2.2.0

`this->node_options_` might still be `nullptr` for a default initialized NodeOptions instance.
`use_global_arguments()` must return `this->use_global_arguments_`, in analogy to `NodeOptions::enable_rosout()`.

Signed-off-by: Johannes Meyer <johannes@intermodalics.eu>

Co-authored-by: Johannes Meyer <johannes@intermodalics.eu>

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://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)
+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/)
 contain some examples of rclcpp APIs in use.

rclcpp/CHANGELOG.rst

@@ -2,289 +2,40 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-9.0.2 (2021-04-14)
+2.2.0 (2020-10-07)
 ------------------
-* 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
+* Fix implementation of NodeOptions::use_global_arguments() (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_) (`#1372 <https://github.com/ros2/rclcpp/issues/1372>`_)
+* Fix conversion of negative durations to messages (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_) (`#1371 <https://github.com/ros2/rclcpp/issues/1371>`_)
+* Call vector.erase with end iterator overload (`#1314 <https://github.com/ros2/rclcpp/issues/1314>`_) (`#1380 <https://github.com/ros2/rclcpp/issues/1380>`_)
+* Check waitable for nullptr during constructor (`#1315 <https://github.com/ros2/rclcpp/issues/1315>`_) (`#1379 <https://github.com/ros2/rclcpp/issues/1379>`_)
+* Fix pub/sub count API tests. (`#1203 <https://github.com/ros2/rclcpp/issues/1203>`_) (`#1319 <https://github.com/ros2/rclcpp/issues/1319>`_)
+* Reorganize test directory and split CMakeLists.txt (`#1173 <https://github.com/ros2/rclcpp/issues/1173>`_) (`#1262 <https://github.com/ros2/rclcpp/issues/1262>`_)
+* Add operator!= for duration (`#1236 <https://github.com/ros2/rclcpp/issues/1236>`_) (`#1278 <https://github.com/ros2/rclcpp/issues/1278>`_)
+* Contributors: Ivan Santiago Paunovic, Jacob Perron, Jannik Abbenseth, Johannes Meyer, Michel Hidalgo, Stephen Brawner
 
-9.0.1 (2021-04-12)
+2.1.0 (2020-08-03)
 ------------------
-* 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
+* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_) (`#1244 <https://github.com/ros2/rclcpp/issues/1244>`_)
+* Add missing RCLCPP_PUBLIC to ~StaticExecutorEntitiesCollector (`#1227 <https://github.com/ros2/rclcpp/issues/1227>`_) (`#1228 <https://github.com/ros2/rclcpp/issues/1228>`_)
+* Remove recreation of entities_collector (`#1217 <https://github.com/ros2/rclcpp/issues/1217>`_) (`#1224 <https://github.com/ros2/rclcpp/issues/1224>`_)
+* Contributors: Jacob Perron, brawner
 
-9.0.0 (2021-04-06)
+2.0.2 (2020-07-07)
 ------------------
-* 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
+* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_) (`#1214 <https://github.com/ros2/rclcpp/issues/1214>`_)
+* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_) (`#1193 <https://github.com/ros2/rclcpp/issues/1193>`_)
+* Contributors: Dirk Thomas, tomoya
 
