@ TEST_F(TestNodeGraph, get_info_by_topic)
   EXPECT_EQ(rclcpp::EndpointType::Publisher, const_publisher_endpoint_info.endpoint_type());
 
   rclcpp::QoS actual_qos = publisher_endpoint_info.qos_profile();
-  switch (actual_qos.get_rmw_qos_profile().history) {
-    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
-      EXPECT_EQ(1u, actual_qos.get_rmw_qos_profile().depth);
-      break;
-    case RMW_QOS_POLICY_HISTORY_UNKNOWN:
-      EXPECT_EQ(0u, actual_qos.get_rmw_qos_profile().depth);
-      break;
-    default:
-      ADD_FAILURE() << "unexpected history";
-  }
+  EXPECT_EQ(actual_qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
 
   rclcpp::QoS const_actual_qos = const_publisher_endpoint_info.qos_profile();
-  switch (const_actual_qos.get_rmw_qos_profile().history) {
-    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
-      EXPECT_EQ(1u, const_actual_qos.get_rmw_qos_profile().depth);
-      break;
-    case RMW_QOS_POLICY_HISTORY_UNKNOWN:
-      EXPECT_EQ(0u, const_actual_qos.get_rmw_qos_profile().depth);
-      break;
-    default:
-      ADD_FAILURE() << "unexpected history";
-  }
+  EXPECT_EQ(const_actual_qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
 
   auto endpoint_gid = publisher_endpoint_info.endpoint_gid();
   auto const_endpoint_gid = const_publisher_endpoint_info.endpoint_gid();

rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp

@@ -23,6 +23,7 @@
 
 #include "rclcpp/scope_exit.hpp"
 #include "rclcpp/strategies/allocator_memory_strategy.hpp"
+#include "rclcpp/node_interfaces/node_base.hpp"
 #include "test_msgs/msg/empty.hpp"
 #include "test_msgs/srv/empty.hpp"
 
@@ -114,18 +115,17 @@ protected:
   {
     auto node = std::make_shared<rclcpp::Node>(name, "ns");
 
-    for (auto & group_weak_ptr : node->get_callback_groups()) {
-      auto group = group_weak_ptr.lock();
-      if (group) {
+    node->for_each_callback_group(
+      [](rclcpp::CallbackGroup::SharedPtr group)
+      {
         group->can_be_taken_from() = false;
-      }
-    }
+      });
     return node;
   }
 
   std::shared_ptr<rclcpp::Node> create_node_with_subscription(const std::string & name)
   {
-    auto subscription_callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+    auto subscription_callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
     const rclcpp::QoS qos(10);
     auto node_with_subscription = create_node_with_disabled_callback_groups(name);
 
@@ -201,15 +201,13 @@ protected:
     const RclWaitSetSizes & expected)
   {
     WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes,
-      &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -234,15 +232,13 @@ protected:
     const RclWaitSetSizes & insufficient_capacities)
   {
     WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes,
-      &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -316,26 +312,22 @@ protected:
   {
     auto basic_node = create_node_with_disabled_callback_groups("basic_node");
     WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = basic_node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes,
-      &basic_node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    basic_node->for_each_callback_group(
+      [basic_node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             basic_node->get_node_base_interface()));
       });
-    auto callback_groups1 = node_with_entity1->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups1.begin(), callback_groups1.end(),
-      [&weak_groups_to_nodes,
-      &node_with_entity1](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node_with_entity1->for_each_callback_group(
+      [node_with_entity1, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node_with_entity1->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -348,26 +340,23 @@ protected:
 
     auto basic_node2 = std::make_shared<rclcpp::Node>("basic_node2", "ns");
     WeakCallbackGroupsToNodesMap weak_groups_to_uncollected_nodes;
-    auto callback_groups2 = basic_node2->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups2.begin(), callback_groups2.end(),
-      [&weak_groups_to_uncollected_nodes,
-      &basic_node2](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    basic_node2->for_each_callback_group(
+      [basic_node2, &weak_groups_to_uncollected_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_uncollected_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             basic_node2->get_node_base_interface()));
       });
-    auto callback_groups3 = node_with_entity2->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups3.begin(), callback_groups3.end(),
-      [&weak_groups_to_uncollected_nodes,
-      &node_with_entity2](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node_with_entity2->for_each_callback_group(
+      [node_with_entity2,
+      &weak_groups_to_uncollected_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_uncollected_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node_with_entity2->get_node_base_interface()));
       });
     rclcpp::AnyExecutable failed_result = get_next_entity_func(weak_groups_to_uncollected_nodes);
@@ -388,24 +377,24 @@ protected:
     auto basic_node_base = basic_node->get_node_base_interface();
     auto node_base = node_with_entity->get_node_base_interface();
     WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = basic_node_base->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &basic_node_base](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    rclcpp::node_interfaces::global_for_each_callback_group(
+      basic_node_base.get(),
+      [basic_node_base, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             basic_node_base));
       });
-    callback_groups = node_base->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node_base](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    rclcpp::node_interfaces::global_for_each_callback_group(
+      node_base.get(),
+      [node_base, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node_base));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -447,14 +436,13 @@ private:
 TEST_F(TestAllocatorMemoryStrategy, construct_destruct) {
   auto basic_node = create_node_with_disabled_callback_groups("basic_node");
   WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  auto callback_groups = basic_node->get_node_base_interface()->get_callback_groups();
-  std::for_each(
-    callback_groups.begin(), callback_groups.end(),
-    [&weak_groups_to_nodes, &basic_node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+  basic_node->for_each_callback_group(
+    [basic_node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+    {
       weak_groups_to_nodes.insert(
         std::pair<rclcpp::CallbackGroup::WeakPtr,
         rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          weak_group_ptr,
+          group_ptr,
           basic_node->get_node_base_interface()));
     });
   allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -511,8 +499,10 @@ TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_subscription) {
   RclWaitSetSizes expected_sizes = {};
   expected_sizes.size_of_subscriptions = 1;
   const std::string implementation_identifier = rmw_get_implementation_identifier();
-  if (implementation_identifier == "rmw_cyclonedds_cpp") {
-    // For cyclonedds, a subscription will also add an event and waitable
+  if (implementation_identifier == "rmw_cyclonedds_cpp" ||
+    implementation_identifier == "rmw_connextdds")
+  {
+    // For cyclonedds and connext, a subscription will also add an event and waitable
     expected_sizes.size_of_events += 1;
     expected_sizes.size_of_waitables += 1;
   }
@@ -544,14 +534,13 @@ TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_timer) {
 TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_bad_arguments) {
   auto node = create_node_with_subscription("subscription_node");
   WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-  std::for_each(
-    callback_groups.begin(), callback_groups.end(),
-    [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+  node->for_each_callback_group(
+    [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+    {
       weak_groups_to_nodes.insert(
         std::pair<rclcpp::CallbackGroup::WeakPtr,
         rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          weak_group_ptr,
+          group_ptr,
           node->get_node_base_interface()));
     });
   allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -778,21 +767,20 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_out_of_scope) {
 
     subscription_options.callback_group = callback_group;
 
-    auto subscription_callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+    auto subscription_callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
     const rclcpp::QoS qos(10);
 
     auto subscription = node->create_subscription<
       test_msgs::msg::Empty, decltype(subscription_callback)>(
       "topic", qos, std::move(subscription_callback), subscription_options);
 
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -819,14 +807,13 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service_out_of_scope) {
     auto service = node->create_service<test_msgs::srv::Empty>(
       "service", std::move(service_callback), rmw_qos_profile_services_default, callback_group);
 
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -841,14 +828,13 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service_out_of_scope) {
 TEST_F(TestAllocatorMemoryStrategy, get_next_client_out_of_scope) {
   auto node = create_node_with_disabled_callback_groups("node");
   WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-  std::for_each(
-    callback_groups.begin(), callback_groups.end(),
-    [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+  node->for_each_callback_group(
+    [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+    {
       weak_groups_to_nodes.insert(
         std::pair<rclcpp::CallbackGroup::WeakPtr,
         rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          weak_group_ptr,
+          group_ptr,
           node->get_node_base_interface()));
     });
   // Force client to go out of scope and cleanup after collecting entities.
@@ -884,14 +870,13 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_timer_out_of_scope) {
       rclcpp::CallbackGroupType::MutuallyExclusive);
     auto timer = node->create_wall_timer(
       std::chrono::seconds(10), []() {}, callback_group);
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -911,14 +896,13 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_waitable_out_of_scope) {
     auto callback_group =
       node->create_callback_group(
       rclcpp::CallbackGroupType::MutuallyExclusive);
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);

rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp

@@ -96,7 +96,7 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups) {
 
   const rclcpp::QoS qos(10);
   auto options = rclcpp::SubscriptionOptions();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
   rclcpp::CallbackGroup::SharedPtr cb_grp2 = node->create_callback_group(
     rclcpp::CallbackGroupType::MutuallyExclusive);
   options.callback_group = cb_grp2;
@@ -139,7 +139,7 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, remove_callback_groups) {
   executor.add_callback_group(cb_grp, node->get_node_base_interface());
   const rclcpp::QoS qos(10);
   auto options = rclcpp::SubscriptionOptions();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
   rclcpp::CallbackGroup::SharedPtr cb_grp2 = node->create_callback_group(
     rclcpp::CallbackGroupType::MutuallyExclusive);
   options.callback_group = cb_grp2;
@@ -222,7 +222,7 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, add_unallowable_callback_groups)
 
   const rclcpp::QoS qos(10);
   auto options = rclcpp::SubscriptionOptions();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
   rclcpp::CallbackGroup::SharedPtr cb_grp2 = node->create_callback_group(
     rclcpp::CallbackGroupType::MutuallyExclusive, false);
   options.callback_group = cb_grp2;
@@ -256,7 +256,7 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, one_node_many_callback_groups_many_e
   timer_executor.add_callback_group(cb_grp, node->get_node_base_interface());
   const rclcpp::QoS qos(10);
   auto options = rclcpp::SubscriptionOptions();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
   rclcpp::CallbackGroup::SharedPtr cb_grp2 = node->create_callback_group(
     rclcpp::CallbackGroupType::MutuallyExclusive, false);
   options.callback_group = cb_grp2;