-8.2.0 (2021-03-31)
+2.0.1 (2020-06-23)
 ------------------
-* Initialize integers in test_parameter_event_handler.cpp to avoid undefined behavior (`#1609 <https://github.com/ros2/rclcpp/issues/1609>`_)
-* Namespace tracetools C++ functions (`#1608 <https://github.com/ros2/rclcpp/issues/1608>`_)
-* Revert "Namespace tracetools C++ functions (`#1603 <https://github.com/ros2/rclcpp/issues/1603>`_)" (`#1607 <https://github.com/ros2/rclcpp/issues/1607>`_)
-* Namespace tracetools C++ functions (`#1603 <https://github.com/ros2/rclcpp/issues/1603>`_)
-* Clock subscription callback group spins in its own thread (`#1556 <https://github.com/ros2/rclcpp/issues/1556>`_)
-* Contributors: Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, anaelle-sw
-
-8.1.0 (2021-03-25)
-------------------
-* Remove rmw_connext_cpp references. (`#1595 <https://github.com/ros2/rclcpp/issues/1595>`_)
-* Add API for checking QoS profile compatibility (`#1554 <https://github.com/ros2/rclcpp/issues/1554>`_)
-* Document misuse of parameters callback (`#1590 <https://github.com/ros2/rclcpp/issues/1590>`_)
-* use const auto & to iterate over parameters (`#1593 <https://github.com/ros2/rclcpp/issues/1593>`_)
-* Contributors: Chris Lalancette, Jacob Perron, Karsten Knese
-
-8.0.0 (2021-03-23)
-------------------
-* Guard against integer overflow in duration conversion (`#1584 <https://github.com/ros2/rclcpp/issues/1584>`_)
-* Contributors: Jacob Perron
-
-7.0.1 (2021-03-22)
-------------------
-* get_parameters service should return empty if undeclared parameters are allowed (`#1514 <https://github.com/ros2/rclcpp/issues/1514>`_)
-* Made 'Context::shutdown_reason' function a const function (`#1578 <https://github.com/ros2/rclcpp/issues/1578>`_)
-* Contributors: Tomoya Fujita, suab321321
-
-7.0.0 (2021-03-18)
-------------------
-* Document design decisions that were made for statically typed parameters (`#1568 <https://github.com/ros2/rclcpp/issues/1568>`_)
-* Fix doc typo in CallbackGroup constructor (`#1582 <https://github.com/ros2/rclcpp/issues/1582>`_)
-* Enable qos parameter overrides for the /parameter_events topic  (`#1532 <https://github.com/ros2/rclcpp/issues/1532>`_)
-* Add support for rmw_connextdds (`#1574 <https://github.com/ros2/rclcpp/issues/1574>`_)
-* Remove 'struct' from the rcl_time_jump_t. (`#1577 <https://github.com/ros2/rclcpp/issues/1577>`_)
-* Add tests for declaring statically typed parameters when undeclared parameters are allowed (`#1575 <https://github.com/ros2/rclcpp/issues/1575>`_)
-* Quiet clang memory leak warning on "DoNotOptimize". (`#1571 <https://github.com/ros2/rclcpp/issues/1571>`_)
-* Add ParameterEventsSubscriber class (`#829 <https://github.com/ros2/rclcpp/issues/829>`_)
-* When a parameter change is rejected, the parameters map shouldn't be updated. (`#1567 <https://github.com/ros2/rclcpp/pull/1567>`_)
-* Fix when to throw the NoParameterOverrideProvided exception. (`#1567 <https://github.com/ros2/rclcpp/pull/1567>`_)
-* Fix SEGV caused by order of destruction of Node sub-interfaces (`#1469 <https://github.com/ros2/rclcpp/issues/1469>`_)
-* Fix benchmark test failure introduced in `#1522 <https://github.com/ros2/rclcpp/issues/1522>`_ (`#1564 <https://github.com/ros2/rclcpp/issues/1564>`_)
-* Fix documented example in create_publisher (`#1558 <https://github.com/ros2/rclcpp/issues/1558>`_)
-* Enforce static parameter types (`#1522 <https://github.com/ros2/rclcpp/issues/1522>`_)
-* Allow timers to keep up the intended rate in MultiThreadedExecutor (`#1516 <https://github.com/ros2/rclcpp/issues/1516>`_)
-* Fix UBSAN warnings in any_subscription_callback. (`#1551 <https://github.com/ros2/rclcpp/issues/1551>`_)
-* Fix runtime error: reference binding to null pointer of type (`#1547 <https://github.com/ros2/rclcpp/issues/1547>`_)
-* Contributors: Andrea Sorbini, Chris Lalancette, Colin MacKenzie, Ivan Santiago Paunovic, Jacob Perron, Steven! Ragnarök, bpwilcox, tomoya
-
-6.3.1 (2021-02-08)
-------------------
-* Reference test resources directly from source tree (`#1543 <https://github.com/ros2/rclcpp/issues/1543>`_)
-* clear statistics after window reset (`#1531 <https://github.com/ros2/rclcpp/issues/1531>`_) (`#1535 <https://github.com/ros2/rclcpp/issues/1535>`_)
-* Fix a minor string error in the topic_statistics test. (`#1541 <https://github.com/ros2/rclcpp/issues/1541>`_)
-* Avoid `Resource deadlock avoided` if use intra_process_comms (`#1530 <https://github.com/ros2/rclcpp/issues/1530>`_)
-* Avoid an object copy in parameter_value.cpp. (`#1538 <https://github.com/ros2/rclcpp/issues/1538>`_)
-* Assert that the publisher_list size is 1. (`#1537 <https://github.com/ros2/rclcpp/issues/1537>`_)
-* Don't access objects after they have been std::move (`#1536 <https://github.com/ros2/rclcpp/issues/1536>`_)
-* Update for checking correct variable (`#1534 <https://github.com/ros2/rclcpp/issues/1534>`_)
-* Destroy msg extracted from LoanedMessage. (`#1305 <https://github.com/ros2/rclcpp/issues/1305>`_)
-* Contributors: Chen Lihui, Chris Lalancette, Ivan Santiago Paunovic, Miaofei Mei, Scott K Logan, William Woodall, hsgwa
-
-6.3.0 (2021-01-25)
-------------------
-* Add instrumentation for linking a timer to a node (`#1500 <https://github.com/ros2/rclcpp/issues/1500>`_)
-* Fix error when using IPC with StaticSingleThreadExecutor (`#1520 <https://github.com/ros2/rclcpp/issues/1520>`_)
-* Change to using unique_ptrs for DummyExecutor. (`#1517 <https://github.com/ros2/rclcpp/issues/1517>`_)
-* Allow reconfiguring 'clock' topic qos (`#1512 <https://github.com/ros2/rclcpp/issues/1512>`_)
-* Allow to add/remove nodes thread safely in rclcpp::Executor  (`#1505 <https://github.com/ros2/rclcpp/issues/1505>`_)
-* Call rclcpp::shutdown in test_node for clean shutdown on Windows (`#1515 <https://github.com/ros2/rclcpp/issues/1515>`_)
-* Reapply "Add get_logging_directory method to rclcpp::Logger (`#1509 <https://github.com/ros2/rclcpp/issues/1509>`_)" (`#1513 <https://github.com/ros2/rclcpp/issues/1513>`_)
-* use describe_parameters of parameter client for test (`#1499 <https://github.com/ros2/rclcpp/issues/1499>`_)
-* Revert "Add get_logging_directory method to rclcpp::Logger (`#1509 <https://github.com/ros2/rclcpp/issues/1509>`_)" (`#1511 <https://github.com/ros2/rclcpp/issues/1511>`_)
-* Add get_logging_directory method to rclcpp::Logger (`#1509 <https://github.com/ros2/rclcpp/issues/1509>`_)
-* Contributors: Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, eboasson, mauropasse, tomoya
-
-6.2.0 (2021-01-08)
-------------------
-* Better documentation for the QoS class (`#1508 <https://github.com/ros2/rclcpp/issues/1508>`_)
-* Modify excluding callback duration from topic statistics (`#1492 <https://github.com/ros2/rclcpp/issues/1492>`_)
-* Make the test of graph users more robust. (`#1504 <https://github.com/ros2/rclcpp/issues/1504>`_)
-* Make sure to wait for graph change events in test_node_graph. (`#1503 <https://github.com/ros2/rclcpp/issues/1503>`_)
-* add timeout to SyncParametersClient methods (`#1493 <https://github.com/ros2/rclcpp/issues/1493>`_)
-* Fix wrong test expectations (`#1497 <https://github.com/ros2/rclcpp/issues/1497>`_)
-* Update create_publisher/subscription documentation, clarifying when a parameters interface is required (`#1494 <https://github.com/ros2/rclcpp/issues/1494>`_)
-* Fix string literal warnings (`#1442 <https://github.com/ros2/rclcpp/issues/1442>`_)
-* support describe_parameters methods to parameter client. (`#1453 <https://github.com/ros2/rclcpp/issues/1453>`_)
-* Contributors: Audrow Nash, Chris Lalancette, Ivan Santiago Paunovic, Nikolai Morin, hsgwa, tomoya
-
-6.1.0 (2020-12-10)
-------------------
-* Add getters to rclcpp::qos and rclcpp::Policy enum classes (`#1467 <https://github.com/ros2/rclcpp/issues/1467>`_)
-* Change nullptr checks to use ASSERT_TRUE. (`#1486 <https://github.com/ros2/rclcpp/issues/1486>`_)
-* Adjust logic around finding and erasing guard_condition (`#1474 <https://github.com/ros2/rclcpp/issues/1474>`_)
-* Update QDs to QL 1 (`#1477 <https://github.com/ros2/rclcpp/issues/1477>`_)
-* Add performance tests for parameter transport (`#1463 <https://github.com/ros2/rclcpp/issues/1463>`_)
-* Contributors: Chris Lalancette, Ivan Santiago Paunovic, Scott K Logan, Stephen Brawner
-
-6.0.0 (2020-11-18)
-------------------
-* Move ownership of shutdown_guard_condition to executors/graph_listener (`#1404 <https://github.com/ros2/rclcpp/issues/1404>`_)
-* Add options to automatically declare qos parameters when creating a publisher/subscription (`#1465 <https://github.com/ros2/rclcpp/issues/1465>`_)
-* Add `take_data` to `Waitable` and `data` to `AnyExecutable` (`#1241 <https://github.com/ros2/rclcpp/issues/1241>`_)
-* Add benchmarks for node parameters interface (`#1444 <https://github.com/ros2/rclcpp/issues/1444>`_)
-* Remove allocation from executor::remove_node() (`#1448 <https://github.com/ros2/rclcpp/issues/1448>`_)
-* Fix test crashes on CentOS 7 (`#1449 <https://github.com/ros2/rclcpp/issues/1449>`_)
-* Bump rclcpp packages to Quality Level 2 (`#1445 <https://github.com/ros2/rclcpp/issues/1445>`_)
-* Added executor benchmark tests (`#1413 <https://github.com/ros2/rclcpp/issues/1413>`_)
-* Add fully-qualified namespace to WeakCallbackGroupsToNodesMap (`#1435 <https://github.com/ros2/rclcpp/issues/1435>`_)
-* Contributors: Alejandro Hernández Cordero, Audrow Nash, Chris Lalancette, Ivan Santiago Paunovic, Louise Poubel, Scott K Logan, brawner
-
-5.1.0 (2020-11-02)
-------------------
-* Deprecate Duration(rcl_duration_value_t) in favor of static Duration::from_nanoseconds(rcl_duration_value_t) (`#1432 <https://github.com/ros2/rclcpp/issues/1432>`_)
-* Avoid parsing arguments twice in `rclcpp::init_and_remove_ros_arguments` (`#1415 <https://github.com/ros2/rclcpp/issues/1415>`_)
-* Add service and client benchmarks (`#1425 <https://github.com/ros2/rclcpp/issues/1425>`_)
-* Set CMakeLists to only use default rmw for benchmarks (`#1427 <https://github.com/ros2/rclcpp/issues/1427>`_)
-* Update tracetools' QL in rclcpp's QD (`#1428 <https://github.com/ros2/rclcpp/issues/1428>`_)
-* Add missing locking to the rclcpp_action::ServerBase. (`#1421 <https://github.com/ros2/rclcpp/issues/1421>`_)
-* Initial benchmark tests for rclcpp::init/shutdown create/destroy node (`#1411 <https://github.com/ros2/rclcpp/issues/1411>`_)
-* Refactor test CMakeLists in prep for benchmarks (`#1422 <https://github.com/ros2/rclcpp/issues/1422>`_)
-* Add methods in topic and service interface to resolve a name (`#1410 <https://github.com/ros2/rclcpp/issues/1410>`_)
-* Update deprecated gtest macros (`#1370 <https://github.com/ros2/rclcpp/issues/1370>`_)
-* Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency (`#1303 <https://github.com/ros2/rclcpp/issues/1303>`_)
-* Increase test timeouts of slow running tests with rmw_connext_cpp (`#1400 <https://github.com/ros2/rclcpp/issues/1400>`_)
-* Avoid self dependency that not destoryed (`#1301 <https://github.com/ros2/rclcpp/issues/1301>`_)
-* Update maintainers (`#1384 <https://github.com/ros2/rclcpp/issues/1384>`_)
-* Add clock qos to node options (`#1375 <https://github.com/ros2/rclcpp/issues/1375>`_)
-* Fix NodeOptions copy constructor (`#1376 <https://github.com/ros2/rclcpp/issues/1376>`_)
-* Make sure to clean the external client/service handle. (`#1296 <https://github.com/ros2/rclcpp/issues/1296>`_)
-* Increase coverage of WaitSetTemplate (`#1368 <https://github.com/ros2/rclcpp/issues/1368>`_)
-* Increase coverage of guard_condition.cpp to 100% (`#1369 <https://github.com/ros2/rclcpp/issues/1369>`_)
-* Add coverage statement (`#1367 <https://github.com/ros2/rclcpp/issues/1367>`_)
-* Tests for LoanedMessage with mocked loaned message publisher (`#1366 <https://github.com/ros2/rclcpp/issues/1366>`_)
-* Add unit tests for qos and qos_event files (`#1352 <https://github.com/ros2/rclcpp/issues/1352>`_)
-* Finish coverage of publisher API (`#1365 <https://github.com/ros2/rclcpp/issues/1365>`_)
-* Finish API coverage on executors. (`#1364 <https://github.com/ros2/rclcpp/issues/1364>`_)
-* Add test for ParameterService (`#1355 <https://github.com/ros2/rclcpp/issues/1355>`_)
-* Add time API coverage tests (`#1347 <https://github.com/ros2/rclcpp/issues/1347>`_)
-* Add timer coverage tests (`#1363 <https://github.com/ros2/rclcpp/issues/1363>`_)
-* Add in additional tests for parameter_client.cpp coverage.
-* Minor fixes to the parameter_service.cpp file.
-* reset rcl_context shared_ptr after calling rcl_init sucessfully (`#1357 <https://github.com/ros2/rclcpp/issues/1357>`_)
-* Improved test publisher - zero qos history depth value exception (`#1360 <https://github.com/ros2/rclcpp/issues/1360>`_)
-* Covered resolve_use_intra_process (`#1359 <https://github.com/ros2/rclcpp/issues/1359>`_)
-* Improve test_subscription_options (`#1358 <https://github.com/ros2/rclcpp/issues/1358>`_)
-* Add in more tests for init_options coverage. (`#1353 <https://github.com/ros2/rclcpp/issues/1353>`_)
-* Test the remaining node public API (`#1342 <https://github.com/ros2/rclcpp/issues/1342>`_)
-* Complete coverage of Parameter and ParameterValue API (`#1344 <https://github.com/ros2/rclcpp/issues/1344>`_)
-* Add in more tests for the utilities. (`#1349 <https://github.com/ros2/rclcpp/issues/1349>`_)
-* Add in two more tests for expand_topic_or_service_name. (`#1350 <https://github.com/ros2/rclcpp/issues/1350>`_)
-* Add tests for node_options API (`#1343 <https://github.com/ros2/rclcpp/issues/1343>`_)
-* Add in more coverage for expand_topic_or_service_name. (`#1346 <https://github.com/ros2/rclcpp/issues/1346>`_)
-* Test exception in spin_until_future_complete. (`#1345 <https://github.com/ros2/rclcpp/issues/1345>`_)
-* Add coverage tests graph_listener (`#1330 <https://github.com/ros2/rclcpp/issues/1330>`_)
-* Add in unit tests for the Executor class.
-* Allow mimick patching of methods with up to 9 arguments.
-* Improve the error messages in the Executor class.
-* Add coverage for client API (`#1329 <https://github.com/ros2/rclcpp/issues/1329>`_)
-* Increase service coverage (`#1332 <https://github.com/ros2/rclcpp/issues/1332>`_)
-* Make more of the static entity collector API private.
-* Const-ify more of the static executor.
-* Add more tests for the static single threaded executor.
-* Many more tests for the static_executor_entities_collector.
-* Get one more line of code coverage in memory_strategy.cpp
-* Bugfix when adding callback group.
-* Fix typos in comments.
-* Remove deprecated executor::FutureReturnCode APIs. (`#1327 <https://github.com/ros2/rclcpp/issues/1327>`_)
-* Increase coverage of publisher/subscription API (`#1325 <https://github.com/ros2/rclcpp/issues/1325>`_)
-* Not finalize guard condition while destructing SubscriptionIntraProcess (`#1307 <https://github.com/ros2/rclcpp/issues/1307>`_)
-* Expose qos setting for /rosout (`#1247 <https://github.com/ros2/rclcpp/issues/1247>`_)
-* Add coverage for missing API (except executors) (`#1326 <https://github.com/ros2/rclcpp/issues/1326>`_)
-* Include topic name in QoS mismatch warning messages (`#1286 <https://github.com/ros2/rclcpp/issues/1286>`_)
-* Add coverage tests context functions (`#1321 <https://github.com/ros2/rclcpp/issues/1321>`_)
-* Increase coverage of node_interfaces, including with mocking rcl errors (`#1322 <https://github.com/ros2/rclcpp/issues/1322>`_)
-* Contributors: Ada-King, Alejandro Hernández Cordero, Audrow Nash, Barry Xu, Chen Lihui, Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, Jorge Perez, Morgan Quigley, brawner
-
-5.0.0 (2020-09-18)
-------------------
-* Make node_graph::count_graph_users() const (`#1320 <https://github.com/ros2/rclcpp/issues/1320>`_)
-* Add coverage for wait_set_policies (`#1316 <https://github.com/ros2/rclcpp/issues/1316>`_)
-* Only exchange intra_process waitable if nonnull (`#1317 <https://github.com/ros2/rclcpp/issues/1317>`_)
-* Check waitable for nullptr during constructor (`#1315 <https://github.com/ros2/rclcpp/issues/1315>`_)
-* Call vector.erase with end iterator overload (`#1314 <https://github.com/ros2/rclcpp/issues/1314>`_)
-* Use best effort, keep last, history depth 1 QoS Profile for '/clock' subscriptions (`#1312 <https://github.com/ros2/rclcpp/issues/1312>`_)
-* Add tests type_support module (`#1308 <https://github.com/ros2/rclcpp/issues/1308>`_)
-* Replace std_msgs with test_msgs in executors test (`#1310 <https://github.com/ros2/rclcpp/issues/1310>`_)
-* Add set_level for rclcpp::Logger (`#1284 <https://github.com/ros2/rclcpp/issues/1284>`_)
-* Remove unused private function (rclcpp::Node and rclcpp_lifecycle::Node) (`#1294 <https://github.com/ros2/rclcpp/issues/1294>`_)
-* Adding tests basic getters (`#1291 <https://github.com/ros2/rclcpp/issues/1291>`_)
-* Adding callback groups in executor (`#1218 <https://github.com/ros2/rclcpp/issues/1218>`_)
-* Refactor Subscription Topic Statistics Tests (`#1281 <https://github.com/ros2/rclcpp/issues/1281>`_)
-* Add operator!= for duration (`#1236 <https://github.com/ros2/rclcpp/issues/1236>`_)
-* Fix clock thread issue (`#1266 <https://github.com/ros2/rclcpp/issues/1266>`_) (`#1267 <https://github.com/ros2/rclcpp/issues/1267>`_)
-* Fix topic stats test, wait for more messages, only check the ones with samples (`#1274 <https://github.com/ros2/rclcpp/issues/1274>`_)
-* Add get_domain_id method to rclcpp::Context (`#1271 <https://github.com/ros2/rclcpp/issues/1271>`_)
-* Fixes for unit tests that fail under cyclonedds (`#1270 <https://github.com/ros2/rclcpp/issues/1270>`_)
-* initialize_logging\_ should be copied (`#1272 <https://github.com/ros2/rclcpp/issues/1272>`_)
-* Use static_cast instead of C-style cast for instrumentation (`#1263 <https://github.com/ros2/rclcpp/issues/1263>`_)
-* Make parameter clients use template constructors (`#1249 <https://github.com/ros2/rclcpp/issues/1249>`_)
-* Ability to configure domain_id via InitOptions. (`#1165 <https://github.com/ros2/rclcpp/issues/1165>`_)
-* Simplify and fix allocator memory strategy unit test for connext (`#1252 <https://github.com/ros2/rclcpp/issues/1252>`_)
-* Use global namespace for parameter events subscription topic (`#1257 <https://github.com/ros2/rclcpp/issues/1257>`_)
-* Increase timeouts for connext for long tests (`#1253 <https://github.com/ros2/rclcpp/issues/1253>`_)
-* Adjust test_static_executor_entities_collector for rmw_connext_cpp (`#1251 <https://github.com/ros2/rclcpp/issues/1251>`_)
-* Fix failing test with Connext since it doesn't wait for discovery (`#1246 <https://github.com/ros2/rclcpp/issues/1246>`_)
-* Fix node graph test with Connext and CycloneDDS returning actual data (`#1245 <https://github.com/ros2/rclcpp/issues/1245>`_)
-* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_)
-* Unittests for memory strategy files, except allocator_memory_strategy (`#1189 <https://github.com/ros2/rclcpp/issues/1189>`_)
-* EXPECT_THROW_EQ and ASSERT_THROW_EQ macros for unittests (`#1232 <https://github.com/ros2/rclcpp/issues/1232>`_)
-* Add unit test for static_executor_entities_collector (`#1221 <https://github.com/ros2/rclcpp/issues/1221>`_)
-* Parameterize test executors for all executor types (`#1222 <https://github.com/ros2/rclcpp/issues/1222>`_)
-* Unit tests for allocator_memory_strategy.cpp part 2 (`#1198 <https://github.com/ros2/rclcpp/issues/1198>`_)
-* Unit tests for allocator_memory_strategy.hpp (`#1197 <https://github.com/ros2/rclcpp/issues/1197>`_)
-* Derive and throw exception in spin_some spin_all for StaticSingleThreadedExecutor (`#1220 <https://github.com/ros2/rclcpp/issues/1220>`_)
-* Make ring buffer thread-safe (`#1213 <https://github.com/ros2/rclcpp/issues/1213>`_)
-* Add missing RCLCPP_PUBLIC to ~StaticExecutorEntitiesCollector (`#1227 <https://github.com/ros2/rclcpp/issues/1227>`_)
-* Document graph functions don't apply remap rules (`#1225 <https://github.com/ros2/rclcpp/issues/1225>`_)
-* Remove recreation of entities_collector (`#1217 <https://github.com/ros2/rclcpp/issues/1217>`_)
-* Contributors: Audrow Nash, Chen Lihui, Christophe Bedard, Daisuke Sato, Devin Bonnie, Dirk Thomas, Ivan Santiago Paunovic, Jacob Perron, Jannik Abbenseth, Jorge Perez, Pedro Pena, Shane Loretz, Stephen Brawner, Tomoya Fujita
-
-4.0.0 (2020-07-09)
-------------------
-* Fix rclcpp::NodeOptions::operator= (`#1211 <https://github.com/ros2/rclcpp/issues/1211>`_)
-* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_)
-* Unit tests for node interfaces (`#1202 <https://github.com/ros2/rclcpp/issues/1202>`_)
-* Remove usage of domain id in node options (`#1205 <https://github.com/ros2/rclcpp/issues/1205>`_)
-* Remove deprecated set_on_parameters_set_callback function (`#1199 <https://github.com/ros2/rclcpp/issues/1199>`_)
-* Fix conversion of negative durations to messages (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_)
-* Fix implementation of NodeOptions::use_global_arguments() (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_)
-* Bump to QD to level 3 and fixed links (`#1158 <https://github.com/ros2/rclcpp/issues/1158>`_)
-* Fix pub/sub count API tests (`#1203 <https://github.com/ros2/rclcpp/issues/1203>`_)
-* Update tracetools' QL to 2 in rclcpp's QD (`#1187 <https://github.com/ros2/rclcpp/issues/1187>`_)
-* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_)
-* Throw exception if rcl_timer_init fails (`#1179 <https://github.com/ros2/rclcpp/issues/1179>`_)
-* Unit tests for some header-only functions/classes (`#1181 <https://github.com/ros2/rclcpp/issues/1181>`_)
-* Callback should be perfectly-forwarded (`#1183 <https://github.com/ros2/rclcpp/issues/1183>`_)
-* Add unit tests for logging functionality (`#1184 <https://github.com/ros2/rclcpp/issues/1184>`_)
-* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_)
-* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Claire Wang, Dirk Thomas, Ivan Santiago Paunovic, Johannes Meyer, Michel Hidalgo, Stephen Brawner, tomoya
-
-3.0.0 (2020-06-18)
-------------------
-* Check period duration in create_wall_timer (`#1178 <https://github.com/ros2/rclcpp/issues/1178>`_)
-* Fix get_node_time_source_interface() docstring (`#988 <https://github.com/ros2/rclcpp/issues/988>`_)
-* Add message lost subscription event (`#1164 <https://github.com/ros2/rclcpp/issues/1164>`_)
-* Add spin_all method to Executor (`#1156 <https://github.com/ros2/rclcpp/issues/1156>`_)
-* Reorganize test directory and split CMakeLists.txt (`#1173 <https://github.com/ros2/rclcpp/issues/1173>`_)
+* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_) (`#1192 <https://github.com/ros2/rclcpp/issues/1192>`_)
+* Fix get_node_time_source_interface() docstring (`#988 <https://github.com/ros2/rclcpp/issues/988>`_) (`#1185 <https://github.com/ros2/rclcpp/issues/1185>`_)
+* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
 * Check if context is valid when looping in spin_some (`#1167 <https://github.com/ros2/rclcpp/issues/1167>`_)
-* Add check for invalid topic statistics publish period (`#1151 <https://github.com/ros2/rclcpp/issues/1151>`_)
 * Fix spin_until_future_complete: check spinning value (`#1023 <https://github.com/ros2/rclcpp/issues/1023>`_)
-* Fix doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_)
-* Fix reference to rclcpp in its Quality declaration (`#1161 <https://github.com/ros2/rclcpp/issues/1161>`_)
-* Allow spin_until_future_complete to accept any future like object (`#1113 <https://github.com/ros2/rclcpp/issues/1113>`_)
-* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Devin Bonnie, Dirk Thomas, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Sarthak Mittal, brawner, tomoya
+  Make Executor::spin_once_impl private before backporting, to avoid API compatibility issues
+* Add check for invalid topic statistics publish period (`#1151 <https://github.com/ros2/rclcpp/issues/1151>`_) (`#1172 <https://github.com/ros2/rclcpp/issues/1172>`_)
+* Contributors: Alejandro Hernández Cordero, Devin Bonnie, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Stephen Brawner
 
 2.0.0 (2020-06-01)
 ------------------

rclcpp/CMakeLists.txt

@@ -5,7 +5,6 @@ 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)
@@ -21,10 +20,9 @@ find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(statistics_msgs REQUIRED)
 find_package(tracetools REQUIRED)
 
-# TODO(wjwwood): remove this when gtest can build on its own, when using target_compile_features()
-# Default to C++17
+# Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD 14)
 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
@@ -41,8 +39,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/clock.cpp
   src/rclcpp/context.cpp
   src/rclcpp/contexts/default_context.cpp
-  src/rclcpp/detail/mutex_two_priorities.cpp
-  src/rclcpp/detail/resolve_parameter_overrides.cpp
   src/rclcpp/detail/rmw_implementation_specific_payload.cpp
   src/rclcpp/detail/rmw_implementation_specific_publisher_payload.cpp
   src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
@@ -53,14 +49,12 @@ set(${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
@@ -70,8 +64,8 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/memory_strategies.cpp
   src/rclcpp/memory_strategy.cpp
   src/rclcpp/message_info.cpp
-  src/rclcpp/network_flow_endpoint.cpp
   src/rclcpp/node.cpp
+  src/rclcpp/node_options.cpp
   src/rclcpp/node_interfaces/node_base.cpp
   src/rclcpp/node_interfaces/node_clock.cpp
   src/rclcpp/node_interfaces/node_graph.cpp
@@ -82,18 +76,15 @@ set(${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
-  src/rclcpp/qos_overriding_options.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp
@@ -104,7 +95,6 @@ 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
@@ -176,12 +166,8 @@ foreach(interface_file ${interface_files})
     include/rclcpp/node_interfaces/get_${interface_name}.hpp)
 endforeach()
 
-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()
+add_library(${PROJECT_NAME}
+  ${${PROJECT_NAME}_SRCS})
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
@@ -189,7 +175,6 @@ target_include_directories(${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"
@@ -220,7 +205,6 @@ 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)

rclcpp/QUALITY_DECLARATION.md

@@ -1,16 +1,16 @@
 This document is a declaration of software quality for the `rclcpp` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
 
-# rclcpp Quality Declaration
+# `rclcpp` Quality Declaration
 
-The package `rclcpp` claims to be in the **Quality Level 1** category when it is used with a **Quality Level 1** middleware.
+The package `rclcpp` claims to be in the **Quality Level 4** category.
 
-Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://www.ros.org/reps/rep-2004.html) 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://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories) 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://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#versioning).
+`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)
 
 ### 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://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process).
+`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).
 
 ### Change Requests [2.i]
 
-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.
+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.
 
 ### 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://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process) for additional information.
+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.
 
 ### Continuous Integration [2.iv]
 
@@ -76,19 +76,19 @@ All pull requests must resolve related documentation changes before merging.
 
 ### Public API Documentation [3.ii]
 
-The API is publicly available in its [ROS 2 API documentation](http://docs.ros2.org/latest/api/rclcpp/).
+The API is publicly available in the [ROS 2 API documentation](http://docs.ros2.org/latest/api/rclcpp/).
 
 ### License [3.iii]
 
 The license for `rclcpp` is Apache 2.0, and a summary is in each source file, the type is declared in the [`package.xml`](./package.xml) manifest file, and a full copy of the license is in the [`LICENSE`](../LICENSE) file.
 
-There is an automated test which runs a linter that ensures each file has a license statement. [Here](http://build.ros2.org/view/Rpr/job/Rpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp/) can be found a list with the latest results of the various linters being run on the package.
+There is an automated test which runs a linter that ensures each file has a license statement. [Here](http://build.ros2.org/view/Epr/job/Epr__rclcpp__ubuntu_bionic_amd64/lastBuild/testReport/rclcpp/) can be found a list with the latest results of the various linters being run on the package.
 
 ### Copyright Statements [3.iv]
 
 The copyright holders each provide a statement of copyright in each source code file in `rclcpp`.
 
-There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [here](http://build.ros2.org/view/Rpr/job/Rpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp/copyright/).
+There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [here](http://build.ros2.org/view/Epr/job/Epr__rclcpp__ubuntu_bionic_amd64/lastBuild/testReport/rclcpp/copyright/).
 
 ## Testing [4]
 
@@ -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://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#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://index.ros.org/doc/ros2/Contributing/Developer-Guide/#code-coverage), and opts to use line coverage instead of branch coverage.
 
 This includes:
 
@@ -121,25 +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://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://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).
-
-System level performance benchmarks that cover features of `rclcpp` can be found at:
-* [Benchmarks](http://build.ros2.org/view/Rci/job/Rci__benchmark_ubuntu_focal_amd64/BenchmarkTable/)
-* [Performance](http://build.ros2.org/view/Rci/job/Rci__nightly-performance_ubuntu_focal_amd64/lastCompletedBuild/)
-
-Changes that introduce regressions in performance must be adequately justified in order to be accepted and merged.
+It is not yet defined if this package requires performance testing and how addresses this topic.
 
 ### Linters and Static Analysis [4.v]
 
-`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.
+`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.
 
 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/)
@@ -163,49 +151,49 @@ It also has several test dependencies, which do not affect the resulting quality
 
 The `libstatistics_collector` package provides lightweight aggregation utilities to collect statistics and measure message metrics.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros-tooling/libstatistics_collector/tree/master/QUALITY_DECLARATION.md).
+It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros-tooling/libstatistics_collector/tree/master/QUALITY_DECLARATION.md).
 
 #### `rcl`
 
 `rcl` a library to support implementation of language specific ROS 2 Client Libraries.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/blob/master/rcl/QUALITY_DECLARATION.md).
+It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl/blob/master/rcl/QUALITY_DECLARATION.md).
 
 #### `rcl_yaml_param_parser`
 
 The `rcl_yaml_param_parser` package provides an API that is used to parse YAML configuration files which may be used to configure ROS and specific nodes.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/master/rcl_yaml_param_parser/QUALITY_DECLARATION.md).
+It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/master/rcl_yaml_param_parser/QUALITY_DECLARATION.md).
 
 #### `rcpputils`
 
 The `rcpputils` package provides an API which contains common utilities and data structures useful when programming in C++.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcpputils/blob/master/QUALITY_DECLARATION.md).
+It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcpputils/blob/master/QUALITY_DECLARATION.md).
 
 #### `rcutils`
 
 The `rcutils` package provides an API which contains common utilities and data structures useful when programming in C.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md).
+It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md).
 
 #### `rmw`
 
 `rmw` is the ROS 2 middleware library.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/master/rmw/QUALITY_DECLARATION.md).
+It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/master/rmw/QUALITY_DECLARATION.md).
 
 #### `statistics_msgs`
 
 The `statistics_msgs` package contains ROS 2 message definitions for reporting statistics for topics and system resources.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/master/statistics_msgs/QUALITY_DECLARATION.md).
+It is **Quality Level 4**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/master/statistics_msgs/QUALITY_DECLARATION.md).
 
 #### `tracetools`
 
-The `tracetools` package provides utilities for instrumenting the code in `rclcpp` so that it may be traced for debugging and performance analysis.
+The `tracetools` package provides utilities for instrumenting the code in `rcl` so that it may be traced for debugging and performance analysis.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://gitlab.com/ros-tracing/ros2_tracing/-/blob/master/tracetools/QUALITY_DECLARATION.md).
+It is **Quality Level 4**, see its [Quality Declaration document](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/-/blob/master/tracetools/QUALITY_DECLARATION.md).
 
 ### Direct Runtime non-ROS Dependency [5.iii]
 

rclcpp/README.md

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

rclcpp/doc/notes_on_statically_typed_parameters.md

@@ -1,141 +0,0 @@
-# Notes on statically typed parameters
-
-## Introduction
-
-Until ROS 2 Foxy, all parameters could change type anytime, except if the user installed a parameter callback to reject a change.
-This could generate confusing errors, for example:
-
-```
-$ ros2 run demo_nodes_py listener &
-$ ros2 param set /listener use_sim_time not_a_boolean
-[ERROR] [1614712713.233733147] [listener]: use_sim_time parameter set to something besides a bool
-Set parameter successful
-$ ros2 param get /listener use_sim_time
-String value is: not_a_boolean
-```
-
-For most use cases, having static parameter types is enough.
-This article documents some of the decisions that were made when implementing static parameter types enforcement in:
-
-* https://github.com/ros2/rclcpp/pull/1522
-* https://github.com/ros2/rclpy/pull/683
-
-## Allowing dynamically typed parameters
-
-There might be some scenarios where dynamic typing is desired, so a `dynamic_typing` field was added to the [parameter descriptor](https://github.com/ros2/rcl_interfaces/blob/09b5ed93a733adb9deddc47f9a4a8c6e9f584667/rcl_interfaces/msg/ParameterDescriptor.msg#L25).
-It defaults to `false`.
-
-For example:
-
-```cpp
-rcl_interfaces::msg::ParameterDescriptor descriptor;
-descriptor.dynamic_typing = true;
-
-node->declare_parameter("dynamically_typed_parameter", rclcpp::ParameterValue{}, descriptor);
-```
-
-```py
-rcl_interfaces.msg.ParameterDescriptor descriptor;
-descriptor.dynamic_typing = True;
-
-node.declare_parameter("dynamically_typed_parameter", None, descriptor);
-```
-
-## How is the parameter type specified?
-
-The parameter type will be inferred from the default value provided when declaring it.
-
-## Statically typed parameters when allowing undeclared parameters
-
-When undeclared parameters are allowed and a parameter is set without a previous declaration, the parameter will be dynamically typed.
-This is consistent with other allowed behaviors when undeclared parameters are allowed, e.g. trying to get an undeclared parameter returns "NOT_SET".
-Parameter declarations will remain special and dynamic or static typing will be used based on the parameter descriptor (default to static).
-
-## Declaring a parameter without a default value
-
-There might be cases were a default value does not make sense and the user must always provide an override.
-In those cases, the parameter type can be specified explicitly:
-
-```cpp
-// method signature
-template<typename T>
-Node::declare_parameter<T>(std::string name, rcl_interfaces::msg::ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor{});
-// or alternatively
-Node::declare_parameter(std::string name, rclcpp::ParameterType type, rcl_interfaces::msg::ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor{});
-
-// examples
-node->declare_parameter<int64_t>("my_integer_parameter");  // declare an integer parameter
-node->declare_parameter("another_integer_parameter", rclcpp::ParameterType::PARAMETER_INTEGER);  // another way to do the same
-```
-
-```py
-# method signature
-Node.declare_parameter(name: str, param_type: rclpy.Parameter.Type, descriptor: rcl_interfaces.msg.ParameterDescriptor = rcl_interfaces.msg.ParameterDescriptor())
-
-# example
-node.declare_parameter('my_integer_parameter', rclpy.Parameter.Type.INTEGER);  # declare an integer parameter
-```
-
-If the parameter may be unused, but when used requires a parameter override, then you could conditionally declare it:
-
-```cpp
-auto mode = node->declare_parameter("mode", "modeA");  // "mode" parameter is an string
-if (mode == "modeB") {
-    node->declare_parameter<int64_t>("param_needed_when_mode_b");  // when "modeB", the user must provide "param_needed_when_mode_b"
-}
-```
-
-## Other migration notes
-
-Declaring a parameter with only a name is deprecated:
-
-```cpp
-node->declare_parameter("my_param");  // this generates a build warning
-```
-
-```py
-node.declare_parameter("my_param");  # this generates a python user warning
-```
-
-Before, you could initialize a parameter with the "NOT SET" value (in cpp `rclcpp::ParameterValue{}`, in python `None`).
-Now this will throw an exception in both cases:
-
-```cpp
-node->declare_parameter("my_param", rclcpp::ParameterValue{});  // not valid, will throw exception
-```
-
-```py
-node.declare_parameter("my_param", None);  # not valid, will raise error
-```
-
-## Possible improvements
-
-### Easier way to declare dynamically typed parameters
-
-Declaring a dynamically typed parameter in `rclcpp` could be considered to be a bit verbose:
-
-```cpp
-rcl_interfaces::msg::ParameterDescriptor descriptor;
-descriptor.dynamic_typing = true;
-
-node->declare_parameter(name, rclcpp::ParameterValue{}, descriptor);
-```
-
-the following ways could be supported to make it simpler:
-
-```cpp
-node->declare_parameter(name, rclcpp::PARAMETER_DYNAMIC);
-node->declare_parameter(name, default_value, rclcpp::PARAMETER_DYNAMIC);
-```
-
-or alternatively:
-
-```cpp
-node->declare_parameter(name, default_value, rclcpp::ParameterDescriptor{}.dynamic_typing());
-```
-
-For `rclpy`, there's already a short way to do it:
-
-```py
-node.declare_parameter(name, default_value, rclpy.ParameterDescriptor(dynamic_typing=true));
-```

rclcpp/include/rclcpp/any_executable.hpp

@@ -47,9 +47,14 @@ struct AnyExecutable
   // These are used to keep the scope on the containing items
   rclcpp::CallbackGroup::SharedPtr callback_group;
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
-  std::shared_ptr<void> data;
 };
 
+namespace executor
+{
+
+using AnyExecutable [[deprecated("use rclcpp::AnyExecutable instead")]] = AnyExecutable;
+
+}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__ANY_EXECUTABLE_HPP_

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -88,7 +88,7 @@ public:
     std::shared_ptr<typename ServiceT::Request> request,
     std::shared_ptr<typename ServiceT::Response> response)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACEPOINT(callback_start, (const void *)this, false);
     if (shared_ptr_callback_ != nullptr) {
       (void)request_header;
       shared_ptr_callback_(request, response);
@@ -97,7 +97,7 @@ public:
     } else {
       throw std::runtime_error("unexpected request without any callback set");
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
   void register_callback_for_tracing()
@@ -106,13 +106,13 @@ public:
     if (shared_ptr_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
-        tracetools::get_symbol(shared_ptr_callback_));
+        (const void *)this,
+        get_symbol(shared_ptr_callback_));
     } else if (shared_ptr_with_request_header_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
-        tracetools::get_symbol(shared_ptr_with_request_header_callback_));
+        (const void *)this,
+        get_symbol(shared_ptr_with_request_header_callback_));
     }
 #endif  // TRACETOOLS_DISABLED
   }

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -15,394 +15,253 @@
 #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 "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;
+#include "rclcpp/visibility_control.hpp"
+#include "tracetools/tracetools.h"
+#include "tracetools/utils.hpp"
 
 namespace rclcpp
 {
 
-namespace detail
-{
-
-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>;
-};
-
-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 (std::unique_ptr<MessageT, MessageDeleter>, const rclcpp::MessageInfo &)>;
-
-  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>
->
+template<typename MessageT, typename Alloc>
 class AnySubscriptionCallback
 {
-private:
-  using HelperT = typename rclcpp::detail::AnySubscriptionCallbackHelper<MessageT, AllocatorT>;
-  using MessageDeleterHelper = rclcpp::detail::MessageDeleterHelper<MessageT, AllocatorT>;
+  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+  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 MessageAllocTraits = typename MessageDeleterHelper::MessageAllocTraits;
-  using MessageAlloc = typename MessageDeleterHelper::MessageAlloc;
-  using MessageDeleter = typename MessageDeleterHelper::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)>;
+  using UniquePtrWithInfoCallback =
+    std::function<void (MessageUniquePtr, const rclcpp::MessageInfo &)>;
 
-  // 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;
+  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_;
 
 public:
-  explicit
-  AnySubscriptionCallback(const AllocatorT & allocator = AllocatorT())  // NOLINT[runtime/explicit]
+  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)
   {
-    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_ = *allocator;
-    allocator::set_allocator_for_deleter(&message_deleter_, &message_allocator_);
+    message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
+    allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
   }
 
   AnySubscriptionCallback(const AnySubscriptionCallback &) = default;
 
-  /// 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)
-  {
-    // 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 =
+  template<
+    typename CallbackT,
+    typename std::enable_if<
       rclcpp::function_traits::same_arguments<
-      typename scbth::callback_type,
-      std::function<void(std::shared_ptr<MessageT>)>
+        CallbackT,
+        SharedPtrCallback
       >::value
-      ||
+    >::type * = nullptr
+  >
+  void set(CallbackT callback)
+  {
+    shared_ptr_callback_ = callback;
+  }
+
+  template<
+    typename CallbackT,
+    typename std::enable_if<
       rclcpp::function_traits::same_arguments<
-      typename scbth::callback_type,
-      std::function<void(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>
-      >::value;
+        CallbackT,
+        SharedPtrWithInfoCallback
+      >::value
+    >::type * = nullptr
+  >
+  void set(CallbackT callback)
+  {
+    shared_ptr_with_info_callback_ = callback;
+  }
 