rclcpp/test/rclcpp/test_any_subscription_callback.cpp

@@ -16,6 +16,7 @@
 
 #include <functional>
 #include <memory>
+#include <string>
 #include <utility>
 
 #include "rclcpp/any_subscription_callback.hpp"
@@ -25,42 +26,57 @@
 class TestAnySubscriptionCallback : public ::testing::Test
 {
 public:
-  TestAnySubscriptionCallback()
-  : allocator_(std::make_shared<std::allocator<void>>()),
-    any_subscription_callback_(allocator_) {}
-  void SetUp()
+  TestAnySubscriptionCallback() {}
+
+  static
+  std::unique_ptr<test_msgs::msg::Empty>
+  get_unique_ptr_msg()
   {
-    msg_shared_ptr_ = std::make_shared<test_msgs::msg::Empty>();
-    msg_const_shared_ptr_ = std::make_shared<const test_msgs::msg::Empty>();
-    msg_unique_ptr_ = std::make_unique<test_msgs::msg::Empty>();
+    return std::make_unique<test_msgs::msg::Empty>();
   }
 
 protected:
-  std::shared_ptr<std::allocator<void>> allocator_;
-  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty, std::allocator<void>>
-  any_subscription_callback_;
-
-  std::shared_ptr<test_msgs::msg::Empty> msg_shared_ptr_;
-  std::shared_ptr<const test_msgs::msg::Empty> msg_const_shared_ptr_;
-  std::unique_ptr<test_msgs::msg::Empty> msg_unique_ptr_;
+  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> any_subscription_callback_;
+  std::shared_ptr<test_msgs::msg::Empty> msg_shared_ptr_{std::make_shared<test_msgs::msg::Empty>()};
   rclcpp::MessageInfo message_info_;
 };
 
 void construct_with_null_allocator()
 {
+// suppress deprecated function warning
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+
   // We need to wrap this in a function because `EXPECT_THROW` is a macro, and thinks
   // that the comma in here splits macro arguments, not the template arguments.
-  rclcpp::AnySubscriptionCallback<
-    test_msgs::msg::Empty, std::allocator<void>> any_subscription_callback_(nullptr);
+  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> any_subscription_callback(nullptr);
+
+// remove warning suppression
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
 }
 
-TEST(AnySubscription, null_allocator) {
+TEST(AnySubscriptionCallback, null_allocator) {
   EXPECT_THROW(
     construct_with_null_allocator(),
     std::runtime_error);
 }
 
 TEST_F(TestAnySubscriptionCallback, construct_destruct) {
+  // Default constructor.
+  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc1;
+
+  // Constructor with allocator.
+  std::allocator<void> allocator;
+  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc2(allocator);
 }
 
 TEST_F(TestAnySubscriptionCallback, unset_dispatch_throw) {
@@ -68,153 +84,285 @@ TEST_F(TestAnySubscriptionCallback, unset_dispatch_throw) {
     any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_),
     std::runtime_error);
   EXPECT_THROW(
-    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
+    any_subscription_callback_.dispatch_intra_process(msg_shared_ptr_, message_info_),
     std::runtime_error);
   EXPECT_THROW(
-    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_),
+    any_subscription_callback_.dispatch_intra_process(get_unique_ptr_msg(), message_info_),
     std::runtime_error);
 }
 
-TEST_F(TestAnySubscriptionCallback, set_dispatch_shared_ptr) {
-  int callback_count = 0;
-  auto shared_ptr_callback = [&callback_count](
-    const std::shared_ptr<test_msgs::msg::Empty>) {
-      callback_count++;
-    };
+//
+// Parameterized test to test across all callback types and dispatch types.
+//
 
-  any_subscription_callback_.set(shared_ptr_callback);
-  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
-  EXPECT_EQ(callback_count, 1);
+class InstanceContextImpl
+{
+public:
+  InstanceContextImpl() = default;
+  virtual ~InstanceContextImpl() = default;
 
-  // Can't convert ConstSharedPtr to SharedPtr
-  EXPECT_THROW(
-    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
-    std::runtime_error);
-  EXPECT_EQ(callback_count, 1);
+  explicit InstanceContextImpl(rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc)
+  : any_subscription_callback_(asc)
+  {}
 
-  // Promotes Unique into SharedPtr
-  EXPECT_NO_THROW(
-    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
-  EXPECT_EQ(callback_count, 2);
+  virtual
+  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>
+  get_any_subscription_callback_to_test() const
+  {
+    return any_subscription_callback_;
+  }
+
+protected:
+  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> any_subscription_callback_;
+};
+
+class InstanceContext
+{
+public:
+  InstanceContext(const std::string & name, std::shared_ptr<InstanceContextImpl> impl)
+  : name(name), impl_(impl)
+  {}
+
+  InstanceContext(
+    const std::string & name,
+    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc)
+  : name(name), impl_(std::make_shared<InstanceContextImpl>(asc))
+  {}
+
+  InstanceContext(const InstanceContext & other)
+  : InstanceContext(other.name, other.impl_) {}
+
+  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>
+  get_any_subscription_callback_to_test() const
+  {
+    return impl_->get_any_subscription_callback_to_test();
+  }
+
+  std::string name;
+
+protected:
+  std::shared_ptr<InstanceContextImpl> impl_;
+};
+
+class DispatchTests
+  : public TestAnySubscriptionCallback,
+  public ::testing::WithParamInterface<InstanceContext>
+{};
+
+auto
+format_parameter(const ::testing::TestParamInfo<DispatchTests::ParamType> & info)
+{
+  return info.param.name;
 }
 
-TEST_F(TestAnySubscriptionCallback, set_dispatch_shared_ptr_w_info) {
-  int callback_count = 0;
-  auto shared_ptr_w_info_callback = [&callback_count](
-    const std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {
-      callback_count++;
-    };
-
-  any_subscription_callback_.set(shared_ptr_w_info_callback);
-
-  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
-  EXPECT_EQ(callback_count, 1);
-
-  // Can't convert ConstSharedPtr to SharedPtr
-  EXPECT_THROW(
-    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
-    std::runtime_error);
-  EXPECT_EQ(callback_count, 1);
-
-  // Promotes Unique into SharedPtr
-  EXPECT_NO_THROW(
-    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
-  EXPECT_EQ(callback_count, 2);
+// Testing dispatch with shared_ptr<MessageT> as input
+TEST_P(DispatchTests, test_inter_shared_dispatch) {
+  auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test();
+  any_subscription_callback_to_test.dispatch(msg_shared_ptr_, message_info_);
 }
 
-TEST_F(TestAnySubscriptionCallback, set_dispatch_const_shared_ptr) {
-  int callback_count = 0;
-  auto const_shared_ptr_callback = [&callback_count](
-    std::shared_ptr<const test_msgs::msg::Empty>) {
-      callback_count++;
-    };
-
-  any_subscription_callback_.set(const_shared_ptr_callback);
-
-  // Ok to promote shared_ptr to ConstSharedPtr
-  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
-  EXPECT_EQ(callback_count, 1);
-
-  EXPECT_NO_THROW(
-    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_));
-  EXPECT_EQ(callback_count, 2);
-
-  // Not allowed to convert unique_ptr to const shared_ptr
-  EXPECT_THROW(
-    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_),
-    std::runtime_error);
-  EXPECT_EQ(callback_count, 2);
+// Testing dispatch with shared_ptr<const MessageT> as input
+TEST_P(DispatchTests, test_intra_shared_dispatch) {
+  auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test();
+  any_subscription_callback_to_test.dispatch_intra_process(msg_shared_ptr_, message_info_);
 }
 
-TEST_F(TestAnySubscriptionCallback, set_dispatch_const_shared_ptr_w_info) {
-  int callback_count = 0;
-  auto const_shared_ptr_callback = [&callback_count](
-    std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {
-      callback_count++;
-    };
-
-  any_subscription_callback_.set(
-    std::move(const_shared_ptr_callback));
-
-  // Ok to promote shared_ptr to ConstSharedPtr
-  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
-  EXPECT_EQ(callback_count, 1);
-
-  EXPECT_NO_THROW(
-    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_));
-  EXPECT_EQ(callback_count, 2);
-
-  // Not allowed to convert unique_ptr to const shared_ptr
-  EXPECT_THROW(
-    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_),
-    std::runtime_error);
-  EXPECT_EQ(callback_count, 2);
+// Testing dispatch with unique_ptr<MessageT> as input
+TEST_P(DispatchTests, test_intra_unique_dispatch) {
+  auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test();
+  any_subscription_callback_to_test.dispatch_intra_process(get_unique_ptr_msg(), message_info_);
 }
 
-TEST_F(TestAnySubscriptionCallback, set_dispatch_unique_ptr) {
-  int callback_count = 0;
-  auto unique_ptr_callback = [&callback_count](
-    std::unique_ptr<test_msgs::msg::Empty>) {
-      callback_count++;
-    };
+// Generic classes for testing callbacks using std::bind to class methods.
+template<typename ... CallbackArgs>
+class BindContextImpl : public InstanceContextImpl
+{
+  static constexpr size_t number_of_callback_args{sizeof...(CallbackArgs)};
 
-  any_subscription_callback_.set(unique_ptr_callback);
+public:
+  using InstanceContextImpl::InstanceContextImpl;
+  virtual ~BindContextImpl() = default;
 
-  // Message is copied into unique_ptr
-  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
-  EXPECT_EQ(callback_count, 1);
+  void on_message(CallbackArgs ...) const {}
 
-  EXPECT_THROW(
-    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
-    std::runtime_error);
-  EXPECT_EQ(callback_count, 1);
+  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>
+  get_any_subscription_callback_to_test() const override
+  {
+    if constexpr (number_of_callback_args == 1) {
+      return rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        std::bind(&BindContextImpl::on_message, this, std::placeholders::_1)
+      );
+    } else {
+      return rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        std::bind(&BindContextImpl::on_message, this, std::placeholders::_1, std::placeholders::_2)
+      );
+    }
+  }
+};
 
-  // Unique_ptr is_moved
-  EXPECT_NO_THROW(
-    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
-  EXPECT_EQ(callback_count, 2);
-}
+template<typename ... CallbackArgs>
+class BindContext : public InstanceContext
+{
+public:
+  explicit BindContext(const std::string & name)
+  : InstanceContext(name, std::make_shared<BindContextImpl<CallbackArgs ...>>())
+  {}
+};
 