-    // 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));
+  template<
+    typename CallbackT,
+    typename std::enable_if<
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        ConstSharedPtrCallback
+      >::value
+    >::type * = nullptr
+  >
+  void set(CallbackT callback)
+  {
+    const_shared_ptr_callback_ = callback;
+  }
+
+  template<
+    typename CallbackT,
+    typename std::enable_if<
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        ConstSharedPtrWithInfoCallback
+      >::value
+    >::type * = nullptr
+  >
+  void set(CallbackT callback)
+  {
+    const_shared_ptr_with_info_callback_ = callback;
+  }
+
+  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)
+  {
+    TRACEPOINT(callback_start, (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 {
-      // Otherwise just assign it.
-      callback_variant_ = static_cast<typename scbth::callback_type>(callback);
+      throw std::runtime_error("unexpected message without any callback set");
     }
-
-    // Return copy of self for easier testing, normally will be compiled out.
-    return *this;
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
-  /// 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)
+  void dispatch_intra_process(
+    ConstMessageSharedPtr message, const rclcpp::MessageInfo & message_info)
   {
-    callback_variant_ = 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)
-  {
-    callback_variant_ = callback;
-  }
-
-  std::unique_ptr<MessageT, MessageDeleter>
-  create_unique_ptr_from_shared_ptr_message(const std::shared_ptr<const MessageT> & message)
-  {
-    auto ptr = MessageAllocTraits::allocate(message_allocator_, 1);
-    MessageAllocTraits::construct(message_allocator_, ptr, *message);
-    return std::unique_ptr<MessageT, MessageDeleter>(ptr, message_deleter_);
-  }
-
-  void
-  dispatch(
-    std::shared_ptr<MessageT> message,
-    const rclcpp::MessageInfo & message_info)
-  {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
-    // Check if the variant is "unset", throw if it is.
-    if (callback_variant_.index() == 0) {
-      if (std::get<0>(callback_variant_) == nullptr) {
-        // This can happen if it is default initialized, or if it is assigned nullptr.
-        throw std::runtime_error("dispatch called on an unset AnySubscriptionCallback");
+    TRACEPOINT(callback_start, (const void *)this, true);
+    if (const_shared_ptr_callback_) {
+      const_shared_ptr_callback_(message);
+    } else if (const_shared_ptr_with_info_callback_) {
+      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");
       }
     }
-    // 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));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
-  void
-  dispatch_intra_process(
-    std::shared_ptr<const MessageT> message,
-    const rclcpp::MessageInfo & message_info)
+  void dispatch_intra_process(
+    MessageUniquePtr message, const rclcpp::MessageInfo & message_info)
   {
-    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");
-      }
+    TRACEPOINT(callback_start, (const void *)this, true);
+    if (shared_ptr_callback_) {
+      typename std::shared_ptr<MessageT> shared_message = std::move(message);
+      shared_ptr_callback_(shared_message);
+    } 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");
     }
-    // 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));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
-  void
-  dispatch_intra_process(
-    std::unique_ptr<MessageT, MessageDeleter> message,
-    const rclcpp::MessageInfo & message_info)
+  bool use_take_shared_method() const
   {
-    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));
+    return const_shared_ptr_callback_ || const_shared_ptr_with_info_callback_;
   }
 
-  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()
+  void register_callback_for_tracing()
   {
 #ifndef TRACETOOLS_DISABLED
-    std::visit(
-      [this](auto && callback) {
-        TRACEPOINT(
-          rclcpp_callback_register,
-          static_cast<const void *>(this),
-          tracetools::get_symbol(callback));
-      }, callback_variant_);
+    if (shared_ptr_callback_) {
+      TRACEPOINT(
+        rclcpp_callback_register,
+        (const void *)this,
+        get_symbol(shared_ptr_callback_));
+    } else if (shared_ptr_with_info_callback_) {
+      TRACEPOINT(
+        rclcpp_callback_register,
+        (const void *)this,
+        get_symbol(shared_ptr_with_info_callback_));
+    } else if (unique_ptr_callback_) {
+      TRACEPOINT(
+        rclcpp_callback_register,
+        (const void *)this,
+        get_symbol(unique_ptr_callback_));
+    } else if (unique_ptr_with_info_callback_) {
+      TRACEPOINT(
+        rclcpp_callback_register,
+        (const void *)this,
+        get_symbol(unique_ptr_with_info_callback_));
+    }
 #endif  // TRACETOOLS_DISABLED
   }
 
-  typename HelperT::variant_type &
-  get_variant()
-  {
-    return callback_variant_;
-  }
-
-  const typename HelperT::variant_type &
-  get_variant() const
-  {
-    return callback_variant_;
-  }
-
 private:
-  // 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_;
+  std::shared_ptr<MessageAlloc> message_allocator_;
   MessageDeleter message_deleter_;
 };
 

rclcpp/include/rclcpp/callback_group.hpp

@@ -56,44 +56,8 @@ class CallbackGroup
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup)
 
-  /// Constructor for CallbackGroup.
-  /**
-   * Callback Groups have a type, either 'Mutually Exclusive' or 'Reentrant'
-   * and when creating one the type must be specified.
-   *
-   * Callbacks in Reentrant Callback Groups must be able to:
-   *   - run at the same time as themselves (reentrant)
-   *   - run at the same time as other callbacks in their group
-   *   - run at the same time as other callbacks in other groups
-   *
-   * Callbacks in Mutually Exclusive Callback Groups:
-   *   - will not be run multiple times simultaneously (non-reentrant)
-   *   - will not be run at the same time as other callbacks in their group
-   *   - but must run at the same time as callbacks in other groups
-   *
-   * Additionally, callback groups have a property which determines whether or
-   * not they are added to an executor with their associated node automatically.
-   * When creating a callback group the automatically_add_to_executor_with_node
-   * argument determines this behavior, and if true it will cause the newly
-   * created callback group to be added to an executor with the node when the
-   * Executor::add_node method is used.
-   * If false, this callback group will not be added automatically and would
-   * have to be added to an executor manually using the
-   * Executor::add_callback_group method.
-   *
-   * Whether the node was added to the executor before creating the callback
-   * group, or after, is irrelevant; the callback group will be automatically
-   * added to the executor in either case.
-   *
-   * \param[in] group_type The type of the callback group.
-   * \param[in] automatically_add_to_executor_with_node A boolean that
-   *   determines whether a callback group is automatically added to an executor
-   *   with the node with which it is associated.
-   */
   RCLCPP_PUBLIC
-  explicit CallbackGroup(
-    CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true);
+  explicit CallbackGroup(CallbackGroupType group_type);
 
   template<typename Function>
   rclcpp::SubscriptionBase::SharedPtr
@@ -138,31 +102,6 @@ public:
   const CallbackGroupType &
   type() const;
 
-  /// Return a reference to the 'associated with executor' atomic boolean.
-  /**
-   * When a callback group is added to an executor this boolean is checked
-   * to ensure it has not already been added to another executor.
-   * If it has not been, then this boolean is set to true to indicate it is
-   * now associated with an executor.
-   *
-   * When the callback group is removed from the executor, this atomic boolean
-   * is set back to false.
-   *
-   * \return the 'associated with executor' atomic boolean
-   */
-  RCLCPP_PUBLIC
-  std::atomic_bool &
-  get_associated_with_executor_atomic();
-
-  /// Return true if this callback group should be automatically added to an executor by the node.
-  /**
-   * \return boolean true if this callback group should be automatically added
-   *   to an executor when the associated node is added, otherwise false.
-   */
-  RCLCPP_PUBLIC
-  bool
-  automatically_add_to_executor_with_node() const;
-
 protected:
   RCLCPP_DISABLE_COPY(CallbackGroup)
 
@@ -197,14 +136,12 @@ protected:
   CallbackGroupType type_;
   // Mutex to protect the subsequent vectors of pointers.
   mutable std::mutex mutex_;
-  std::atomic_bool associated_with_executor_;
   std::vector<rclcpp::SubscriptionBase::WeakPtr> subscription_ptrs_;
   std::vector<rclcpp::TimerBase::WeakPtr> timer_ptrs_;
   std::vector<rclcpp::ServiceBase::WeakPtr> service_ptrs_;
   std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
   std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
   std::atomic_bool can_be_taken_from_;
-  const bool automatically_add_to_executor_with_node_;
 
 private:
   template<typename TypeT, typename Function>
@@ -222,6 +159,13 @@ 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/client.hpp

@@ -361,8 +361,7 @@ public:
     SharedPromiseWithRequest promise = std::make_shared<PromiseWithRequest>();
     SharedFutureWithRequest future_with_request(promise->get_future());
 
-    auto wrapping_cb = [future_with_request, promise, request,
-        cb = std::forward<CallbackWithRequestType>(cb)](SharedFuture future) {
+    auto wrapping_cb = [future_with_request, promise, request, &cb](SharedFuture future) {
         auto response = future.get();
         promise->set_value(std::make_pair(request, response));
         cb(future_with_request);

rclcpp/include/rclcpp/clock.hpp

@@ -136,7 +136,7 @@ private:
   RCLCPP_PUBLIC
   static void
   on_time_jump(
-    const rcl_time_jump_t * time_jump,
+    const struct rcl_time_jump_t * time_jump,
     bool before_jump,
     void * user_data);
 

rclcpp/include/rclcpp/context.hpp

@@ -139,18 +139,13 @@ public:
   rclcpp::InitOptions
   get_init_options();
 
-  /// Return actual domain id.
-  RCLCPP_PUBLIC
-  size_t
-  get_domain_id() const;
-
   /// Return the shutdown reason, or empty string if not shutdown.
   /**
    * This function is thread-safe.
    */
   RCLCPP_PUBLIC
   std::string
-  shutdown_reason() const;
+  shutdown_reason();
 
   /// Shutdown the context, making it uninitialized and therefore invalid for derived entities.
   /**
@@ -248,6 +243,67 @@ public:
   void
   interrupt_all_sleep_for();
 
+  /// Get a handle to the guard condition which is triggered when interrupted.
+  /**
+   * This guard condition is triggered any time interrupt_all_wait_sets() is
+   * called, which may be called by the user, or shutdown().
+   * And in turn, shutdown() may be called by the user, the destructor of this
+   * context, or the signal handler if installed and shutdown_on_sigint is true
+   * for this context.
+   *
+   * The first time that this function is called for a given wait set a new guard
+   * condition will be created and returned; thereafter the same guard condition
+   * will be returned for the same wait set.
+   * This mechanism is designed to ensure that the same guard condition is not
+   * reused across wait sets (e.g., when using multiple executors in the same
+   * process).
+   * This method will throw an exception if initialization of the guard
+   * condition fails.
+   *
+   * The returned guard condition needs to be released with the
+   * release_interrupt_guard_condition() method in order to reclaim resources.
+   *
+   * \param[in] wait_set Pointer to the rcl_wait_set_t that will be using the
+   *   resulting guard condition.
+   * \return Pointer to the guard condition.
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
+   */
+  RCLCPP_PUBLIC
+  rcl_guard_condition_t *
+  get_interrupt_guard_condition(rcl_wait_set_t * wait_set);
+
+  /// Release the previously allocated guard condition which is triggered when interrupted.
+  /**
+   * If you previously called get_interrupt_guard_condition() for a given wait
+   * set to get a interrupt guard condition, then you should call
+   * release_interrupt_guard_condition() when you're done, to free that
+   * condition.
+   * Will throw an exception if get_interrupt_guard_condition() wasn't
+   * previously called for the given wait set.
+   *
+   * After calling this, the pointer returned by get_interrupt_guard_condition()
+   * for the given wait_set is invalid.
+   *
+   * \param[in] wait_set Pointer to the rcl_wait_set_t that was using the
+   *   resulting guard condition.
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
+   * \throws std::runtime_error if a nonexistent wait set is trying to release sigint guard condition.
+   */
+  RCLCPP_PUBLIC
+  void
+  release_interrupt_guard_condition(rcl_wait_set_t * wait_set);
+
+  /// Nothrow version of release_interrupt_guard_condition(), logs to RCLCPP_ERROR instead.
+  RCLCPP_PUBLIC
+  void
+  release_interrupt_guard_condition(rcl_wait_set_t * wait_set, const std::nothrow_t &) noexcept;
+
+  /// Interrupt any blocking executors, or wait sets associated with this context.
+  RCLCPP_PUBLIC
+  virtual
+  void
+  interrupt_all_wait_sets();
+
   /// Return a singleton instance for the SubContext type, constructing one if necessary.
   template<typename SubContext, typename ... Args>
   std::shared_ptr<SubContext>
@@ -286,7 +342,7 @@ private:
 
   // This mutex is recursive so that the destructor can ensure atomicity
   // between is_initialized and shutdown.
-  mutable std::recursive_mutex init_mutex_;
+  std::recursive_mutex init_mutex_;
   std::shared_ptr<rcl_context_t> rcl_context_;
   rclcpp::InitOptions init_options_;
   std::string shutdown_reason_;
@@ -307,6 +363,11 @@ private:
   /// Mutex for protecting the global condition variable.
   std::mutex interrupt_mutex_;
 
+  /// Mutex to protect sigint_guard_cond_handles_.
+  std::mutex interrupt_guard_cond_handles_mutex_;
+  /// Guard conditions for interrupting of associated wait sets on interrupt_all_wait_sets().
+  std::unordered_map<rcl_wait_set_t *, rcl_guard_condition_t> interrupt_guard_cond_handles_;
+
   /// Keep shared ownership of global vector of weak contexts
   std::shared_ptr<WeakContextsWrapper> weak_contexts_;
 };

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -36,6 +36,22 @@ 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

@@ -1,69 +0,0 @@
-// 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

@@ -1,79 +0,0 @@
-// 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/create_publisher.hpp

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

rclcpp/include/rclcpp/create_subscription.hpp

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

rclcpp/include/rclcpp/create_timer.hpp

@@ -76,14 +76,14 @@ create_timer(
  * \tparam DurationRepT
  * \tparam DurationT
  * \tparam CallbackT
- * \param period period to execute callback. This duration must be 0 <= period < nanoseconds::max()
+ * \param period period to exectute callback
  * \param callback callback to execute via the timer period
  * \param group
  * \param node_base
  * \param node_timers
  * \return
  * \throws std::invalid argument if either node_base or node_timers
- * are null, or period is negative or too large
+ * are null
  */
 template<typename DurationRepT, typename DurationT, typename CallbackT>
 typename rclcpp::WallTimer<CallbackT>::SharedPtr
@@ -102,38 +102,10 @@ create_wall_timer(
     throw std::invalid_argument{"input node_timers cannot be null"};
   }
 
-  if (period < std::chrono::duration<DurationRepT, DurationT>::zero()) {
-    throw std::invalid_argument{"timer period cannot be negative"};
-  }
-
-  // Casting to a double representation might lose precision and allow the check below to succeed
-  // but the actual cast to nanoseconds fail. Using 1 DurationT worth of nanoseconds less than max.
-  constexpr auto maximum_safe_cast_ns =
-    std::chrono::nanoseconds::max() - std::chrono::duration<DurationRepT, DurationT>(1);
-
-  // If period is greater than nanoseconds::max(), the duration_cast to nanoseconds will overflow
-  // a signed integer, which is undefined behavior. Checking whether any std::chrono::duration is
-  // greater than nanoseconds::max() is a difficult general problem. This is a more conservative
-  // version of Howard Hinnant's (the <chrono> guy>) response here:
-  // https://stackoverflow.com/a/44637334/2089061
-  // However, this doesn't solve the issue for all possible duration types of period.
-  // Follow-up issue: https://github.com/ros2/rclcpp/issues/1177
-  constexpr auto ns_max_as_double =
-    std::chrono::duration_cast<std::chrono::duration<double, std::chrono::nanoseconds::period>>(
-    maximum_safe_cast_ns);
-  if (period > ns_max_as_double) {
-    throw std::invalid_argument{
-            "timer period must be less than std::chrono::nanoseconds::max()"};
-  }
-
-  const auto period_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(period);
-  if (period_ns < std::chrono::nanoseconds::zero()) {
-    throw std::runtime_error{
-            "Casting timer period to nanoseconds resulted in integer overflow."};
-  }
-
   auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
-    period_ns, std::move(callback), node_base->get_context());
+    std::chrono::duration_cast<std::chrono::nanoseconds>(period),
+    std::move(callback),
+    node_base->get_context());
   node_timers->add_timer(timer, group);
   return timer;
 }

rclcpp/include/rclcpp/detail/mutex_two_priorities.hpp

@@ -1,76 +0,0 @@
-// 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__MUTEX_TWO_PRIORITIES_HPP_
-#define RCLCPP__DETAIL__MUTEX_TWO_PRIORITIES_HPP_
-
-#include <condition_variable>
-#include <mutex>
-
-namespace rclcpp
-{
-namespace detail
-{
-/// \internal A mutex that has two locking mechanism, one with higher priority than the other.
-/**
- * After the current mutex owner release the lock, a thread that used the high
- * priority mechanism will have priority over threads that used the low priority mechanism.
- */
-class MutexTwoPriorities
-{
-public:
-  class HighPriorityLockable
-  {
-public:
-    explicit HighPriorityLockable(MutexTwoPriorities & parent);
-
-    void lock();
-
-    void unlock();
-
-private:
-    MutexTwoPriorities & parent_;
-  };
-
-  class LowPriorityLockable
-  {
-public:
-    explicit LowPriorityLockable(MutexTwoPriorities & parent);
-
-    void lock();
-
-    void unlock();
-
-private:
-    MutexTwoPriorities & parent_;
-  };
-
-  HighPriorityLockable
-  get_high_priority_lockable();
-
-  LowPriorityLockable
-  get_low_priority_lockable();
-
-private:
-  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
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__MUTEX_TWO_PRIORITIES_HPP_

rclcpp/include/rclcpp/detail/qos_parameters.hpp

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

rclcpp/include/rclcpp/detail/subscription_callback_type_helper.hpp

@@ -1,164 +0,0 @@
-// 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/duration.hpp