-TEST_F(TestAnySubscriptionCallback, set_dispatch_unique_ptr_w_info) {
-  int callback_count = 0;
-  auto unique_ptr_callback = [&callback_count](
-    std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {
-      callback_count++;
-    };
+//
+// Versions of `const MessageT &`
+//
+void const_ref_free_func(const test_msgs::msg::Empty &) {}
+void const_ref_w_info_free_func(const test_msgs::msg::Empty &, const rclcpp::MessageInfo &) {}
 
-  any_subscription_callback_.set(unique_ptr_callback);
+INSTANTIATE_TEST_SUITE_P(
+  ConstRefCallbackTests,
+  DispatchTests,
+  ::testing::Values(
+    // lambda
+    InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        [](const test_msgs::msg::Empty &) {})},
+    InstanceContext{"lambda_with_info",
+      rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        [](const test_msgs::msg::Empty &, const rclcpp::MessageInfo &) {})},
+    // free function
+    InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        const_ref_free_func)},
+    InstanceContext{"free_function_with_info",
+      rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        const_ref_w_info_free_func)},
+    // bind function
+    BindContext<const test_msgs::msg::Empty &>("bind_method"),
+    BindContext<const test_msgs::msg::Empty &, const rclcpp::MessageInfo &>(
+      "bind_method_with_info")
+  ),
+  format_parameter
+);
 
-  // Message is copied into unique_ptr
-  EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
-  EXPECT_EQ(callback_count, 1);
+//
+// Versions of `std::unique_ptr<MessageT, MessageDeleter>`
+//
+void unique_ptr_free_func(std::unique_ptr<test_msgs::msg::Empty>) {}
+void unique_ptr_w_info_free_func(
+  std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &)
+{}
 
-  EXPECT_THROW(
-    any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
-    std::runtime_error);
-  EXPECT_EQ(callback_count, 1);
+INSTANTIATE_TEST_SUITE_P(
+  UniquePtrCallbackTests,
+  DispatchTests,
+  ::testing::Values(
+    // lambda
+    InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        [](std::unique_ptr<test_msgs::msg::Empty>) {})},
+    InstanceContext{"lambda_with_info",
+      rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        [](std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
+    // free function
+    InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        unique_ptr_free_func)},
+    InstanceContext{"free_function_with_info",
+      rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        unique_ptr_w_info_free_func)},
+    // bind function
+    BindContext<std::unique_ptr<test_msgs::msg::Empty>>("bind_method"),
+    BindContext<std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
+      "bind_method_with_info")
+  ),
+  format_parameter
+);
 
-  // Unique_ptr is_moved
-  EXPECT_NO_THROW(
-    any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
-  EXPECT_EQ(callback_count, 2);
-}
+//
+// Versions of `std::shared_ptr<const MessageT>`
+//
+void shared_const_ptr_free_func(std::shared_ptr<const test_msgs::msg::Empty>) {}
+void shared_const_ptr_w_info_free_func(
+  std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &)
+{}
+
+INSTANTIATE_TEST_SUITE_P(
+  SharedConstPtrCallbackTests,
+  DispatchTests,
+  ::testing::Values(
+    // lambda
+    InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        [](std::shared_ptr<const test_msgs::msg::Empty>) {})},
+    InstanceContext{"lambda_with_info",
+      rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        [](std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
+    // free function
+    InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        shared_const_ptr_free_func)},
+    InstanceContext{"free_function_with_info",
+      rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        shared_const_ptr_w_info_free_func)},
+    // bind function
+    BindContext<std::shared_ptr<const test_msgs::msg::Empty>>("bind_method"),
+    BindContext<std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
+      "bind_method_with_info")
+  ),
+  format_parameter
+);
+
+//
+// Versions of `const std::shared_ptr<const MessageT> &`
+//
+void const_ref_shared_const_ptr_free_func(const std::shared_ptr<const test_msgs::msg::Empty> &) {}
+void const_ref_shared_const_ptr_w_info_free_func(
+  const std::shared_ptr<const test_msgs::msg::Empty> &, const rclcpp::MessageInfo &)
+{}
+
+INSTANTIATE_TEST_SUITE_P(
+  ConstRefSharedConstPtrCallbackTests,
+  DispatchTests,
+  ::testing::Values(
+    // lambda
+    InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        [](const std::shared_ptr<const test_msgs::msg::Empty> &) {})},
+    InstanceContext{"lambda_with_info",
+      rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        [](const std::shared_ptr<const test_msgs::msg::Empty> &, const rclcpp::MessageInfo &) {})},
+    // free function
+    InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        const_ref_shared_const_ptr_free_func)},
+    InstanceContext{"free_function_with_info",
+      rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        const_ref_shared_const_ptr_w_info_free_func)},
+    // bind function
+    BindContext<const std::shared_ptr<const test_msgs::msg::Empty> &>("bind_method"),
+    BindContext<const std::shared_ptr<const test_msgs::msg::Empty> &, const rclcpp::MessageInfo &>(
+      "bind_method_with_info")
+  ),
+  format_parameter
+);
+
+//
+// Versions of `std::shared_ptr<MessageT>`
+//
+void shared_ptr_free_func(std::shared_ptr<test_msgs::msg::Empty>) {}
+void shared_ptr_w_info_free_func(
+  std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &)
+{}
+
+INSTANTIATE_TEST_SUITE_P(
+  SharedPtrCallbackTests,
+  DispatchTests,
+  ::testing::Values(
+    // lambda
+    InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        [](std::shared_ptr<test_msgs::msg::Empty>) {})},
+    InstanceContext{"lambda_with_info",
+      rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        [](std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
+    // free function
+    InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        shared_ptr_free_func)},
+    InstanceContext{"free_function_with_info",
+      rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+        shared_ptr_w_info_free_func)},
+    // bind function
+    BindContext<std::shared_ptr<test_msgs::msg::Empty>>("bind_method"),
+    BindContext<std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
+      "bind_method_with_info")
+  ),
+  format_parameter
+);

rclcpp/test/rclcpp/test_create_subscription.cpp

@@ -42,7 +42,7 @@ TEST_F(TestCreateSubscription, create) {
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   const rclcpp::QoS qos(10);
   auto options = rclcpp::SubscriptionOptions();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
   auto subscription =
     rclcpp::create_subscription<test_msgs::msg::Empty>(node, "topic_name", qos, callback, options);
 
@@ -55,7 +55,7 @@ TEST_F(TestCreateSubscription, create_with_overriding_options) {
   const rclcpp::QoS qos(10);
   auto options = rclcpp::SubscriptionOptions();
   options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
   auto subscription =
     rclcpp::create_subscription<test_msgs::msg::Empty>(node, "topic_name", qos, callback, options);
 
@@ -67,7 +67,7 @@ TEST_F(TestCreateSubscription, create_separated_node_topics_and_parameters) {
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   const rclcpp::QoS qos(10);
   auto options = rclcpp::SubscriptionOptions();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
 
   auto node_parameters = node->get_node_parameters_interface();
   auto node_topics = node->get_node_topics_interface();
@@ -86,7 +86,7 @@ TEST_F(TestCreateSubscription, create_with_statistics) {
   options.topic_stats_options.publish_topic = "topic_statistics";
   options.topic_stats_options.publish_period = 5min;
 
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+  auto callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
   auto subscription =
     rclcpp::create_subscription<test_msgs::msg::Empty>(node, "topic_name", qos, callback, options);
 

rclcpp/test/rclcpp/test_generic_pubsub.cpp

@@ -0,0 +1,196 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright 2021, Apex.AI 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 <gmock/gmock.h>
+
+#include <future>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "test_msgs/message_fixtures.hpp"
+#include "test_msgs/msg/basic_types.hpp"
+
+#include "rcl/graph.h"
+
+#include "rclcpp/generic_publisher.hpp"
+#include "rclcpp/generic_subscription.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/serialization.hpp"
+#include "rclcpp/serialized_message.hpp"
+
+using namespace ::testing;  // NOLINT
+using namespace rclcpp;  // NOLINT
+
+class RclcppGenericNodeFixture : public Test
+{
+public:
+  RclcppGenericNodeFixture()
+  {
+    node_ = std::make_shared<rclcpp::Node>("pubsub");
+    publisher_node_ = std::make_shared<rclcpp::Node>(
+      "publisher_node",
+      rclcpp::NodeOptions().start_parameter_event_publisher(false));
+  }
+
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+  void create_publisher(const std::string & topic)
+  {
+    auto publisher = publisher_node_->create_publisher<test_msgs::msg::Strings>(topic, 10);
+    publishers_.push_back(publisher);
+  }
+
+  std::vector<std::string> subscribe_raw_messages(
+    size_t expected_messages_number, const std::string & topic_name, const std::string & type)
+  {
+    std::vector<std::string> messages;
+    size_t counter = 0;
+    auto subscription = node_->create_generic_subscription(
+      topic_name, type, rclcpp::QoS(1),
+      [&counter, &messages](std::shared_ptr<rclcpp::SerializedMessage> message) {
+        test_msgs::msg::Strings string_message;
+        rclcpp::Serialization<test_msgs::msg::Strings> serializer;
+        serializer.deserialize_message(message.get(), &string_message);
+        messages.push_back(string_message.string_value);
+        counter++;
+      });
+
+    while (counter < expected_messages_number) {
+      rclcpp::spin_some(node_);
+    }
+    return messages;
+  }
+
+  rclcpp::SerializedMessage serialize_string_message(const std::string & message)
+  {
+    test_msgs::msg::Strings string_message;
+    string_message.string_value = message;
+    rclcpp::Serialization<test_msgs::msg::Strings> ser;
+    SerializedMessage result;
+    ser.serialize_message(&string_message, &result);
+    return result;
+  }
+
+  void sleep_to_allow_topics_discovery()
+  {
+    // This is a short sleep to allow the node some time to discover the topic
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+  }
+
+  template<typename Condition, typename Duration>
+  bool wait_for(const Condition & condition, const Duration & timeout)
+  {
+    using clock = std::chrono::system_clock;
+    auto start = clock::now();
+    while (!condition()) {
+      if ((clock::now() - start) > timeout) {
+        return false;
+      }
+      rclcpp::spin_some(node_);
+    }
+    return true;
+  }
+
+  std::shared_ptr<rclcpp::Node> node_;
+  rclcpp::Node::SharedPtr publisher_node_;
+  std::vector<std::shared_ptr<rclcpp::PublisherBase>> publishers_;
+};
+
+
+TEST_F(RclcppGenericNodeFixture, publisher_and_subscriber_work)
+{
+  // We currently publish more messages because they can get lost
+  std::vector<std::string> test_messages = {"Hello World", "Hello World"};
+  std::string topic_name = "/string_topic";
+  std::string type = "test_msgs/msg/Strings";
+
+  auto publisher = node_->create_generic_publisher(
+    topic_name, type, rclcpp::QoS(1));
+
+  auto subscriber_future_ = std::async(
+    std::launch::async, [this, topic_name, type] {
+      return subscribe_raw_messages(1, topic_name, type);
+    });
+
+  // TODO(karsten1987): Port 'wait_for_sub' to rclcpp
+  auto allocator = node_->get_node_options().allocator();
+  auto success = false;
+  auto ret = rcl_wait_for_subscribers(
+    node_->get_node_base_interface()->get_rcl_node_handle(),
+    &allocator,
+    topic_name.c_str(),
+    1u,
+    static_cast<rcutils_duration_value_t>(1e9),
+    &success);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  ASSERT_TRUE(success);
+
+  for (const auto & message : test_messages) {
+    publisher->publish(serialize_string_message(message));
+  }
+
+  auto subscribed_messages = subscriber_future_.get();
+  EXPECT_THAT(subscribed_messages, SizeIs(Not(0)));
+  EXPECT_THAT(subscribed_messages[0], StrEq("Hello World"));
+}
+
+TEST_F(RclcppGenericNodeFixture, generic_subscription_uses_qos)
+{
+  // If the GenericSubscription does not use the provided QoS profile,
+  // its request will be incompatible with the Publisher's offer and no messages will be passed.
+  using namespace std::chrono_literals;
+  std::string topic_name = "string_topic";
+  std::string topic_type = "test_msgs/msg/Strings";
+  rclcpp::QoS qos = rclcpp::SensorDataQoS();
+
+  auto publisher = node_->create_publisher<test_msgs::msg::Strings>(topic_name, qos);
+  auto subscription = node_->create_generic_subscription(
+    topic_name, topic_type, qos,
+    [](std::shared_ptr<rclcpp::SerializedMessage>/* message */) {});
+  auto connected = [publisher, subscription]() -> bool {
+      return publisher->get_subscription_count() && subscription->get_publisher_count();
+    };
+  // It normally takes < 20ms, 5s chosen as "a very long time"
+  ASSERT_TRUE(wait_for(connected, 5s));
+}
+
+TEST_F(RclcppGenericNodeFixture, generic_publisher_uses_qos)
+{
+  // If the GenericPublisher does not use the provided QoS profile,
+  // its offer will be incompatible with the Subscription's request and no messages will be passed.
+  using namespace std::chrono_literals;
+  std::string topic_name = "string_topic";
+  std::string topic_type = "test_msgs/msg/Strings";
+  rclcpp::QoS qos = rclcpp::QoS(1).transient_local();
+
+  auto publisher = node_->create_generic_publisher(topic_name, topic_type, qos);
+  auto subscription = node_->create_subscription<test_msgs::msg::Strings>(
+    topic_name, qos,
+    [](std::shared_ptr<test_msgs::msg::Strings>/* message */) {});
+  auto connected = [publisher, subscription]() -> bool {
+      return publisher->get_subscription_count() && subscription->get_publisher_count();
+    };
+  // It normally takes < 20ms, 5s chosen as "a very long time"
+  ASSERT_TRUE(wait_for(connected, 5s));
+}

rclcpp/test/rclcpp/test_init.cpp

@@ -1,66 +0,0 @@
-// Copyright 2018 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 "rclcpp/exceptions.hpp"
-#include "rclcpp/utilities.hpp"
-
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-
-TEST(TestInit, is_initialized) {
-  EXPECT_FALSE(rclcpp::is_initialized());
-
-  rclcpp::init(0, nullptr);
-
-  EXPECT_TRUE(rclcpp::is_initialized());
-
-  rclcpp::shutdown();
-
-  EXPECT_FALSE(rclcpp::is_initialized());
-}
-
-TEST(TestInit, initialize_with_ros_args) {
-  EXPECT_FALSE(rclcpp::is_initialized());
-
-  rclcpp::init(0, nullptr);
-
-  EXPECT_TRUE(rclcpp::is_initialized());
-
-  rclcpp::shutdown();
-
-  EXPECT_FALSE(rclcpp::is_initialized());
-}
-
-TEST(TestInit, initialize_with_unknown_ros_args) {
-  EXPECT_FALSE(rclcpp::is_initialized());
-
-  const char * const argv[] = {"--ros-args", "unknown"};
-  const int argc = static_cast<int>(sizeof(argv) / sizeof(const char *));
-  EXPECT_THROW({rclcpp::init(argc, argv);}, rclcpp::exceptions::UnknownROSArgsError);
-
-  EXPECT_FALSE(rclcpp::is_initialized());
-}
-
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif

rclcpp/test/rclcpp/test_intra_process_manager.cpp

@@ -216,7 +216,10 @@ public:
   const char * topic_name;
 };
 
-template<typename MessageT>
+template<
+  typename MessageT,
+  typename Alloc = std::allocator<void>,
+  typename Deleter = std::default_delete<MessageT>>
 class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
 {
 public:

rclcpp/test/rclcpp/test_intra_process_manager_with_allocators.cpp

@@ -0,0 +1,276 @@
+// Copyright 2021 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 <gmock/gmock.h>
+
+#include <chrono>
+#include <list>
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "test_msgs/msg/empty.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/allocator/allocator_common.hpp"
+#include "rclcpp/strategies/allocator_memory_strategy.hpp"
+
+// For demonstration purposes only, not necessary for allocator_traits
+static uint32_t num_allocs = 0;
+static uint32_t num_deallocs = 0;
+// A very simple custom allocator. Counts calls to allocate and deallocate.
+template<typename T = void>
+struct MyAllocator
+{
+public:
+  using value_type = T;
+  using size_type = std::size_t;
+  using pointer = T *;
+  using const_pointer = const T *;
+  using difference_type = typename std::pointer_traits<pointer>::difference_type;
+
+  MyAllocator() noexcept
+  {
+  }
+
+  ~MyAllocator() noexcept {}
+
+  template<typename U>
+  MyAllocator(const MyAllocator<U> &) noexcept
+  {
+  }
+
+  T * allocate(size_t size, const void * = 0)
+  {
+    if (size == 0) {
+      return nullptr;
+    }
+    num_allocs++;
+    return static_cast<T *>(std::malloc(size * sizeof(T)));
+  }
+
+  void deallocate(T * ptr, size_t size)
+  {
+    (void)size;
+    if (!ptr) {
+      return;
+    }
+    num_deallocs++;
+    std::free(ptr);
+  }
+
+  template<typename U>
+  struct rebind
+  {
+    typedef MyAllocator<U> other;
+  };
+};
+
+template<typename T, typename U>
+constexpr bool operator==(
+  const MyAllocator<T> &,
+  const MyAllocator<U> &) noexcept
+{
+  return true;
+}
+
+template<typename T, typename U>
+constexpr bool operator!=(
+  const MyAllocator<T> &,
+  const MyAllocator<U> &) noexcept
+{
+  return false;
+}
+
+template<
+  typename PublishedMessageAllocatorT,
+  typename PublisherAllocatorT,
+  typename SubscribedMessageAllocatorT,
+  typename SubscriptionAllocatorT,
+  typename MessageMemoryStrategyAllocatorT,
+  typename MemoryStrategyAllocatorT,
+  typename ExpectedExceptionT
+>
+void
+do_custom_allocator_test(
+  PublishedMessageAllocatorT published_message_allocator,
+  PublisherAllocatorT publisher_allocator,
+  SubscribedMessageAllocatorT /* subscribed_message_allocator */,  // intentionally unused
+  SubscriptionAllocatorT subscription_allocator,
+  MessageMemoryStrategyAllocatorT message_memory_strategy,
+  MemoryStrategyAllocatorT memory_strategy_allocator)
+{
+  using PublishedMessageAllocTraits =
+    rclcpp::allocator::AllocRebind<test_msgs::msg::Empty, PublishedMessageAllocatorT>;
+  using PublishedMessageAlloc = typename PublishedMessageAllocTraits::allocator_type;
+  using PublishedMessageDeleter =
+    rclcpp::allocator::Deleter<PublishedMessageAlloc, test_msgs::msg::Empty>;
+
+  using SubscribedMessageAllocTraits =
+    rclcpp::allocator::AllocRebind<test_msgs::msg::Empty, SubscribedMessageAllocatorT>;
+  using SubscribedMessageAlloc = typename SubscribedMessageAllocTraits::allocator_type;
+  using SubscribedMessageDeleter =
+    rclcpp::allocator::Deleter<SubscribedMessageAlloc, test_msgs::msg::Empty>;
+
+  // init and node
+  auto context = std::make_shared<rclcpp::Context>();
+  context->init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>(
+    "custom_allocator_test",
+    rclcpp::NodeOptions().context(context).use_intra_process_comms(true));
+
+  // publisher
+  auto shared_publisher_allocator = std::make_shared<PublisherAllocatorT>(publisher_allocator);
+  rclcpp::PublisherOptionsWithAllocator<PublisherAllocatorT> publisher_options;
+  publisher_options.allocator = shared_publisher_allocator;
+  auto publisher =
+    node->create_publisher<test_msgs::msg::Empty>("custom_allocator_test", 10, publisher_options);
+
+  // callback for subscription
+  uint32_t counter = 0;
+  std::promise<std::unique_ptr<test_msgs::msg::Empty, SubscribedMessageDeleter>> received_message;
+  auto received_message_future = received_message.get_future();
+  auto callback =
+    [&counter, &received_message](
+    std::unique_ptr<test_msgs::msg::Empty, SubscribedMessageDeleter> msg)
+    {
+      ++counter;
+      received_message.set_value(std::move(msg));
+    };
+
+  // subscription
+  auto shared_subscription_allocator =
+    std::make_shared<SubscriptionAllocatorT>(subscription_allocator);
+  rclcpp::SubscriptionOptionsWithAllocator<SubscriptionAllocatorT> subscription_options;
+  subscription_options.allocator = shared_subscription_allocator;
+  auto shared_message_strategy_allocator =
+    std::make_shared<MessageMemoryStrategyAllocatorT>(message_memory_strategy);
+  auto msg_mem_strat = std::make_shared<
+    rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      test_msgs::msg::Empty,
+      MessageMemoryStrategyAllocatorT
+    >
+    >(shared_message_strategy_allocator);
+  using CallbackMessageT =
+    typename rclcpp::subscription_traits::has_message_type<decltype(callback)>::type;
+  auto subscriber = node->create_subscription<
+    test_msgs::msg::Empty,
+    decltype(callback),
+    SubscriptionAllocatorT,
+    CallbackMessageT,
+    rclcpp::Subscription<CallbackMessageT, SubscriptionAllocatorT>,
+    rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      CallbackMessageT,
+      MessageMemoryStrategyAllocatorT
+    >
+    >(
+    "custom_allocator_test",
+    10,
+    std::forward<decltype(callback)>(callback),
+    subscription_options,
+    msg_mem_strat);
+
+  // executor memory strategy
+  using rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy;
+  auto shared_memory_strategy_allocator = std::make_shared<MemoryStrategyAllocatorT>(
+    memory_strategy_allocator);
+  std::shared_ptr<rclcpp::memory_strategy::MemoryStrategy> memory_strategy =
+    std::make_shared<AllocatorMemoryStrategy<MemoryStrategyAllocatorT>>(
+    shared_memory_strategy_allocator);
+
+  // executor
+  rclcpp::ExecutorOptions options;
+  options.memory_strategy = memory_strategy;
+  options.context = context;
+  rclcpp::executors::SingleThreadedExecutor executor(options);
+
+  executor.add_node(node);
+
+  // rebind message_allocator to ensure correct type
+  PublishedMessageDeleter message_deleter;
+  PublishedMessageAlloc rebound_message_allocator = published_message_allocator;
+  rclcpp::allocator::set_allocator_for_deleter(&message_deleter, &rebound_message_allocator);
+
+  // allocate a message
+  auto ptr = PublishedMessageAllocTraits::allocate(rebound_message_allocator, 1);
+  PublishedMessageAllocTraits::construct(rebound_message_allocator, ptr);
+  std::unique_ptr<test_msgs::msg::Empty, PublishedMessageDeleter> msg(ptr, message_deleter);
+
+  // publisher and receive
+  if constexpr (std::is_same_v<ExpectedExceptionT, void>) {
+    // no exception expected
+    EXPECT_NO_THROW(
+    {
+      publisher->publish(std::move(msg));
+      executor.spin_until_future_complete(received_message_future, std::chrono::seconds(10));
+    });
+    EXPECT_EQ(ptr, received_message_future.get().get());
+    EXPECT_EQ(1u, counter);
+  } else {
+    // exception expected
+    EXPECT_THROW(
+    {
+      publisher->publish(std::move(msg));
+      executor.spin_until_future_complete(received_message_future, std::chrono::seconds(10));
+    }, ExpectedExceptionT);
+  }
+}
+
+/*
+   This tests the case where a custom allocator is used correctly, i.e. the same
+   custom allocator on both sides.
+ */
+TEST(TestIntraProcessManagerWithAllocators, custom_allocator) {
+  using PublishedMessageAllocatorT = std::allocator<void>;
+  using PublisherAllocatorT = std::allocator<void>;
+  using SubscribedMessageAllocatorT = std::allocator<void>;
+  using SubscriptionAllocatorT = std::allocator<void>;
+  using MessageMemoryStrategyAllocatorT = std::allocator<void>;
+  using MemoryStrategyAllocatorT = std::allocator<void>;
+  auto allocator = std::allocator<void>();
+  do_custom_allocator_test<
+    PublishedMessageAllocatorT,
+    PublisherAllocatorT,
+    SubscribedMessageAllocatorT,
+    SubscriptionAllocatorT,
+    MessageMemoryStrategyAllocatorT,
+    MemoryStrategyAllocatorT,
+    void  // no exception expected
+  >(allocator, allocator, allocator, allocator, allocator, allocator);
+}
+
+/*
+   This tests the case where a custom allocator is used incorrectly, i.e. different
+   custom allocators on both sides.
+ */
+TEST(TestIntraProcessManagerWithAllocators, custom_allocator_wrong) {
+  // explicitly use a different allocator here to provoke a failure
+  using PublishedMessageAllocatorT = std::allocator<void>;
+  using PublisherAllocatorT = std::allocator<void>;
+  using SubscribedMessageAllocatorT = MyAllocator<void>;
+  using SubscriptionAllocatorT = MyAllocator<void>;
+  using MessageMemoryStrategyAllocatorT = MyAllocator<void>;
+  using MemoryStrategyAllocatorT = std::allocator<void>;
+  auto allocator = std::allocator<void>();
+  auto my_allocator = MyAllocator<void>();
+  do_custom_allocator_test<
+    PublishedMessageAllocatorT,
+    PublisherAllocatorT,
+    SubscribedMessageAllocatorT,
+    SubscriptionAllocatorT,
+    MessageMemoryStrategyAllocatorT,
+    MemoryStrategyAllocatorT,
+    std::runtime_error  // expected exception
+  >(allocator, allocator, my_allocator, my_allocator, my_allocator, allocator);
+}