@@ -38,14 +38,10 @@ public:
    */
   Duration(int32_t seconds, uint32_t nanoseconds);
 
-  /// Construct duration from the specified nanoseconds.
-  [[deprecated(
-    "Use Duration::from_nanoseconds instead or std::chrono_literals. For example:"
-    "rclcpp::Duration::from_nanoseconds(int64_variable);"
-    "rclcpp::Duration(0ns);")]]
+  // This constructor matches any numeric value - ints or floats.
   explicit Duration(rcl_duration_value_t nanoseconds);
 
-  /// Construct duration from the specified std::chrono::nanoseconds.
+  // This constructor matches std::chrono::nanoseconds.
   explicit Duration(std::chrono::nanoseconds nanoseconds);
 
   // This constructor matches any std::chrono value other than nanoseconds
@@ -133,13 +129,6 @@ public:
   static Duration
   from_seconds(double seconds);
 
-  /// Create a duration object from an integer number representing nanoseconds
-  static Duration
-  from_nanoseconds(rcl_duration_value_t nanoseconds);
-
-  static Duration
-  from_rmw_time(rmw_time_t duration);
-
   /// Convert Duration into a std::chrono::Duration.
   template<class DurationT>
   DurationT
@@ -154,8 +143,6 @@ public:
 
 private:
   rcl_duration_t rcl_duration_;
-
-  Duration() = default;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -100,15 +100,6 @@ public:
   {}
 };
 
-class UnimplementedError : public std::runtime_error
-{
-public:
-  UnimplementedError()
-  : std::runtime_error("This code is unimplemented.") {}
-  explicit UnimplementedError(const std::string & msg)
-  : std::runtime_error(msg) {}
-};
-
 /// Throw a C++ std::exception which was created based on an rcl error.
 /**
  * Passing nullptr for reset_error is safe and will avoid calling any function
@@ -282,34 +273,6 @@ 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
-{
-public:
-  /// Construct an instance.
-  /**
-   * \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")
-  {}
-};
-
-/// Thrown if the QoS overrides provided aren't valid.
-class InvalidQosOverridesException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if a QoS compatibility check fails.
-class QoSCheckCompatibleException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
 }  // namespace exceptions
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/executor.hpp

@@ -21,7 +21,6 @@
 #include <cstdlib>
 #include <iostream>
 #include <list>
-#include <map>
 #include <memory>
 #include <mutex>
 #include <string>
@@ -31,7 +30,6 @@
 #include "rcl/wait.h"
 
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/executor_options.hpp"
 #include "rclcpp/future_return_code.hpp"
 #include "rclcpp/memory_strategies.hpp"
@@ -44,10 +42,6 @@
 namespace rclcpp
 {
 
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
-
 // Forward declaration is used in convenience method signature.
 class Node;
 
@@ -82,118 +76,13 @@ public:
   virtual void
   spin() = 0;
 
-  /// Add a callback group to an executor.
-  /**
-   * An executor can have zero or more callback groups which provide work during `spin` functions.
-   * When an executor attempts to add a callback group, the executor checks to see if it is already
-   * associated with another executor, and if it has been, then an exception is thrown.
-   * Otherwise, the callback group is added to the executor.
-   *
-   * Adding a callback group with this method does not associate its node with this executor
-   * in any way
-   *
-   * \param[in] group_ptr a shared ptr that points to a callback group
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \param[in] notify True to trigger the interrupt guard condition during this function. If
-   * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
-   * callback group was added, it will wake up.
-   * \throw std::runtime_error if the callback group is associated to an executor
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true);
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * associated with the executor.
-   * The callback groups associated with this executor may have been added with
-   * `add_callback_group`, or added when a node was added to the executor with `add_node`, or
-   * automatically added when it created by a node already associated with this executor and the
-   * automatically_add_to_executor_with_node parameter was true.
-   *
-   * \return a vector of weak pointers that point to callback groups that are associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * associated with the executor.
-   * The callback groups associated with this executor have been added with
-   * `add_callback_group`.
-   *
-   * \return a vector of weak pointers that point to callback groups that are associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * added from a node that is associated with the executor.
-   * The callback groups are added when a node is added to the executor with `add_node`, or
-   * automatically if they are created in the future by that node and have the
-   * automatically_add_to_executor_with_node argument set to true.
-   *
-   * \return a vector of weak pointers that point to callback groups from a node associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes();
-
-  /// Remove a callback group from the executor.
-  /**
-   * The callback group is removed from and disassociated with the executor.
-   * If the callback group removed was the last callback group from the node
-   * that is associated with the executor, the interrupt guard condition
-   * is triggered and node's guard condition is removed from the executor.
-   *
-   * This function only removes a callback group that was manually added with
-   * rclcpp::Executor::add_callback_group.
-   * To remove callback groups that were added from a node using
-   * rclcpp::Executor::add_node, use rclcpp::Executor::remove_node instead.
-   *
-   * \param[in] group_ptr Shared pointer to the callback group to be added.
-   * \param[in] notify True to trigger the interrupt guard condition during this function. If
-   * the executor is blocked at the rmw layer while waiting for work and it is notified that a
-   * callback group was removed, it will wake up.
-   * \throw std::runtime_error if node is deleted before callback group
-   * \throw std::runtime_error if the callback group is not associated with the executor
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    bool notify = true);
-
   /// Add a node to the executor.
   /**
-   * Nodes have associated callback groups, and this method adds any of those callback groups
-   * to this executor which have their automatically_add_to_executor_with_node parameter true.
-   * The node is also associated with the executor so that future callback groups which are
-   * created on the node with the automatically_add_to_executor_with_node parameter set to true
-   * are also automatically associated with this executor.
-   *
-   * Callback groups with the automatically_add_to_executor_with_node parameter set to false must
-   * be manually added to an executor using the rclcpp::Executor::add_callback_group method.
-   *
-   * If a node is already associated with an executor, this method throws an exception.
-   *
+   * An executor can have zero or more nodes which provide work during `spin` functions.
    * \param[in] node_ptr Shared pointer to the node to be added.
    * \param[in] notify True to trigger the interrupt guard condition during this function. If
    * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
    * node was added, it will wake up.
-   * \throw std::runtime_error if a node is already associated to an executor
    */
   RCLCPP_PUBLIC
   virtual void
@@ -209,19 +98,10 @@ public:
 
   /// Remove a node from the executor.
   /**
-   * Any callback groups automatically added when this node was added with
-   * rclcpp::Executor::add_node are automatically removed, and the node is no longer associated
-   * with this executor.
-   *
-   * This also means that future callback groups created by the given node are no longer
-   * automatically added to this executor.
-   *
    * \param[in] node_ptr Shared pointer to the node to remove.
    * \param[in] notify True to trigger the interrupt guard condition and wake up the executor.
    * This is useful if the last node was removed from the executor while the executor was blocked
    * waiting for work in another thread, because otherwise the executor would never be notified.
-   * \throw std::runtime_error if the node is not associated with an executor.
-   * \throw std::runtime_error if the node is not associated with this executor.
    */
   RCLCPP_PUBLIC
   virtual void
@@ -280,7 +160,7 @@ public:
   void
   spin_node_some(std::shared_ptr<rclcpp::Node> node);
 
-  /// Collect work once and execute all available work, optionally within a duration.
+  /// Complete all available queued work without blocking.
   /**
    * This function can be overridden. The default implementation is suitable for a
    * single-threaded model of execution.
@@ -295,23 +175,6 @@ public:
   virtual void
   spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
 
-  /// Collect and execute work repeatedly within a duration or until no more work is available.
-  /**
-   * This function can be overridden. The default implementation is suitable for a
-   * single-threaded model of execution.
-   * Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function
-   * to block (which may have unintended consequences).
-   * If the time that waitables take to be executed is longer than the period on which new waitables
-   * become ready, this method will execute work repeatedly until `max_duration` has elapsed.
-   *
-   * \param[in] max_duration The maximum amount of time to spend executing work. Must be positive.
-   * Note that spin_all() may take longer than this time as it only returns once max_duration has
-   * been exceeded.
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  spin_all(std::chrono::nanoseconds max_duration);
-
   RCLCPP_PUBLIC
   virtual void
   spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
@@ -326,10 +189,10 @@ public:
    *   code.
    * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
    */
-  template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   FutureReturnCode
   spin_until_future_complete(
-    const FutureT & future,
+    const std::shared_future<ResponseT> & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete
@@ -407,10 +270,6 @@ protected:
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
     std::chrono::nanoseconds timeout);
 
-  RCLCPP_PUBLIC
-  void
-  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
-
   /// Find the next available executable and do the work associated with it.
   /**
    * \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
@@ -447,132 +306,57 @@ protected:
 
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-  get_node_by_group(
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    rclcpp::CallbackGroup::SharedPtr group);
-
-  /// Return true if the node has been added to this executor.
-  /**
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \return true if the node is associated with the executor, otherwise false
-   */
-  RCLCPP_PUBLIC
-  bool
-  has_node(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
+  get_node_by_group(rclcpp::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
-  /// Add a callback group to an executor
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_group_to_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  remove_callback_group_from_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
-
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
 
-  RCLCPP_PUBLIC
-  bool
-  get_next_ready_executable_from_map(
-    AnyExecutable & any_executable,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
   RCLCPP_PUBLIC
   bool
   get_next_executable(
     AnyExecutable & any_executable,
     std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  /// Add all callback groups that can be automatically added from associated nodes.
-  /**
-   * The executor, before collecting entities, verifies if any callback group from
-   * nodes associated with the executor, which is not already associated to an executor,
-   * can be automatically added to this executor.
-   * This takes care of any callback group that has been added to a node but not explicitly added
-   * to the executor.
-   * It is important to note that in order for the callback groups to be automatically added to an
-   * executor through this function, the node of the callback groups needs to have been added
-   * through the `add_node` method.
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_groups_from_nodes_associated_to_executor() RCPPUTILS_TSA_REQUIRES(mutex_);
-
   /// Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.
   std::atomic_bool spinning;
 
   /// Guard condition for signaling the rmw layer to wake up for special events.
   rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
 
-  std::shared_ptr<rclcpp::GuardCondition> shutdown_guard_condition_;
-
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 
   // Mutex to protect the subsequent memory_strategy_.
-  mutable std::mutex mutex_;
+  std::mutex memory_strategy_mutex_;
 
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
-  memory_strategy::MemoryStrategy::SharedPtr
-  memory_strategy_ RCPPUTILS_TSA_PT_GUARDED_BY(mutex_);
+  memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 
   /// The context associated with this executor.
   std::shared_ptr<rclcpp::Context> context_;
 
   RCLCPP_DISABLE_COPY(Executor)
 
+  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
+
+private:
   RCLCPP_PUBLIC
-  virtual void
+  void
   spin_once_impl(std::chrono::nanoseconds timeout);
-
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rcl_guard_condition_t *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-
-  /// maps nodes to guard conditions
-  WeakNodesToGuardConditionsMap
-  weak_nodes_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// maps callback groups associated to nodes
-  WeakCallbackGroupsToNodesMap
-  weak_groups_associated_with_executor_to_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// maps callback groups to nodes associated with executor
-  WeakCallbackGroupsToNodesMap
-  weak_groups_to_nodes_associated_with_executor_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// maps all callback groups to nodes
-  WeakCallbackGroupsToNodesMap
-  weak_groups_to_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// nodes that are associated with the executor
-  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>
-  weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
 };
 
+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

@@ -38,6 +38,20 @@ 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.hpp

@@ -66,12 +66,12 @@ using rclcpp::executors::SingleThreadedExecutor;
  *   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`.
  */
-template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const FutureT & future,
+  const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete
@@ -82,13 +82,13 @@ spin_node_until_future_complete(
   return retcode;
 }
 
-template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = int64_t,
+template<typename NodeT = rclcpp::Node, typename ResponseT, typename TimeRepT = int64_t,
   typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
   std::shared_ptr<NodeT> node_ptr,
-  const FutureT & future,
+  const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   return rclcpp::executors::spin_node_until_future_complete(
@@ -104,7 +104,7 @@ template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::mi
 rclcpp::FutureReturnCode
 spin_until_future_complete(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const FutureT & future,
+  const std::shared_future<FutureT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   rclcpp::executors::SingleThreadedExecutor executor;
@@ -116,7 +116,7 @@ template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = in
 rclcpp::FutureReturnCode
 spin_until_future_complete(
   std::shared_ptr<NodeT> node_ptr,
-  const FutureT & future,
+  const std::shared_future<FutureT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   return rclcpp::spin_until_future_complete(node_ptr->get_node_base_interface(), future, timeout);

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -22,7 +22,6 @@
 #include <thread>
 #include <unordered_map>
 
-#include "rclcpp/detail/mutex_two_priorities.hpp"
 #include "rclcpp/executor.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/memory_strategies.hpp"
@@ -82,7 +81,7 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(MultiThreadedExecutor)
 
-  detail::MutexTwoPriorities wait_mutex_;
+  std::mutex wait_mutex_;
   size_t number_of_threads_;
   bool yield_before_execute_;
   std::chrono::nanoseconds next_exec_timeout_;

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -17,9 +17,7 @@
 
 #include <chrono>
 #include <list>
-#include <map>
 #include <memory>
-#include <vector>
 
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
@@ -34,9 +32,6 @@ namespace rclcpp
 {
 namespace executors
 {
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
 
 class StaticExecutorEntitiesCollector final
   : public rclcpp::Waitable,
@@ -64,37 +59,34 @@ public:
   void
   init(
     rcl_wait_set_t * p_wait_set,
-    rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
+    rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
     rcl_guard_condition_t * executor_guard_condition);
 
-  /// Finalize StaticExecutorEntitiesCollector to clear resources
   RCLCPP_PUBLIC
-  bool
-  is_init() {return initialized_;}
+  void
+  execute() override;
 
   RCLCPP_PUBLIC
   void
-  fini();
+  fill_memory_strategy();
 
-  /// Execute the waitable.
   RCLCPP_PUBLIC
   void
-  execute(std::shared_ptr<void> & data) override;
+  fill_executable_list();
 
-  /// Take the data so that it can be consumed with `execute`.
+  /// Function to reallocate space for entities in the wait set.
   /**
-   * For `StaticExecutorEntitiesCollector`, this always return `nullptr`.
-   * \sa rclcpp::Waitable::take_data()
+   * \throws std::runtime_error if wait set couldn't be cleared or resized.
    */
   RCLCPP_PUBLIC
-  std::shared_ptr<void>
-  take_data() override;
+  void
+  prepare_wait_set();
 
   /// Function to add_handles_to_wait_set and wait for work and
   /**
    * block until the wait set is ready or until the timeout has been exceeded.
    * \throws std::runtime_error if wait set couldn't be cleared or filled.
-   * \throws any rcl errors from rcl_wait, \see rclcpp::exceptions::throw_from_rcl_error()
+   * \throws any rcl errors from rcl_wait, \sa rclcpp::exceptions::throw_from_rcl_error()
    */
   RCLCPP_PUBLIC
   void
@@ -111,58 +103,17 @@ public:
   size_t
   get_number_of_ready_guard_conditions() override;
 
-  /// Add a callback group to an executor.
   /**
-   * \see rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  /// Add a callback group to an executor.
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   * \return boolean whether the node from the callback group is new
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group_from_map
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_callback_group_from_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /**
-   * \see rclcpp::Executor::add_node()
+   * \sa rclcpp::Executor::add_node()
    * \throw std::runtime_error if node was already added
    */
   RCLCPP_PUBLIC
-  bool
+  void
   add_node(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
 
   /**
-   * \see rclcpp::Executor::remove_node()
+   * \sa rclcpp::Executor::remove_node()
    * \throw std::runtime_error if no guard condition is associated with node.
    */
   RCLCPP_PUBLIC
@@ -170,26 +121,6 @@ public:
   remove_node(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
 
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \see rclcpp::Executor::get_manually_added_callback_groups()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \see rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes();
-
   /// Complete all available queued work without blocking.
   /**
    * This function checks if after the guard condition was triggered
@@ -286,55 +217,12 @@ public:
   get_waitable(size_t i) {return exec_list_.waitable[i];}
 
 private:
-  /// Function to reallocate space for entities in the wait set.
-  /**
-   * \throws std::runtime_error if wait set couldn't be cleared or resized.
-   */
-  void
-  prepare_wait_set();
-
-  void
-  fill_executable_list();
-
-  void
-  fill_memory_strategy();
-
-  /// Return true if the node belongs to the collector
-  /**
-   * \param[in] group_ptr a node base interface shared pointer
-   * \return boolean whether a node belongs the collector
-   */
-  bool
-  has_node(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
-
-  /// Add all callback groups that can be automatically added by any executor
-  /// and is not already associated with an executor from nodes
-  /// that are associated with executor
-  /**
-   * \see rclcpp::Executor::add_callback_groups_from_nodes_associated_to_executor()
-   */
-  void
-  add_callback_groups_from_nodes_associated_to_executor();
-
-  void
-  fill_executable_list_from_map(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+  /// Nodes guard conditions which trigger this waitable
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
 
   /// Memory strategy: an interface for handling user-defined memory allocation strategies.
   rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 
-  // maps callback groups to nodes.
-  WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_;
-  // maps callback groups to nodes.
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_;
-
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rcl_guard_condition_t *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-  WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_;
-
   /// List of weak nodes registered in the static executor
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
 
@@ -343,9 +231,6 @@ 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

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
 #define RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
 
-#include <chrono>
 #include <cassert>
 #include <cstdlib>
 #include <memory>
@@ -79,66 +78,15 @@ 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
-   */
-  RCLCPP_PUBLIC
-  void
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Remove callback group from the executor
-  /**
-   * \sa rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    bool notify = true) override;
-
   /// Add a node to the executor.
   /**
-   * \sa rclcpp::Executor::add_node
+   * An executor can have zero or more nodes which provide work during `spin` functions.
+   * \param[in] node_ptr Shared pointer to the node to be added.
+   * \param[in] notify True to trigger the interrupt guard condition during this function. If
+   * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
+   * node was added, it will wake up.
+   * \throw std::runtime_error if node was already added or if rcl_trigger_guard_condition
+   * return an error
    */
   RCLCPP_PUBLIC
   void
@@ -148,7 +96,8 @@ public:
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
-   * \sa rclcpp::StaticSingleThreadedExecutor::add_node
+   * \throw std::runtime_error if node was already added or if rcl_trigger_guard_condition
+   * returns an error
    */
   RCLCPP_PUBLIC
   void
@@ -156,7 +105,11 @@ public:
 
   /// Remove a node from the executor.
   /**
-   * \sa rclcpp::Executor::remove_node
+   * \param[in] node_ptr Shared pointer to the node to remove.
+   * \param[in] notify True to trigger the interrupt guard condition and wake up the executor.
+   * This is useful if the last node was removed from the executor while the executor was blocked
+   * waiting for work in another thread, because otherwise the executor would never be notified.
+   * \throw std::runtime_error if rcl_trigger_guard_condition returns an error
    */
   RCLCPP_PUBLIC
   void
@@ -166,49 +119,86 @@ public:
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
-   * \sa rclcpp::Executor::remove_node
+   * \throw std::runtime_error if rcl_trigger_guard_condition returns an error
    */
   RCLCPP_PUBLIC
   void
   remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
 
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups() override;
-
-  /// Get callback groups that belong to executor.
+  /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
   /**
-   * \sa rclcpp::Executor::get_manually_added_callback_groups()
+   * \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);
    */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups() override;
+  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+  rclcpp::FutureReturnCode
+  spin_until_future_complete(
+    std::shared_future<ResponseT> & 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;
+    }
 
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes() override;
+    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_);
+
+    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;
+  }
 
 protected:
+  /// Check which executables in ExecutableList struct are ready from wait_set and execute them.
   /**
-   * @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.
+   * \param[in] exec_list Structure that can hold subscriptionbases, timerbases, etc
+   * \param[in] timeout Optional timeout parameter.
    */
-  RCLCPP_PUBLIC
-  bool
-  execute_ready_executables(bool spin_once = false);
-
   RCLCPP_PUBLIC
   void
-  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
-
-  RCLCPP_PUBLIC
-  void
-  spin_once_impl(std::chrono::nanoseconds timeout) override;
+  execute_ready_executables();
 
 private:
   RCLCPP_DISABLE_COPY(StaticSingleThreadedExecutor)

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

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

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -207,7 +207,7 @@ public:
       sub_ids.take_shared_subscriptions.size() <= 1)
     {
       // There is at maximum 1 buffer that does not require ownership.
-      // So this case is equivalent to all the buffers requiring ownership
+      // So we this case is equivalent to all the buffers requiring ownership
 
       // Merge the two vector of ids into a unique one
       std::vector<uint64_t> concatenated_vector(sub_ids.take_shared_subscriptions);
@@ -307,7 +307,7 @@ private:
   {
     SubscriptionInfo() = default;
 
-    rclcpp::experimental::SubscriptionIntraProcessBase::WeakPtr subscription;
+    rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription;
     rmw_qos_profile_t qos;
     const char * topic_name;
     bool use_take_shared_method;
@@ -361,16 +361,13 @@ private:
       if (subscription_it == subscriptions_.end()) {
         throw std::runtime_error("subscription has unexpectedly gone out of scope");
       }
-      auto subscription_base = subscription_it->second.subscription.lock();
-      if (subscription_base) {
-        auto subscription = std::static_pointer_cast<
-          rclcpp::experimental::SubscriptionIntraProcess<MessageT>
-          >(subscription_base);
+      auto subscription_base = subscription_it->second.subscription;
 
-        subscription->provide_intra_process_message(message);
-      } else {
-        subscriptions_.erase(id);
-      }
+      auto subscription = std::static_pointer_cast<
+        rclcpp::experimental::SubscriptionIntraProcess<MessageT>
+        >(subscription_base);
+
+      subscription->provide_intra_process_message(message);
     }
   }
 
@@ -392,27 +389,24 @@ private:
       if (subscription_it == subscriptions_.end()) {
         throw std::runtime_error("subscription has unexpectedly gone out of scope");
       }
-      auto subscription_base = subscription_it->second.subscription.lock();
-      if (subscription_base) {
-        auto subscription = std::static_pointer_cast<
-          rclcpp::experimental::SubscriptionIntraProcess<MessageT>
-          >(subscription_base);
+      auto subscription_base = subscription_it->second.subscription;
 
-        if (std::next(it) == subscription_ids.end()) {
-          // If this is the last subscription, give up ownership
-          subscription->provide_intra_process_message(std::move(message));
-        } else {
-          // Copy the message since we have additional subscriptions to serve
-          MessageUniquePtr copy_message;
-          Deleter deleter = message.get_deleter();
-          auto ptr = MessageAllocTraits::allocate(*allocator.get(), 1);
-          MessageAllocTraits::construct(*allocator.get(), ptr, *message);
-          copy_message = MessageUniquePtr(ptr, deleter);
+      auto subscription = std::static_pointer_cast<
+        rclcpp::experimental::SubscriptionIntraProcess<MessageT>
+        >(subscription_base);
 
-          subscription->provide_intra_process_message(std::move(copy_message));
-        }
+      if (std::next(it) == subscription_ids.end()) {
+        // If this is the last subscription, give up ownership
+        subscription->provide_intra_process_message(std::move(message));
       } else {
-        subscriptions_.erase(subscription_it);
+        // Copy the message since we have additional subscriptions to serve
+        MessageUniquePtr copy_message;
+        Deleter deleter = message.get_deleter();
+        auto ptr = MessageAllocTraits::allocate(*allocator.get(), 1);
+        MessageAllocTraits::construct(*allocator.get(), ptr, *message);
+        copy_message = MessageUniquePtr(ptr, deleter);
+
+        subscription->provide_intra_process_message(std::move(copy_message));
       }
     }
   }

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

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

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

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

rclcpp/include/rclcpp/function_traits.hpp

@@ -162,32 +162,6 @@ 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/future_return_code.hpp

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

rclcpp/include/rclcpp/generic_publisher.hpp

@@ -1,127 +0,0 @@
-// 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

@@ -1,161 +0,0 @@
-// 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/graph_listener.hpp

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

rclcpp/include/rclcpp/init_options.hpp

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

rclcpp/include/rclcpp/loaned_message.hpp

@@ -183,30 +183,14 @@ public:
   /**
    * A call to `release()` will unmanage the memory for the ROS message.
    * That means that the destructor of this class will not free the memory on scope exit.
-   * If the message is loaned from the middleware but not be published, the user needs to call
-   * `rcl_return_loaned_message_from_publisher` manually.
-   * If the memory is from the local allocator, the memory is freed when the unique pointer
-   * goes out instead.
    *
-   * \return std::unique_ptr to the message instance.
+   * \return Raw pointer to the message instance.
    */
-  std::unique_ptr<MessageT, std::function<void(MessageT *)>>
-  release()
+  MessageT * release()
   {
     auto msg = message_;
     message_ = nullptr;
-
-    if (pub_.can_loan_messages()) {
-      return std::unique_ptr<MessageT, std::function<void(MessageT *)>>(msg, [](MessageT *) {});
-    }
-
-    return std::unique_ptr<MessageT, std::function<void(MessageT *)>>(
-      msg,
-      [allocator = message_allocator_](MessageT * msg_ptr) mutable {
-        // call destructor before deallocating
-        msg_ptr->~MessageT();
-        allocator.deallocate(msg_ptr, 1);
-      });
+    return msg;
   }
 
 protected:

rclcpp/include/rclcpp/logger.hpp

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

rclcpp/include/rclcpp/memory_strategy.hpp

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

rclcpp/include/rclcpp/network_flow_endpoint.hpp

@@ -1,115 +0,0 @@
-// 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

@@ -17,7 +17,6 @@
 
 #include <atomic>
 #include <condition_variable>
-#include <functional>
 #include <list>
 #include <map>
 #include <memory>
@@ -42,8 +41,6 @@
 #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"
@@ -144,9 +141,7 @@ public:
   /// Create and return a callback group.
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(
-    rclcpp::CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true);
+  create_callback_group(rclcpp::CallbackGroupType group_type);
 
   /// Return the list of callback groups in the node.
   RCLCPP_PUBLIC
@@ -166,7 +161,7 @@ public:
    * pub = node->create_publisher<MsgT>("chatter", QoS(10));  // implicitly KeepLast
    * pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
    * pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
-   * pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().durability_volatile());
+   * pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().volatile());
    * {
    *   rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
    *   pub = node->create_publisher<MsgT>("chatter", custom_qos);
@@ -269,55 +264,6 @@ 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.
@@ -357,59 +303,16 @@ public:
    *   name is invalid.
    * \throws rclcpp::exceptions::InvalidParameterValueException if initial
    *   value fails to be set.
-   * \throws rclcpp::exceptions::InvalidParameterTypeException
-   *   if the type of the default value or override is wrong.
    */
   RCLCPP_PUBLIC
   const rclcpp::ParameterValue &
   declare_parameter(
     const std::string & name,
-    const rclcpp::ParameterValue & default_value,
+    const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
     rcl_interfaces::msg::ParameterDescriptor(),
     bool ignore_override = false);
 
-  /// Declare and initialize a parameter, return the effective value.
-  /**
-   * Same as the previous one, but a default value is not provided and the user
-   * must provide a parameter override of the correct type.
-   *
-   * \param[in] name The name of the parameter.
-   * \param[in] type Desired type of the parameter, which will enforced at runtime.
-   * \param[in] parameter_descriptor An optional, custom description for
-   *   the parameter.
-   * \param[in] ignore_override When `true`, the parameter override is ignored.
-   *    Default to `false`.
-   * \return A const reference to the value of the parameter.
-   * \throws Same as the previous overload taking a default value.
-   * \throws rclcpp::exceptions::InvalidParameterTypeException
-   *   if an override is not provided or the provided override is of the wrong type.
-   */
-  RCLCPP_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(
-    const std::string & name,
-    rclcpp::ParameterType type,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor{},
-    bool ignore_override = false);
-
-  /// Declare a parameter
-  [[deprecated(
-    "declare_parameter() with only a name is deprecated and will be deleted in the future.\n" \
-    "If you want to declare a parameter that won't change type without a default value use:\n" \
-    "`node->declare_parameter<ParameterT>(name)`, where e.g. ParameterT=int64_t.\n\n" \
-    "If you want to declare a parameter that can dynamically change type use:\n" \
-    "```\n" \
-    "rcl_interfaces::msg::ParameterDescriptor descriptor;\n" \
-    "descriptor.dynamic_typing = true;\n" \
-    "node->declare_parameter(name, rclcpp::ParameterValue{}, descriptor);\n" \
-    "```"
-  )]]
-  RCLCPP_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(const std::string & name);
-
   /// Declare and initialize a parameter with a type.
   /**
    * See the non-templated declare_parameter() on this class for details.
@@ -440,18 +343,6 @@ public:
     rcl_interfaces::msg::ParameterDescriptor(),
     bool ignore_override = false);
 
-  /// Declare and initialize a parameter with a type.
-  /**
-   * See the non-templated declare_parameter() on this class for details.
-   */
-  template<typename ParameterT>
-  auto
-  declare_parameter(
-    const std::string & name,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false);
-
   /// Declare and initialize several parameters with the same namespace and type.
   /**
    * For each key in the map, a parameter with a name of "namespace.key"
@@ -892,9 +783,6 @@ public:
    *
    * This allows the node developer to control which parameters may be changed.
    *
-   * It is considered bad practice to reject changes for "unknown" parameters as this prevents
-   * other parts of the node (that may be aware of these parameters) from handling them.
-   *
    * Note that the callback is called when declare_parameter() and its variants
    * are called, and so you cannot assume the parameter has been set before
    * this callback, so when checking a new value against the existing one, you
@@ -957,6 +845,26 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
 
+  /// Register a callback to be called anytime a parameter is about to be changed.
+  /**
+   * \deprecated Use add_on_set_parameters_callback instead.
+   * With this method, only one callback can be set at a time. The callback that was previously
+   * set by this method is returned or `nullptr` if no callback was previously set.
+   *
+   * The callbacks added with `add_on_set_parameters_callback` are stored in a different place.
+   * `remove_on_set_parameters_callback` can't be used with the callbacks registered with this
+   * method. For removing it, use `set_on_parameters_set_callback(nullptr)`.
+   *
+   * \param[in] callback The callback to be called when the value for a
+   *   parameter is about to be set.
+   * \return The previous callback that was registered, if there was one,
+   *   otherwise nullptr.
+   */
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
+  RCLCPP_PUBLIC
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
+
   /// Get the fully-qualified names of all available nodes.
   /**
    * The fully-qualified name includes the local namespace and name of the node.
@@ -997,21 +905,15 @@ public:
     const std::string & node_name,
     const std::string & namespace_) const;
 
-  /// Return the number of publishers created for a given topic.
-  /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   * \return number of publishers that have been created for the given topic.
-   * \throws std::runtime_error if publishers could not be counted
-   */
   RCLCPP_PUBLIC
   size_t
   count_publishers(const std::string & topic_name) const;
 