rclcpp/test/rclcpp/test_memory_strategy.cpp

@@ -21,6 +21,7 @@
 
 #include "rclcpp/strategies/allocator_memory_strategy.hpp"
 #include "rclcpp/memory_strategy.hpp"
+#include "rclcpp/node_interfaces/node_base.hpp"
 #include "test_msgs/msg/empty.hpp"
 #include "test_msgs/srv/empty.hpp"
 
@@ -84,21 +85,20 @@ TEST_F(TestMemoryStrategy, get_subscription_by_handle) {
   rclcpp::SubscriptionBase::SharedPtr found_subscription = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
     {
       auto callback_group =
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-      auto subscription_callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+      auto subscription_callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
       const rclcpp::QoS qos(10);
 
       {
@@ -131,14 +131,13 @@ TEST_F(TestMemoryStrategy, get_service_by_handle) {
   rclcpp::ServiceBase::SharedPtr found_service = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -184,14 +183,13 @@ TEST_F(TestMemoryStrategy, get_client_by_handle) {
   rclcpp::ClientBase::SharedPtr found_client = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -232,14 +230,13 @@ TEST_F(TestMemoryStrategy, get_timer_by_handle) {
   rclcpp::TimerBase::SharedPtr found_timer = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -281,14 +278,14 @@ TEST_F(TestMemoryStrategy, get_node_by_group) {
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
     auto node_handle = node->get_node_base_interface();
-    auto callback_groups = node_handle->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node_handle](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    rclcpp::node_interfaces::global_for_each_callback_group(
+      node_handle.get(),
+      [node_handle, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node_handle));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -325,14 +322,13 @@ TEST_F(TestMemoryStrategy, get_group_by_subscription) {
   rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -344,7 +340,7 @@ TEST_F(TestMemoryStrategy, get_group_by_subscription) {
 
       callback_group =
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-      auto subscription_callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+      auto subscription_callback = [](test_msgs::msg::Empty::ConstSharedPtr) {};
       const rclcpp::QoS qos(10);
 
       rclcpp::SubscriptionOptions subscription_options;
@@ -379,14 +375,13 @@ TEST_F(TestMemoryStrategy, get_group_by_service) {
   rclcpp::ServiceBase::SharedPtr service = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -424,14 +419,13 @@ TEST_F(TestMemoryStrategy, get_group_by_client) {
   rclcpp::ClientBase::SharedPtr client = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -464,14 +458,13 @@ TEST_F(TestMemoryStrategy, get_group_by_timer) {
   rclcpp::TimerBase::SharedPtr timer = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -504,14 +497,13 @@ TEST_F(TestMemoryStrategy, get_group_by_waitable) {
   rclcpp::Waitable::SharedPtr waitable = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);

rclcpp/test/rclcpp/test_node.cpp

@@ -333,9 +333,14 @@ TEST_F(TestNode, declare_parameter_with_no_initial_values) {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.dynamic_typing = true;
     // no default, no initial
+    const std::string parameter_name = "parameter"_unq;
     rclcpp::ParameterValue value = node->declare_parameter(
-      "parameter"_unq, rclcpp::ParameterValue{}, descriptor);
+      parameter_name, rclcpp::ParameterValue{}, descriptor);
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_NOT_SET);
+    // Does not throw if unset before access
+    EXPECT_EQ(
+      rclcpp::PARAMETER_NOT_SET,
+      node->get_parameter(parameter_name).get_parameter_value().get_type());
   }
   {
     // int default, no initial
@@ -2591,7 +2596,7 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
     false
   };
   rclcpp::QoS qos2 = rclcpp::QoS(qos_initialization2, rmw_qos_profile_default2);
-  auto callback = [](const test_msgs::msg::BasicTypes::SharedPtr msg) {
+  auto callback = [](test_msgs::msg::BasicTypes::ConstSharedPtr msg) {
       (void)msg;
     };
   auto subscriber =
@@ -2637,13 +2642,33 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
 
 TEST_F(TestNode, callback_groups) {
   auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  size_t num_callback_groups_in_basic_node = node->get_callback_groups().size();
+  size_t num_callback_groups_in_basic_node = 0;
+  node->for_each_callback_group(
+    [&num_callback_groups_in_basic_node](rclcpp::CallbackGroup::SharedPtr group)
+    {
+      (void)group;
+      num_callback_groups_in_basic_node++;
+    });
 
   auto group1 = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  EXPECT_EQ(1u + num_callback_groups_in_basic_node, node->get_callback_groups().size());
+  size_t num_callback_groups = 0;
+  node->for_each_callback_group(
+    [&num_callback_groups](rclcpp::CallbackGroup::SharedPtr group)
+    {
+      (void)group;
+      num_callback_groups++;
+    });
+  EXPECT_EQ(1u + num_callback_groups_in_basic_node, num_callback_groups);
 
   auto group2 = node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-  EXPECT_EQ(2u + num_callback_groups_in_basic_node, node->get_callback_groups().size());
+  size_t num_callback_groups2 = 0;
+  node->for_each_callback_group(
+    [&num_callback_groups2](rclcpp::CallbackGroup::SharedPtr group)
+    {
+      (void)group;
+      num_callback_groups2++;
+    });
+  EXPECT_EQ(2u + num_callback_groups_in_basic_node, num_callback_groups2);
 }
 