-  /// Return the number of subscribers created for a given topic.
+  /// Return the number of subscribers who have created a subscription for a given topic.
   /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   * \return number of subscribers that have been created for the given topic.
-   * \throws std::runtime_error if subscribers could not be counted
+   * \param[in] topic_name the topic_name on which to count the subscribers.
+   * \return number of subscribers who have created a subscription for a given topic.
+   * \throws std::runtime_error if publishers could not be counted
    */
   RCLCPP_PUBLIC
   size_t
@@ -1032,7 +934,7 @@ public:
    * A relative or private topic will be expanded using this node's namespace and name.
    * The queried `topic_name` is not remapped.
    *
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
+   * \param[in] topic_name the topic_name on which to find the publishers.
    * \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
    *   otherwise it should be a valid ROS topic name. Defaults to `false`.
    * \return a list of TopicEndpointInfo representing all the publishers on this topic.
@@ -1058,7 +960,7 @@ public:
    * A relative or private topic will be expanded using this node's namespace and name.
    * The queried `topic_name` is not remapped.
    *
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
+   * \param[in] topic_name the topic_name on which to find the subscriptions.
    * \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
    *   otherwise it should be a valid ROS topic name. Defaults to `false`.
    * \return a list of TopicEndpointInfo representing all the subscriptions on this topic.
@@ -1292,6 +1194,10 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(Node)
 
+  RCLCPP_PUBLIC
+  bool
+  group_in_node(CallbackGroup::SharedPtr group);
+
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;

rclcpp/include/rclcpp/node_impl.hpp

@@ -36,12 +36,10 @@
 
 #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_subscription.hpp"
 #include "rclcpp/create_timer.hpp"
+#include "rclcpp/create_subscription.hpp"
 #include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/qos.hpp"
@@ -154,43 +152,6 @@ 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(
@@ -211,24 +172,6 @@ Node::declare_parameter(
   }
 }
 
-template<typename ParameterT>
-auto
-Node::declare_parameter(
-  const std::string & name,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
-  bool ignore_override)
-{
-  // get advantage of parameter value template magic to get
-  // the correct rclcpp::ParameterType from ParameterT
-  rclcpp::ParameterValue value{ParameterT{}};
-  return this->declare_parameter(
-    name,
-    value.get_type(),
-    parameter_descriptor,
-    ignore_override
-  ).get<ParameterT>();
-}
-
 template<typename ParameterT>
 std::vector<ParameterT>
 Node::declare_parameters(

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -103,42 +103,13 @@ public:
   virtual
   ~NodeParameters();
 
-// This is overriding a deprecated method, so we need to ignore the deprecation warning here.
-// Users of the method will still get a warning!
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  [[deprecated(RCLCPP_INTERNAL_NODE_PARAMETERS_INTERFACE_DEPRECATE_DECLARE)]]
-  RCLCPP_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(const std::string & name) override;
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#else
-# pragma warning(pop)
-#endif
-
   RCLCPP_PUBLIC
   const rclcpp::ParameterValue &
   declare_parameter(
     const std::string & name,
     const rclcpp::ParameterValue & default_value,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor{},
-    bool ignore_override = false) override;
-
-  RCLCPP_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(
-    const std::string & name,
-    rclcpp::ParameterType type,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false) override;
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+    bool ignore_override) override;
 
   RCLCPP_PUBLIC
   void
@@ -199,6 +170,11 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
 
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
+  RCLCPP_PUBLIC
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
+
   RCLCPP_PUBLIC
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -45,17 +45,6 @@ struct OnSetParametersCallbackHandle
   OnParametersSetCallbackType callback;
 };
 
-#define RCLCPP_INTERNAL_NODE_PARAMETERS_INTERFACE_DEPRECATE_DECLARE \
-  "declare_parameter() with only a name is deprecated and will be deleted in the future.\n" \
-  "If you want to declare a parameter that won't change type without a default value use:\n" \
-  "`node_params->declare_parameter(name, type)`, with e.g. type=rclcpp::PARAMETER_INTEGER.\n\n" \
-  "If you want to declare a parameter that can dynamically change type use:\n" \
-  "```\n" \
-  "rcl_interfaces::msg::ParameterDescriptor descriptor;\n" \
-  "descriptor.dynamic_typing = true;\n" \
-  "node_params->declare_parameter(name, rclcpp::ParameterValue{}, descriptor);\n" \
-  "```"
-
 /// Pure virtual interface class for the NodeParameters part of the Node API.
 class NodeParametersInterface
 {
@@ -66,15 +55,6 @@ public:
   virtual
   ~NodeParametersInterface() = default;
 
-  /// Declare a parameter.
-  /**
-   * \sa rclcpp::Node::declare_parameter
-   */
-  [[deprecated(RCLCPP_INTERNAL_NODE_PARAMETERS_INTERFACE_DEPRECATE_DECLARE)]]
-  virtual
-  const rclcpp::ParameterValue &
-  declare_parameter(const std::string & name) = 0;
-
   /// Declare and initialize a parameter.
   /**
    * \sa rclcpp::Node::declare_parameter
@@ -84,21 +64,7 @@ public:
   const rclcpp::ParameterValue &
   declare_parameter(
     const std::string & name,
-    const rclcpp::ParameterValue & default_value,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false) = 0;
-
-  /// Declare a parameter.
-  /**
-   * \sa rclcpp::Node::declare_parameter
-   */
-  RCLCPP_PUBLIC
-  virtual
-  const rclcpp::ParameterValue &
-  declare_parameter(
-    const std::string & name,
-    rclcpp::ParameterType type,
+    const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
     rcl_interfaces::msg::ParameterDescriptor(),
     bool ignore_override = false) = 0;
@@ -225,6 +191,17 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) = 0;
 
+  /// Register a callback for when parameters are being set, return an existing one.
+  /**
+   * \deprecated Use add_on_set_parameters_callback instead.
+   * \sa rclcpp::Node::set_on_parameters_set_callback
+   */
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
+  RCLCPP_PUBLIC
+  virtual
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(OnParametersSetCallbackType callback) = 0;
+
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_services.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp

@@ -24,7 +24,6 @@
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
 #include "rclcpp/node_interfaces/node_time_source_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/qos.hpp"
 #include "rclcpp/time_source.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -47,9 +46,7 @@ public:
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
-    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
-    const rclcpp::QoS & qos = rclcpp::RosoutQoS(),
-    bool use_clock_thread = true
+    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters
   );
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

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

rclcpp/include/rclcpp/node_options.hpp

@@ -46,9 +46,6 @@ public:
    *   - enable_topic_statistics = false
    *   - start_parameter_services = true
    *   - start_parameter_event_publisher = true
-   *   - clock_qos = rclcpp::ClockQoS()
-   *   - use_clock_thread = true
-   *   - rosout_qos = rclcpp::RosoutQoS()
    *   - parameter_event_qos = rclcpp::ParameterEventQoS
    *     - with history setting and depth from rmw_qos_profile_parameter_events
    *   - parameter_event_publisher_options = rclcpp::PublisherOptionsBase
@@ -246,33 +243,6 @@ public:
   NodeOptions &
   start_parameter_event_publisher(bool start_parameter_event_publisher);
 
-  /// Return a reference to the clock QoS.
-  RCLCPP_PUBLIC
-  const rclcpp::QoS &
-  clock_qos() const;
-
-  /// Set the clock QoS.
-  /**
-   * The QoS settings to be used for the publisher on /clock topic, if enabled.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  clock_qos(const rclcpp::QoS & clock_qos);
-
-
-  /// Return the use_clock_thread flag.
-  RCLCPP_PUBLIC
-  bool
-  use_clock_thread() const;
-
-  /// Set the use_clock_thread flag, return this for parameter idiom.
-  /**
-   * If true, a dedicated thread will be used to subscribe to "/clock" topic.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  use_clock_thread(bool use_clock_thread);
-
   /// Return a reference to the parameter_event_qos QoS.
   RCLCPP_PUBLIC
   const rclcpp::QoS &
@@ -286,19 +256,6 @@ public:
   NodeOptions &
   parameter_event_qos(const rclcpp::QoS & parameter_event_qos);
 
-  /// Return a reference to the rosout QoS.
-  RCLCPP_PUBLIC
-  const rclcpp::QoS &
-  rosout_qos() const;
-
-  /// Set the rosout QoS.
-  /**
-   * The QoS settings to be used for the publisher on /rosout topic, if enabled.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  rosout_qos(const rclcpp::QoS & rosout_qos);
-
   /// Return a reference to the parameter_event_publisher_options.
   RCLCPP_PUBLIC
   const rclcpp::PublisherOptionsBase &
@@ -370,6 +327,11 @@ public:
   NodeOptions &
   allocator(rcl_allocator_t allocator);
 
+protected:
+  /// Retrieve the ROS_DOMAIN_ID environment variable and populate options.
+  size_t
+  get_domain_id_from_env() const;
+
 private:
   // This is mutable to allow for a const accessor which lazily creates the node options instance.
   /// Underlying rcl_node_options structure.
@@ -397,16 +359,10 @@ private:
 
   bool start_parameter_event_publisher_ {true};
 
-  rclcpp::QoS clock_qos_ = rclcpp::ClockQoS();
-
-  bool use_clock_thread_ {true};
-
   rclcpp::QoS parameter_event_qos_ = rclcpp::ParameterEventsQoS(
     rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
   );
 
-  rclcpp::QoS rosout_qos_ = rclcpp::RosoutQoS();
-
   rclcpp::PublisherOptionsBase parameter_event_publisher_options_ = rclcpp::PublisherOptionsBase();
 
   bool allow_undeclared_parameters_ {false};

rclcpp/include/rclcpp/parameter_client.hpp

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__PARAMETER_CLIENT_HPP_
 #define RCLCPP__PARAMETER_CLIENT_HPP_
 
-#include <functional>
-#include <future>
 #include <memory>
 #include <string>
 #include <utility>
@@ -31,14 +29,11 @@
 #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"
@@ -78,21 +73,12 @@ public:
    * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   AsyncParametersClient(
-    const std::shared_ptr<NodeT> node,
+    const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
-  : AsyncParametersClient(
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      qos_profile,
-      group)
-  {}
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Constructor
   /**
@@ -101,21 +87,12 @@ public:
    * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   AsyncParametersClient(
-    NodeT * node,
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
-  : AsyncParametersClient(
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      qos_profile,
-      group)
-  {}
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::Parameter>>
@@ -125,14 +102,6 @@ public:
       void(std::shared_future<std::vector<rclcpp::Parameter>>)
     > callback = nullptr);
 
-  RCLCPP_PUBLIC
-  std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>
-  describe_parameters(
-    const std::vector<std::string> & names,
-    std::function<
-      void(std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>)
-    > callback = nullptr);
-
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::ParameterType>>
   get_parameter_types(
@@ -157,42 +126,6 @@ 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(
@@ -244,7 +177,7 @@ public:
   {
     return rclcpp::create_subscription<rcl_interfaces::msg::ParameterEvent>(
       node,
-      "/parameter_events",
+      "parameter_events",
       qos,
       std::forward<CallbackT>(callback),
       options);
@@ -304,61 +237,31 @@ class SyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient)
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   explicit SyncParametersClient(
-    std::shared_ptr<NodeT> node,
+    rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
-    std::shared_ptr<NodeT> node,
+    rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : SyncParametersClient(
-      executor,
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
-  SyncParametersClient(
-    NodeT * node,
+  RCLCPP_PUBLIC
+  explicit SyncParametersClient(
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
-    NodeT * node,
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : SyncParametersClient(
-      executor,
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   SyncParametersClient(
@@ -368,30 +271,11 @@ public:
     const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
     const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : executor_(executor), node_base_interface_(node_base_interface)
-  {
-    async_parameters_client_ =
-      std::make_shared<AsyncParametersClient>(
-      node_base_interface,
-      node_topics_interface,
-      node_graph_interface,
-      node_services_interface,
-      remote_node_name,
-      qos_profile);
-  }
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   std::vector<rclcpp::Parameter>
-  get_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return get_parameters(
-      parameter_names,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  get_parameters(const std::vector<std::string> & parameter_names);
 
   RCLCPP_PUBLIC
   bool
@@ -435,107 +319,23 @@ public:
     );
   }
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
-  std::vector<rcl_interfaces::msg::ParameterDescriptor>
-  describe_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return describe_parameters(
-      parameter_names,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
-
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   std::vector<rclcpp::ParameterType>
-  get_parameter_types(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return get_parameter_types(
-      parameter_names,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  get_parameter_types(const std::vector<std::string> & parameter_names);
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return set_parameters(
-      parameters,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
-  template<typename RepT = int64_t, typename RatioT = std::milli>
+  RCLCPP_PUBLIC
   rcl_interfaces::msg::SetParametersResult
-  set_parameters_atomically(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return set_parameters_atomically(
-      parameters,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+  set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
-  /// 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>
+  RCLCPP_PUBLIC
   rcl_interfaces::msg::ListParametersResult
   list_parameters(
     const std::vector<std::string> & parameter_prefixes,
-    uint64_t depth,
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return list_parameters(
-      parameter_prefixes,
-      depth,
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
+    uint64_t depth);
 
   template<typename CallbackT>
   typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
@@ -578,56 +378,6 @@ public:
     return async_parameters_client_->wait_for_service(timeout);
   }
 
-protected:
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::Parameter>
-  get_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rcl_interfaces::msg::ParameterDescriptor>
-  describe_parameters(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::ParameterType>
-  get_parameter_types(
-    const std::vector<std::string> & parameter_names,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  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(
-    const std::vector<rclcpp::Parameter> & parameters,
-    std::chrono::nanoseconds timeout);
-
-  RCLCPP_PUBLIC
-  rcl_interfaces::msg::ListParametersResult
-  list_parameters(
-    const std::vector<std::string> & parameter_prefixes,
-    uint64_t depth,
-    std::chrono::nanoseconds timeout);
-
 private:
   rclcpp::Executor::SharedPtr executor_;
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;