 // This is tested more thoroughly in node_interfaces/test_node_graph
@@ -2761,9 +2786,20 @@ TEST_F(TestNode, static_and_dynamic_typing) {
     EXPECT_EQ("hello!", param);
   }
   {
+    auto param = node->declare_parameter("integer_override_not_given", rclcpp::PARAMETER_INTEGER);
+    EXPECT_EQ(rclcpp::PARAMETER_NOT_SET, param.get_type());
+    // Throws if not set before access
     EXPECT_THROW(
-      node->declare_parameter("integer_override_not_given", rclcpp::PARAMETER_INTEGER),
-      rclcpp::exceptions::NoParameterOverrideProvided);
+      node->get_parameter("integer_override_not_given"),
+      rclcpp::exceptions::ParameterUninitializedException);
+  }
+  {
+    auto param = node->declare_parameter("integer_set_after_declare", rclcpp::PARAMETER_INTEGER);
+    EXPECT_EQ(rclcpp::PARAMETER_NOT_SET, param.get_type());
+    auto result = node->set_parameter(rclcpp::Parameter{"integer_set_after_declare", 44});
+    ASSERT_TRUE(result.successful) << result.reason;
+    auto get_param = node->get_parameter("integer_set_after_declare");
+    EXPECT_EQ(44, get_param.as_int());
   }
   {
     EXPECT_THROW(

rclcpp/test/rclcpp/test_parameter_client.cpp

@@ -33,7 +33,7 @@ using namespace std::chrono_literals;
 class TestParameterClient : public ::testing::Test
 {
 public:
-  void OnMessage(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
+  void OnMessage(rcl_interfaces::msg::ParameterEvent::ConstSharedPtr event)
   {
     (void)event;
   }
@@ -861,3 +861,90 @@ TEST_F(TestParameterClient, sync_parameter_describe_parameters_allow_undeclared)
     ASSERT_FALSE(parameter_descs[1].read_only);
   }
 }
+
+/*
+  Coverage for async delete_parameters
+ */
+TEST_F(TestParameterClient, async_parameter_delete_parameters) {
+  auto asynchronous_client =
+    std::make_shared<rclcpp::AsyncParametersClient>(node_with_option);
+  // set parameter
+  auto set_future = asynchronous_client->set_parameters({rclcpp::Parameter("foo", 4)});
+  rclcpp::spin_until_future_complete(
+    node_with_option, set_future, std::chrono::milliseconds(100));
+  ASSERT_EQ(set_future.get()[0].successful, true);
+  // delete one parameter
+  auto delete_future = asynchronous_client->delete_parameters({"foo"});
+  rclcpp::spin_until_future_complete(
+    node_with_option, delete_future, std::chrono::milliseconds(100));
+  ASSERT_EQ(delete_future.get()[0].successful, true);
+  // check that deleted parameter isn't set
+  auto get_future2 = asynchronous_client->get_parameters({"foo"});
+  rclcpp::spin_until_future_complete(
+    node_with_option, get_future2, std::chrono::milliseconds(100));
+  ASSERT_EQ(
+    get_future2.get()[0].get_type(),
+    rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET);
+}
+/*
+  Coverage for sync delete_parameters
+ */
+TEST_F(TestParameterClient, sync_parameter_delete_parameters) {
+  auto synchronous_client =
+    std::make_shared<rclcpp::SyncParametersClient>(node_with_option);
+  // set parameter
+  auto set_result = synchronous_client->set_parameters({rclcpp::Parameter("foo", 4)});
+  // delete one parameter
+  auto delete_result = synchronous_client->delete_parameters({"foo"});
+  // check that deleted parameter isn't set
+  auto get_result = synchronous_client->get_parameters({"foo"});
+  ASSERT_EQ(
+    get_result[0].get_type(),
+    rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET);
+}
+
+/*
+  Coverage for async load_parameters
+ */
+TEST_F(TestParameterClient, async_parameter_load_parameters) {
+  auto load_node = std::make_shared<rclcpp::Node>(
+    "load_node",
+    "namespace",
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+  auto asynchronous_client =
+    std::make_shared<rclcpp::AsyncParametersClient>(load_node, "/namespace/load_node");
+  // load parameters
+  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  const std::string parameters_filepath = (
+    test_resources_path / "test_node" / "load_parameters.yaml").string();
+  auto load_future = asynchronous_client->load_parameters(parameters_filepath);
+  auto result_code = rclcpp::spin_until_future_complete(
+    load_node, load_future, std::chrono::milliseconds(100));
+  ASSERT_EQ(result_code, rclcpp::FutureReturnCode::SUCCESS);
+  ASSERT_EQ(load_future.get()[0].successful, true);
+  // list parameters
+  auto list_parameters = asynchronous_client->list_parameters({}, 3);
+  rclcpp::spin_until_future_complete(
+    load_node, list_parameters, std::chrono::milliseconds(100));
+  ASSERT_EQ(list_parameters.get().names.size(), static_cast<uint64_t>(5));
+}
+/*
+  Coverage for sync load_parameters
+ */
+TEST_F(TestParameterClient, sync_parameter_load_parameters) {
+  auto load_node = std::make_shared<rclcpp::Node>(
+    "load_node",
+    "namespace",
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+  auto synchronous_client =
+    std::make_shared<rclcpp::SyncParametersClient>(load_node);
+  // load parameters
+  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  const std::string parameters_filepath = (
+    test_resources_path / "test_node" / "load_parameters.yaml").string();
+  auto load_future = synchronous_client->load_parameters(parameters_filepath);
+  ASSERT_EQ(load_future[0].successful, true);
+  // list parameters
+  auto list_parameters = synchronous_client->list_parameters({}, 3);
+  ASSERT_EQ(list_parameters.names.size(), static_cast<uint64_t>(5));
+}

rclcpp/test/rclcpp/test_parameter_event_handler.cpp

@@ -27,9 +27,9 @@ public:
   : ParameterEventHandler(node)
   {}
 
-  void test_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
+  void test_event(rcl_interfaces::msg::ParameterEvent::ConstSharedPtr event)
   {
-    event_callback(event);
+    event_callback(*event);
   }
 
   size_t num_event_callbacks()
@@ -264,20 +264,20 @@ TEST_F(TestNode, EventCallback)
   double product;
   auto cb =
     [&int_param, &double_param, &product, &received,
-      this](const rcl_interfaces::msg::ParameterEvent::SharedPtr & event)
+      this](const rcl_interfaces::msg::ParameterEvent & event)
     {
       auto node_name = node->get_fully_qualified_name();
 
-      if (event->node == node_name) {
+      if (event.node == node_name) {
         received = true;
       }
 
       rclcpp::Parameter p;
-      if (ParameterEventHandler::get_parameter_from_event(*event, p, "my_int", node_name)) {
+      if (ParameterEventHandler::get_parameter_from_event(event, p, "my_int", node_name)) {
         int_param = p.get_value<int64_t>();
       }
       try {
-        p = ParameterEventHandler::get_parameter_from_event(*event, "my_double", node_name);
+        p = ParameterEventHandler::get_parameter_from_event(event, "my_double", node_name);
         double_param = p.get_value<double>();
       } catch (...) {
       }
@@ -286,12 +286,12 @@ TEST_F(TestNode, EventCallback)
     };
 
   auto cb2 =
-    [&bool_param, this](const rcl_interfaces::msg::ParameterEvent::SharedPtr & event)
+    [&bool_param, this](const rcl_interfaces::msg::ParameterEvent & event)
     {
       rclcpp::Parameter p;
-      if (event->node == diff_ns_name) {
+      if (event.node == diff_ns_name) {
         if (ParameterEventHandler::get_parameter_from_event(
-            *event, p, "my_bool", diff_ns_name))
+            event, p, "my_bool", diff_ns_name))
         {
           bool_param = p.get_value<bool>();
         }
@@ -405,13 +405,13 @@ TEST_F(TestNode, LastInFirstCallForParameterEventCallbacks)
   // The callbacks will log the current time for comparison purposes. Add a bit of a stall
   // to ensure that the time noted in the back-to-back calls isn't the same
   auto cb1 =
-    [this, &time_1](const rcl_interfaces::msg::ParameterEvent::SharedPtr &)
+    [this, &time_1](const rcl_interfaces::msg::ParameterEvent &)
     {
       time_1 = node->now();
       std::this_thread::sleep_for(std::chrono::milliseconds(10));
     };
   auto cb2 =
-    [this, &time_2](const rcl_interfaces::msg::ParameterEvent::SharedPtr &)
+    [this, &time_2](const rcl_interfaces::msg::ParameterEvent &)
     {
       time_2 = node->now();
       std::this_thread::sleep_for(std::chrono::milliseconds(10));

rclcpp/test/rclcpp/test_publisher.cpp

@@ -506,3 +506,33 @@ TEST_F(TestPublisher, run_event_handlers) {
     handler->execute(data);
   }
 }
+
+TEST_F(TestPublisher, get_network_flow_endpoints_errors) {
+  initialize();
+  const rclcpp::QoS publisher_qos(1);
+  auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", publisher_qos);
+
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_publisher_get_network_flow_endpoints, RCL_RET_ERROR);
+    auto mock_network_flow_endpoint_array_fini = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_network_flow_endpoint_array_fini, RCL_RET_ERROR);
+    EXPECT_THROW(
+      publisher->get_network_flow_endpoints(),
+      rclcpp::exceptions::RCLError);
+  }
+  {
+    auto mock_network_flow_endpoint_array_fini = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_network_flow_endpoint_array_fini, RCL_RET_ERROR);
+    EXPECT_THROW(
+      publisher->get_network_flow_endpoints(),
+      rclcpp::exceptions::RCLError);
+  }
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_publisher_get_network_flow_endpoints, RCL_RET_OK);
+    auto mock_network_flow_endpoint_array_fini = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_network_flow_endpoint_array_fini, RCL_RET_OK);
+    EXPECT_NO_THROW(publisher->get_network_flow_endpoints());
+  }
+}

rclcpp/test/rclcpp/test_publisher_subscription_count_api.cpp

@@ -122,7 +122,7 @@ public:
   }
 
 protected:
-  static void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
+  static void OnMessage(test_msgs::msg::Empty::ConstSharedPtr msg)
   {
     (void)msg;
   }

rclcpp/test/rclcpp/test_qos_event.cpp

@@ -42,7 +42,7 @@ protected:
 
     node = std::make_shared<rclcpp::Node>("test_qos_event", "/ns");
 
-    message_callback = [node = node.get()](const test_msgs::msg::Empty::SharedPtr /*msg*/) {
+    message_callback = [node = node.get()](test_msgs::msg::Empty::ConstSharedPtr /*msg*/) {
         RCLCPP_INFO(node->get_logger(), "Message received");
       };
   }
@@ -55,7 +55,7 @@ protected:
   static constexpr char topic_name[] = "test_topic";
   rclcpp::Node::SharedPtr node;
   bool is_fastrtps;
-  std::function<void(const test_msgs::msg::Empty::SharedPtr)> message_callback;
+  std::function<void(test_msgs::msg::Empty::ConstSharedPtr)> message_callback;
 };
 
 constexpr char TestQosEvent::topic_name[];

rclcpp/test/rclcpp/test_serialized_message_allocator.cpp

@@ -58,7 +58,7 @@ TEST(TestSerializedMessageAllocator, borrow_from_subscription) {
   std::shared_ptr<rclcpp::SubscriptionBase> sub =
     node->create_subscription<test_msgs::msg::Empty>(
     "~/dummy_topic", 10,
-    [](std::shared_ptr<test_msgs::msg::Empty> test_msg) {(void) test_msg;});
+    [](std::shared_ptr<const test_msgs::msg::Empty> test_msg) {(void) test_msg;});
 
   auto msg0 = sub->create_serialized_message();
   EXPECT_EQ(0u, msg0->capacity());

rclcpp/test/rclcpp/test_subscription.cpp

@@ -34,7 +34,7 @@ using namespace std::chrono_literals;
 class TestSubscription : public ::testing::Test
 {
 public:
-  void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
+  void OnMessage(test_msgs::msg::Empty::ConstSharedPtr msg)
   {
     (void)msg;
   }
@@ -80,7 +80,7 @@ class TestSubscriptionInvalidIntraprocessQos
 class TestSubscriptionSub : public ::testing::Test
 {
 public:
-  void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
+  void OnMessage(test_msgs::msg::Empty::ConstSharedPtr msg)
   {
     (void)msg;
   }
@@ -113,7 +113,7 @@ public:
   {
   }
 
-  void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
+  void OnMessage(test_msgs::msg::Empty::ConstSharedPtr msg)
   {
     (void)msg;
   }
@@ -130,7 +130,7 @@ public:
 class SubscriptionClass
 {
 public:
-  void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
+  void OnMessage(test_msgs::msg::Empty::ConstSharedPtr msg)
   {
     (void)msg;
   }
@@ -150,7 +150,7 @@ public:
 TEST_F(TestSubscription, construction_and_destruction) {
   initialize();
   using test_msgs::msg::Empty;
-  auto callback = [](const Empty::SharedPtr msg) {
+  auto callback = [](Empty::ConstSharedPtr msg) {
       (void)msg;
     };
   {
@@ -162,7 +162,7 @@ TEST_F(TestSubscription, construction_and_destruction) {
     // get_subscription_handle()
     const rclcpp::SubscriptionBase * const_sub = sub.get();
     EXPECT_NE(nullptr, const_sub->get_subscription_handle());
-    EXPECT_FALSE(sub->use_take_shared_method());
+    EXPECT_TRUE(sub->use_take_shared_method());
 
     EXPECT_NE(nullptr, sub->get_message_type_support_handle().typesupport_identifier);
     EXPECT_NE(nullptr, sub->get_message_type_support_handle().data);
@@ -182,7 +182,7 @@ TEST_F(TestSubscription, construction_and_destruction) {
  */
 TEST_F(TestSubscriptionSub, construction_and_destruction) {
   using test_msgs::msg::Empty;
-  auto callback = [](const Empty::SharedPtr msg) {
+  auto callback = [](Empty::ConstSharedPtr msg) {
       (void)msg;
     };
   {
@@ -216,7 +216,7 @@ TEST_F(TestSubscriptionSub, construction_and_destruction) {
 TEST_F(TestSubscription, various_creation_signatures) {
   initialize();
   using test_msgs::msg::Empty;
-  auto cb = [](test_msgs::msg::Empty::SharedPtr) {};
+  auto cb = [](test_msgs::msg::Empty::ConstSharedPtr) {};
   {
     auto sub = node->create_subscription<Empty>("topic", 1, cb);
     (void)sub;
@@ -506,3 +506,37 @@ INSTANTIATE_TEST_SUITE_P(
   TestSubscriptionThrows, TestSubscriptionInvalidIntraprocessQos,
   ::testing::ValuesIn(invalid_qos_profiles()),
   ::testing::PrintToStringParamName());
+
+TEST_F(TestSubscription, get_network_flow_endpoints_errors) {
+  initialize();
+  const rclcpp::QoS subscription_qos(1);
+  auto subscription_callback = [](const test_msgs::msg::Empty::SharedPtr msg) {
+      (void)msg;
+    };
+  auto subscription = node->create_subscription<test_msgs::msg::Empty>(
+    "topic", subscription_qos, subscription_callback);
+
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_subscription_get_network_flow_endpoints, RCL_RET_ERROR);
+    auto mock_network_flow_endpoint_array_fini = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_network_flow_endpoint_array_fini, RCL_RET_ERROR);
+    EXPECT_THROW(
+      subscription->get_network_flow_endpoints(),
+      rclcpp::exceptions::RCLError);
+  }
+  {
+    auto mock_network_flow_endpoint_array_fini = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_network_flow_endpoint_array_fini, RCL_RET_ERROR);
+    EXPECT_THROW(
+      subscription->get_network_flow_endpoints(),
+      rclcpp::exceptions::RCLError);
+  }
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_subscription_get_network_flow_endpoints, RCL_RET_OK);
+    auto mock_network_flow_endpoint_array_fini = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_network_flow_endpoint_array_fini, RCL_RET_OK);
+    EXPECT_NO_THROW(subscription->get_network_flow_endpoints());
+  }
+}

rclcpp/test/rclcpp/test_subscription_publisher_count_api.cpp

@@ -108,7 +108,7 @@ public:
   }
 
 protected:
-  static void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
+  static void OnMessage(test_msgs::msg::Empty::ConstSharedPtr msg)
   {
     (void)msg;
   }

rclcpp/test/rclcpp/test_typesupport_helpers.cpp

@@ -0,0 +1,77 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright 2021, Apex.AI 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 <gmock/gmock.h>
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rcpputils/shared_library.hpp"
+
+#include "rclcpp/typesupport_helpers.hpp"
+
+using namespace ::testing;  // NOLINT
+
+TEST(TypesupportHelpersTest, throws_exception_if_filetype_has_no_type) {
+  EXPECT_ANY_THROW(
+    rclcpp::get_typesupport_library("just_a_package_name", "rosidl_typesupport_cpp"));
+}
+
+TEST(TypesupportHelpersTest, throws_exception_if_filetype_has_slash_at_the_start_only) {
+  EXPECT_ANY_THROW(
+    rclcpp::get_typesupport_library("/name_with_slash_at_start", "rosidl_typesupport_cpp"));
+}
+
+TEST(TypesupportHelpersTest, throws_exception_if_filetype_has_slash_at_the_end_only) {
+  EXPECT_ANY_THROW(
+    rclcpp::get_typesupport_library("name_with_slash_at_end/", "rosidl_typesupport_cpp"));
+}
+
+TEST(TypesupportHelpersTest, throws_exception_if_library_cannot_be_found) {
+  EXPECT_THROW(
+    rclcpp::get_typesupport_library("invalid/message", "rosidl_typesupport_cpp"),
+    std::runtime_error);
+}
+
+TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_legacy_library) {
+  try {
+    auto library = rclcpp::get_typesupport_library(
+      "test_msgs/BasicTypes", "rosidl_typesupport_cpp");
+    auto string_typesupport = rclcpp::get_typesupport_handle(
+      "test_msgs/BasicTypes", "rosidl_typesupport_cpp", *library);
+
+    EXPECT_THAT(
+      std::string(string_typesupport->typesupport_identifier),
+      ContainsRegex("rosidl_typesupport"));
+  } catch (const std::exception & e) {
+    FAIL() << e.what();
+  }
+}
+
+TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_library) {
+  try {
+    auto library = rclcpp::get_typesupport_library(
+      "test_msgs/msg/BasicTypes", "rosidl_typesupport_cpp");
+    auto string_typesupport = rclcpp::get_typesupport_handle(
+      "test_msgs/msg/BasicTypes", "rosidl_typesupport_cpp", *library);
+
+    EXPECT_THAT(
+      std::string(string_typesupport->typesupport_identifier),
+      ContainsRegex("rosidl_typesupport"));
+  } catch (const std::runtime_error & e) {
+    FAIL() << e.what();
+  }
+}

rclcpp/test/rclcpp/test_wait_for_message.cpp

@@ -0,0 +1,74 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rclcpp/node.hpp"
+#include "rclcpp/wait_for_message.hpp"
+
+#include "test_msgs/msg/strings.hpp"
+#include "test_msgs/message_fixtures.hpp"
+
+using namespace std::chrono_literals;
+
+TEST(TestUtilities, wait_for_message) {
+  rclcpp::init(0, nullptr);
+
+  auto node = std::make_shared<rclcpp::Node>("wait_for_message_node");
+
+  using MsgT = test_msgs::msg::Strings;
+  auto pub = node->create_publisher<MsgT>("wait_for_message_topic", 10);
+
+  MsgT out;
+  auto received = false;
+  auto wait = std::async(
+    [&]() {
+      auto ret = rclcpp::wait_for_message(out, node, "wait_for_message_topic", 5s);
+      EXPECT_TRUE(ret);
+      received = true;
+    });
+
+  for (auto i = 0u; i < 10 && received == false; ++i) {
+    pub->publish(*get_messages_strings()[0]);
+    std::this_thread::sleep_for(1s);
+  }
+  ASSERT_TRUE(received);
+  EXPECT_EQ(out, *get_messages_strings()[0]);
+
+  rclcpp::shutdown();
+}
+
+TEST(TestUtilities, wait_for_message_indefinitely) {
+  rclcpp::init(0, nullptr);
+
+  auto node = std::make_shared<rclcpp::Node>("wait_for_message_node2");
+
+  using MsgT = test_msgs::msg::Strings;
+  MsgT out;
+  auto received = false;
+  auto wait = std::async(
+    [&]() {
+      auto ret = rclcpp::wait_for_message(out, node, "wait_for_message_topic" /*, -1 */);
+      EXPECT_TRUE(ret);
+      received = true;
+    });
+
+  rclcpp::shutdown();
+
+  ASSERT_FALSE(received);
+}

rclcpp/test/rclcpp/test_wait_set.cpp

@@ -221,7 +221,7 @@ TEST_F(TestWaitSet, add_guard_condition_to_two_different_wait_set) {
       wait_set2.add_guard_condition(guard_condition);
     }, std::runtime_error);
 
-    auto do_nothing = [](const std::shared_ptr<test_msgs::msg::BasicTypes>) {};
+    auto do_nothing = [](std::shared_ptr<const test_msgs::msg::BasicTypes>) {};
     auto sub = node->create_subscription<test_msgs::msg::BasicTypes>("~/test", 1, do_nothing);
     wait_set1.add_subscription(sub);
     ASSERT_THROW(
@@ -281,7 +281,7 @@ TEST_F(TestWaitSet, add_remove_wait) {
   rclcpp::SubscriptionOptions subscription_options;
   subscription_options.event_callbacks.deadline_callback = [](auto) {};
   subscription_options.event_callbacks.liveliness_callback = [](auto) {};
-  auto do_nothing = [](const std::shared_ptr<test_msgs::msg::BasicTypes>) {};
+  auto do_nothing = [](std::shared_ptr<const test_msgs::msg::BasicTypes>) {};
   auto sub =
     node->create_subscription<test_msgs::msg::BasicTypes>(
     "~/test", 1, do_nothing, subscription_options);

rclcpp/test/rclcpp/wait_set_policies/test_dynamic_storage.cpp

@@ -74,7 +74,7 @@ TEST_F(TestDynamicStorage, default_construct_destruct) {
 
 TEST_F(TestDynamicStorage, iterables_construct_destruct) {
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {});
+    "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {});
   auto timer = node->create_wall_timer(std::chrono::seconds(100), []() {});
   auto guard_condition = std::make_shared<rclcpp::GuardCondition>();
   auto service =
@@ -110,7 +110,7 @@ TEST_F(TestDynamicStorage, add_remove_dynamically) {
   options.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
 
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {}, options);
+    "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {}, options);
 
   rclcpp::SubscriptionWaitSetMask mask{true, true, true};
   wait_set.add_subscription(subscription, mask);
@@ -203,7 +203,7 @@ TEST_F(TestDynamicStorage, add_remove_out_of_scope) {
 
   {
     auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-      "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {});
+      "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {});
     wait_set.add_subscription(subscription);
 
     // This is short, so if it's not cleaned up, it will trigger wait and it won't timeout
@@ -238,7 +238,7 @@ TEST_F(TestDynamicStorage, wait_subscription) {
   auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", 10);
 
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {});
+    "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {});
   wait_set.add_subscription(subscription);
 
   {

rclcpp/test/rclcpp/wait_set_policies/test_static_storage.cpp

@@ -67,7 +67,7 @@ private:
 
 TEST_F(TestStaticStorage, iterables_construct_destruct) {
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {});
+    "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {});
   // This is long, so it can stick around and be removed
   auto timer = node->create_wall_timer(std::chrono::seconds(100), []() {});
   auto guard_condition = std::make_shared<rclcpp::GuardCondition>();
@@ -132,7 +132,7 @@ TEST_F(TestStaticStorage, fixed_storage_needs_pruning) {
 TEST_F(TestStaticStorage, wait_subscription) {
   auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", 10);
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {});
+    "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {});
   rclcpp::SubscriptionWaitSetMask mask{true, true, true};
   rclcpp::StaticWaitSet<1, 0, 0, 0, 0, 0> wait_set({{{subscription, mask}}});
 

rclcpp/test/rclcpp/wait_set_policies/test_storage_policy_common.cpp

@@ -79,7 +79,7 @@ TEST_F(TestStoragePolicyCommon, rcl_wait_set_resize_error) {
   rclcpp::WaitSet wait_set;
 
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {});
+    "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {});
   rclcpp::SubscriptionWaitSetMask mask{true, true, true};
 
   auto mock = mocking_utils::patch_and_return(
@@ -103,7 +103,7 @@ TEST_F(TestStoragePolicyCommon, rcl_wait_set_clear_error) {
 TEST_F(TestStoragePolicyCommon, rcl_wait_set_add_subscription_error) {
   rclcpp::WaitSet wait_set;
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {});
+    "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {});
   rclcpp::SubscriptionWaitSetMask mask{true, true, true};
 
   auto mock = mocking_utils::patch_and_return(

rclcpp/test/rclcpp/wait_set_policies/test_thread_safe_synchronization.cpp

@@ -75,7 +75,7 @@ TEST_F(TestThreadSafeStorage, default_construct_destruct) {
 
 TEST_F(TestThreadSafeStorage, iterables_construct_destruct) {
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {});
+    "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {});
   // This is long, so it can stick around
   auto timer = node->create_wall_timer(std::chrono::seconds(100), []() {});
   auto guard_condition = std::make_shared<rclcpp::GuardCondition>();
@@ -113,7 +113,7 @@ TEST_F(TestThreadSafeStorage, add_remove_dynamically) {
   options.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
 
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {}, options);
+    "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {}, options);
 
   rclcpp::SubscriptionWaitSetMask mask{true, true, true};
   wait_set.add_subscription(subscription, mask);
@@ -207,7 +207,7 @@ TEST_F(TestThreadSafeStorage, add_remove_out_of_scope) {
 
   {
     auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-      "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {});
+      "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {});
     wait_set.add_subscription(subscription);
 
     // This is short, so if it's not cleaned up, it will trigger wait
@@ -242,7 +242,7 @@ TEST_F(TestThreadSafeStorage, wait_subscription) {
   auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", 10);
 
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic", 10, [](test_msgs::msg::Empty::SharedPtr) {});
+    "topic", 10, [](test_msgs::msg::Empty::ConstSharedPtr) {});
   wait_set.add_subscription(subscription);
 
   {

rclcpp/test/resources/test_node/load_parameters.yaml

@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    bar: 5
+    foo: 3.5
+
+/*:
+  load_node:
+    ros__parameters:
+      bar_foo: "ok"
+
+namespace:
+  load_node:
+    ros__parameters:
+      foo_bar: true
+
+bar:
+  ros__parameters:
+    fatal: 10

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,34 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+9.2.0 (2021-09-17)
+------------------
+* Fixed a bug where it would occasionally miss a goal result, which was caused by race condition (`#1677 <https://github.com/ros2/rclcpp/issues/1677>`_) (`#1683 <https://github.com/ros2/rclcpp/issues/1683>`_)
+  * Co-authored-by: Kaven Yau <kavenyau@foxmail.com>
+* Contributors: Tomoya Fujita
+
+9.1.0 (2021-05-20)
+------------------
+* Bump the benchmark timeout for benchmark_action_client (`#1672 <https://github.com/ros2/rclcpp/issues/1672>`_)
+* Contributors: Scott K Logan
+
+9.0.3 (2021-05-10)
+------------------
+* Returns CancelResponse::REJECT while goal handle failed to transit to CANCELING state (`#1641 <https://github.com/ros2/rclcpp/issues/1641>`_) (`#1653 <https://github.com/ros2/rclcpp/issues/1653>`_)
+* Fix action server deadlock issue that caused by other mutexes locked in CancelCallback (`#1635 <https://github.com/ros2/rclcpp/issues/1635>`_) (`#1646 <https://github.com/ros2/rclcpp/issues/1646>`_)
+* Contributors: Jacob Perron, Kaven Yau, William Woodall
+
+9.0.2 (2021-04-14)
+------------------
+
+9.0.1 (2021-04-12)
+------------------
+
+9.0.0 (2021-04-06)
+------------------
+* updating quality declaration links (re: `ros2/docs.ros2.org#52 <https://github.com/ros2/docs.ros2.org/issues/52>`_) (`#1615 <https://github.com/ros2/rclcpp/issues/1615>`_)
+* Contributors: shonigmann
+
 8.2.0 (2021-03-31)
 ------------------
 

rclcpp_action/QUALITY_DECLARATION.md

@@ -4,13 +4,13 @@ This document is a declaration of software quality for the `rclcpp_action` packa
 
 The package `rclcpp_action` claims to be in the **Quality Level 1** category when it is used with a **Quality Level 1** middleware.
 
-Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories) of the ROS2 developer guide.
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://www.ros.org/reps/rep-2004.html) of the ROS2 developer guide.
 
 ## Version Policy [1]
 
 ### Version Scheme [1.i]
 
-`rclcpp_action` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+`rclcpp_action` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#versioning).
 
 ### Version Stability [1.ii]
 
@@ -37,11 +37,11 @@ All installed headers are in the `include` directory of the package, headers in
 
 ## Change Control Process [2]
 
-`rclcpp_action` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process).
+`rclcpp_action` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process).
 
 ### Change Requests [2.i]
 
-All changes will occur through a pull request, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All changes will occur through a pull request, check [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Contributor Origin [2.ii]
 
@@ -49,7 +49,7 @@ This package uses DCO as its confirmation of contributor origin policy. More inf
 
 ### Peer Review Policy [2.iii]
 
-All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Continuous Integration [2.iv]
 
@@ -109,7 +109,7 @@ The tests aim to cover both typical usage and corner cases, but are quantified b
 
 ### Coverage [4.iii]
 
-`rclcpp_action` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#code-coverage), and opts to use line coverage instead of branch coverage.
+`rclcpp_action` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#code-coverage), and opts to use line coverage instead of branch coverage.
 
 This includes:
 
@@ -119,11 +119,11 @@ 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_action_src/). 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).
+Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_action_src/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#note-on-coverage-runs).
 
 ### Performance [4.iv]
 
-`rclcpp_action` 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.
+`rclcpp_action` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#performance), and opts to do performance analysis on each release rather than each change.
 
 The performance tests of `rclcpp_action` are located in the [test/benchmark directory](https://github.com/ros2/rclcpp/tree/master/rclcpp_action/test/benchmark).
 
@@ -135,7 +135,7 @@ Changes that introduce regressions in performance must be adequately justified i
 
 ### Linters and Static Analysis [4.v]
 
-`rclcpp_action` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
+`rclcpp_action` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
 
 Currently nightly test results can be seen here:
 * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rclcpp_action/)