rclcpp/include/rclcpp/parameter_event_handler.hpp

@@ -1,338 +0,0 @@
-// Copyright 2019 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__PARAMETER_EVENT_HANDLER_HPP_
-#define RCLCPP__PARAMETER_EVENT_HANDLER_HPP_
-
-#include <list>
-#include <memory>
-#include <string>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include "rclcpp/create_subscription.hpp"
-#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
-#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/parameter.hpp"
-#include "rclcpp/qos.hpp"
-#include "rclcpp/subscription.hpp"
-#include "rclcpp/visibility_control.hpp"
-#include "rcl_interfaces/msg/parameter_event.hpp"
-
-namespace rclcpp
-{
-
-struct ParameterCallbackHandle
-{
-  RCLCPP_SMART_PTR_DEFINITIONS(ParameterCallbackHandle)
-
-  using ParameterCallbackType = std::function<void (const rclcpp::Parameter &)>;
-
-  std::string parameter_name;
-  std::string node_name;
-  ParameterCallbackType callback;
-};
-
-struct ParameterEventCallbackHandle
-{
-  RCLCPP_SMART_PTR_DEFINITIONS(ParameterEventCallbackHandle)
-
-  using ParameterEventCallbackType =
-    std::function<void (const rcl_interfaces::msg::ParameterEvent &)>;
-
-  ParameterEventCallbackType callback;
-};
-
-/// A class used to "handle" (monitor and respond to) changes to parameters.
-/**
- * The ParameterEventHandler class allows for the monitoring of changes to node parameters,
- * either a node's own parameters or parameters owned by other nodes in the system.
- * Multiple parameter callbacks can be set and will be invoked when the specified parameter
- * changes.
- *
- * The first step is to instantiate a ParameterEventHandler, providing a ROS node to use
- * to create any required subscriptions:
- *
- *   auto param_handler = std::make_shared<rclcpp::ParameterEventHandler>(node);
- *
- * Next, you can supply a callback to the add_parameter_callback method, as follows:
- *
- *   auto cb1 = [&node](const rclcpp::Parameter & p) {
- *      RCLCPP_INFO(
- *        node->get_logger(),
- *        "cb1: Received an update to parameter \"%s\" of type %s: \"%ld\"",
- *        p.get_name().c_str(),
- *        p.get_type_name().c_str(),
- *        p.as_int());
- *   };
- *   auto handle1 = param_handler->add_parameter_callback("an_int_param", cb1);
- *
- * In this case, we didn't supply a node name (the third, optional, parameter) so the
- * default will be to monitor for changes to the "an_int_param" parameter associated with
- * the ROS node supplied in the ParameterEventHandler constructor.
- * The callback, a lambda function in this case, simply prints out the value of the parameter.
- *
- * You may also monitor for changes to parameters in other nodes by supplying the node
- * name to add_parameter_callback:
- *
- *   auto cb2 = [&node](const rclcpp::Parameter & p) {
- *       RCLCPP_INFO(
- *         node->get_logger(),
- *         "cb2: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *         p.get_name().c_str(),
- *         p.get_type_name().c_str(),
- *         p.as_string().c_str());
- *     };
- *   auto handle2 = param_handler->add_parameter_callback(
- *     "some_remote_param_name", cb2, "some_remote_node_name");
- *
- * In this case, the callback will be invoked whenever "some_remote_param_name" changes
- * on remote node "some_remote_node_name".
- *
- * To remove a parameter callback, call remove_parameter_callback, passing the handle returned
- * from add_parameter_callback:
- *
- *   param_handler->remove_parameter_callback(handle2);
- *
- * You can also monitor for *all* parameter changes, using add_parameter_event_callback.
- * In this case, the callback will be invoked whenever any parameter changes in the system.
- * You are likely interested in a subset of these parameter changes, so in the callback it
- * is convenient to use a regular expression on the node names or namespaces of interest.
- * For example:
- *
- *   auto cb3 =
- *     [fqn, remote_param_name, &node](const rcl_interfaces::msg::ParameterEvent & event) {
- *       // Look for any updates to parameters in "/a_namespace" as well as any parameter changes
- *       // to our own node ("this_node")
- *       std::regex re("(/a_namespace/.*)|(/this_node)");
- *       if (regex_match(event.node, re)) {
- *         // Now that we know the event matches the regular expression we scanned for, we can
- *         // use 'get_parameter_from_event' to get a specific parameter name that we're looking for
- *         rclcpp::Parameter p;
- *         if (rclcpp::ParameterEventsSubscriber::get_parameter_from_event(
- *             event, p, remote_param_name, fqn))
- *         {
- *           RCLCPP_INFO(
- *             node->get_logger(),
- *             "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *             p.get_name().c_str(),
- *             p.get_type_name().c_str(),
- *             p.as_string().c_str());
- *         }
- *
- *         // You can also use 'get_parameter*s*_from_event' to enumerate all changes that came
- *         // in on this event
- *         auto params = rclcpp::ParameterEventsSubscriber::get_parameters_from_event(event);
- *         for (auto & p : params) {
- *           RCLCPP_INFO(
- *             node->get_logger(),
- *             "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *             p.get_name().c_str(),
- *             p.get_type_name().c_str(),
- *             p.value_to_string().c_str());
- *         }
- *       }
- *     };
- *   auto handle3 = param_handler->add_parameter_event_callback(cb3);
- *
- * For both parameter callbacks and parameter event callbacks, when multiple callbacks are added,
- * the callbacks are invoked last-in, first-called order (LIFO).
- *
- * To remove a parameter event callback, use:
- *
- *   param_handler->remove_event_parameter_callback(handle);
- */
-class ParameterEventHandler
-{
-public:
-  /// Construct a parameter events monitor.
-  /**
-   * \param[in] node The node to use to create any required subscribers.
-   * \param[in] qos The QoS settings to use for any subscriptions.
-   */
-  template<typename NodeT>
-  ParameterEventHandler(
-    NodeT node,
-    const rclcpp::QoS & qos =
-    rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)))
-  {
-    node_base_ = rclcpp::node_interfaces::get_node_base_interface(node);
-    auto node_topics = rclcpp::node_interfaces::get_node_topics_interface(node);
-
-    event_subscription_ = rclcpp::create_subscription<rcl_interfaces::msg::ParameterEvent>(
-      node_topics, "/parameter_events", qos,
-      std::bind(&ParameterEventHandler::event_callback, this, std::placeholders::_1));
-  }
-
-  using ParameterEventCallbackType =
-    ParameterEventCallbackHandle::ParameterEventCallbackType;
-
-  /// Set a callback for all parameter events.
-  /**
-   * This function may be called multiple times to set multiple parameter event callbacks.
-   *
-   * \param[in] callback Function callback to be invoked on parameter updates.
-   * \returns A handle used to refer to the callback.
-   */
-  RCLCPP_PUBLIC
-  ParameterEventCallbackHandle::SharedPtr
-  add_parameter_event_callback(
-    ParameterEventCallbackType callback);
-
-  /// Remove parameter event callback registered with add_parameter_event_callback.
-  /**
-   * \param[in] callback_handle Handle of the callback to remove.
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_parameter_event_callback(
-    ParameterEventCallbackHandle::SharedPtr callback_handle);
-
-  using ParameterCallbackType = ParameterCallbackHandle::ParameterCallbackType;
-
-  /// Add a callback for a specified parameter.
-  /**
-   * If a node_name is not provided, defaults to the current node.
-   *
-   * \param[in] parameter_name Name of parameter to monitor.
-   * \param[in] callback Function callback to be invoked upon parameter update.
-   * \param[in] node_name Name of node which hosts the parameter.
-   * \returns A handle used to refer to the callback.
-   */
-  RCLCPP_PUBLIC
-  ParameterCallbackHandle::SharedPtr
-  add_parameter_callback(
-    const std::string & parameter_name,
-    ParameterCallbackType callback,
-    const std::string & node_name = "");
-
-  /// Remove a parameter callback registered with add_parameter_callback.
-  /**
-   * The parameter name and node name are inspected from the callback handle. The callback handle
-   * is erased from the list of callback handles on the {parameter_name, node_name} in the map.
-   * An error is thrown if the handle does not exist and/or was already removed.
-   *
-   * \param[in] callback_handle Handle of the callback to remove.
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_parameter_callback(
-    ParameterCallbackHandle::SharedPtr callback_handle);
-
-  /// Get an rclcpp::Parameter from a parameter event.
-  /**
-   * If a node_name is not provided, defaults to the current node.
-   *
-   * \param[in] event Event msg to be inspected.
-   * \param[out] parameter Reference to rclcpp::Parameter to be assigned.
-   * \param[in] parameter_name Name of parameter.
-   * \param[in] node_name Name of node which hosts the parameter.
-   * \returns Output parameter is set with requested parameter info and returns true if
-   * requested parameter name and node is in event. Otherwise, returns false.
-   */
-  RCLCPP_PUBLIC
-  static bool
-  get_parameter_from_event(
-    const rcl_interfaces::msg::ParameterEvent & event,
-    rclcpp::Parameter & parameter,
-    const std::string parameter_name,
-    const std::string node_name = "");
-
-  /// Get an rclcpp::Parameter from parameter event
-  /**
-   * If a node_name is not provided, defaults to the current node.
-   *
-   * The user is responsible to check if the returned parameter has been properly assigned.
-   * By default, if the requested parameter is not found in the event, the returned parameter
-   * has parameter value of type rclcpp::PARAMETER_NOT_SET.
-   *
-   * \param[in] event Event msg to be inspected.
-   * \param[in] parameter_name Name of parameter.
-   * \param[in] node_name Name of node which hosts the parameter.
-   * \returns The resultant rclcpp::Parameter from the event.
-   */
-  RCLCPP_PUBLIC
-  static rclcpp::Parameter
-  get_parameter_from_event(
-    const rcl_interfaces::msg::ParameterEvent & event,
-    const std::string parameter_name,
-    const std::string node_name = "");
-
-  /// Get all rclcpp::Parameter values from a parameter event
-  /**
-   * \param[in] event Event msg to be inspected.
-   * \returns A vector rclcpp::Parameter values from the event.
-   */
-  RCLCPP_PUBLIC
-  static std::vector<rclcpp::Parameter>
-  get_parameters_from_event(
-    const rcl_interfaces::msg::ParameterEvent & event);
-
-  using CallbacksContainerType = std::list<ParameterCallbackHandle::WeakPtr>;
-
-protected:
-  /// Callback for parameter events subscriptions.
-  RCLCPP_PUBLIC
-  void
-  event_callback(const rcl_interfaces::msg::ParameterEvent & event);
-
-  // Utility function for resolving node path.
-  std::string resolve_path(const std::string & path);
-
-  // Node interface used for base functionality
-  std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_;
-
-  // *INDENT-OFF* Uncrustify doesn't handle indented public/private labels
-  // Hash function for string pair required in std::unordered_map
-  // See: https://stackoverflow.com/questions/35985960/c-why-is-boosthash-combine-the-best-way-to-combine-hash-values
-  class StringPairHash
-  {
-  public:
-    template<typename T>
-    inline void hash_combine(std::size_t & seed, const T & v) const
-    {
-      std::hash<T> hasher;
-      seed ^= hasher(v) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
-    }
-
-    inline size_t operator()(const std::pair<std::string, std::string> & s) const
-    {
-      size_t seed = 0;
-      hash_combine(seed, s.first);
-      hash_combine(seed, s.second);
-      return seed;
-    }
-  };
-  // *INDENT-ON*
-
-  // Map container for registered parameters
-  std::unordered_map<
-    std::pair<std::string, std::string>,
-    CallbacksContainerType,
-    StringPairHash
-  > parameter_callbacks_;
-
-  rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr event_subscription_;
-
-  std::list<ParameterEventCallbackHandle::WeakPtr> event_callbacks_;
-
-  std::recursive_mutex mutex_;
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__PARAMETER_EVENT_HANDLER_HPP_

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, const rcl_interfaces::msg::Parameter *>;
+  using EventPair = std::pair<EventType, rcl_interfaces::msg::Parameter *>;
 
   /// Construct a filtered view of a parameter event.
   /**
@@ -60,7 +60,7 @@ public:
    */
   RCLCPP_PUBLIC
   ParameterEventsFilter(
-    std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event,
+    rcl_interfaces::msg::ParameterEvent::SharedPtr 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
-  std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event_;  ///< Keep event in scope
+  rcl_interfaces::msg::ParameterEvent::SharedPtr event_;  ///< Keep event in scope
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/parameter_map.hpp

@@ -15,7 +15,6 @@
 #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>
@@ -49,14 +48,6 @@ 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

@@ -40,8 +40,6 @@
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-#include "tracetools/tracetools.h"
-
 namespace rclcpp
 {
 
@@ -70,7 +68,7 @@ public:
    * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] topic Name of the topic to publish to.
    * \param[in] qos QoS profile for Subcription.
-   * \param[in] options Options for the subscription.
+   * \param[in] options options for the subscription.
    */
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
@@ -263,7 +261,7 @@ public:
     if (this->can_loan_messages()) {
       // we release the ownership from the rclpp::LoanedMessage instance
       // and let the middleware clean up the memory.
-      this->do_loaned_message_publish(std::move(loaned_msg.release()));
+      this->do_loaned_message_publish(loaned_msg.release());
     } else {
       // we don't release the ownership, let the middleware copy the ros message
       // and thus the destructor of rclcpp::LoanedMessage cleans up the memory.
@@ -281,10 +279,6 @@ 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) {
@@ -316,9 +310,9 @@ protected:
   }
 
   void
-  do_loaned_message_publish(std::unique_ptr<MessageT, std::function<void(MessageT *)>> msg)
+  do_loaned_message_publish(MessageT * msg)
   {
-    auto status = rcl_publish_loaned_message(publisher_handle_.get(), msg.get(), nullptr);
+    auto status = rcl_publish_loaned_message(publisher_handle_.get(), msg, nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
       rcl_reset_error();  // next call will reset error message if not context

rclcpp/include/rclcpp/publisher_base.hpp

@@ -28,7 +28,6 @@
 #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"
@@ -194,15 +193,6 @@ 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

@@ -26,7 +26,6 @@
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
-#include "rclcpp/qos_overriding_options.hpp"
 
 namespace rclcpp
 {
@@ -45,19 +44,12 @@ 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;
 
   /// Optional RMW implementation specific payload to be used during creation of the publisher.
   std::shared_ptr<rclcpp::detail::RMWImplementationSpecificPublisherPayload>
   rmw_implementation_payload = nullptr;
-
-  QosOverridingOptions qos_overriding_options;
 };
 
 /// Structure containing optional configuration for Publishers.
@@ -85,8 +77,6 @@ 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()) {
@@ -102,7 +92,12 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
   get_allocator() const
   {
     if (!this->allocator) {
-      return std::make_shared<Allocator>();
+      // TODO(wjwwood): I would like to use the commented line instead, but
+      //   cppcheck 1.89 fails with:
+      //     Syntax Error: AST broken, binary operator '>' doesn't have two operands.
+      // return std::make_shared<Allocator>();
+      std::shared_ptr<Allocator> tmp(new Allocator());
+      return tmp;
     }
     return this->allocator;
   }

rclcpp/include/rclcpp/qos.hpp

@@ -18,9 +18,7 @@
 #include <string>
 
 #include "rclcpp/duration.hpp"
-#include "rclcpp/exceptions.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rcl/logging_rosout.h"
 #include "rmw/incompatible_qos_events_statuses.h"
 #include "rmw/qos_profiles.h"
 #include "rmw/types.h"
@@ -28,48 +26,8 @@
 namespace rclcpp
 {
 
-RCLCPP_PUBLIC
 std::string qos_policy_name_from_kind(rmw_qos_policy_kind_t policy_kind);
 
-enum class HistoryPolicy
-{
-  KeepLast = RMW_QOS_POLICY_HISTORY_KEEP_LAST,
-  KeepAll = RMW_QOS_POLICY_HISTORY_KEEP_ALL,
-  SystemDefault = RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_HISTORY_UNKNOWN,
-};
-
-enum class ReliabilityPolicy
-{
-  BestEffort = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
-  Reliable = RMW_QOS_POLICY_RELIABILITY_RELIABLE,
-  SystemDefault = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_RELIABILITY_UNKNOWN,
-};
-
-enum class DurabilityPolicy
-{
-  Volatile = RMW_QOS_POLICY_DURABILITY_VOLATILE,
-  TransientLocal = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
-  SystemDefault = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_DURABILITY_UNKNOWN,
-};
-
-enum class LivelinessPolicy
-{
-  Automatic = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
-  ManualByTopic = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC,
-  SystemDefault = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
-  Unknown = RMW_QOS_POLICY_LIVELINESS_UNKNOWN,
-};
-
-enum class QoSCompatibility
-{
-  Ok = RMW_QOS_COMPATIBILITY_OK,
-  Warning = RMW_QOS_COMPATIBILITY_WARNING,
-  Error = RMW_QOS_COMPATIBILITY_ERROR,
-};
-
 /// QoS initialization values, cannot be created directly, use KeepAll or KeepLast instead.
 struct RCLCPP_PUBLIC QoSInitialization
 {
@@ -98,32 +56,10 @@ struct RCLCPP_PUBLIC KeepLast : public rclcpp::QoSInitialization
 };
 
 /// Encapsulation of Quality of Service settings.
-/**
- * Quality of Service settings control the behavior of publishers, subscriptions,
- * and other entities, and includes things like how data is sent or resent,
- * how data is buffered on the publishing and subscribing side, and other things.
- * See:
- *   <a href="https://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
 {
 public:
-  /// Create a QoS by specifying only the history policy and history depth.
-  /**
-   * When using the default initial profile, the defaults will include:
-   *
-   *   - \link rclcpp::ReliabilityPolicy::Reliable ReliabilityPolicy::Reliable\endlink
-   *   - \link rclcpp::DurabilityPolicy::Volatile DurabilityPolicy::Volatile\endlink
-   *
-   * See rmw_qos_profile_default for a full list of default settings.
-   * If some other rmw_qos_profile_t is passed to initial_profile, then the defaults will derive from
-   * that profile instead.
-   *
-   * \param[in] qos_initialization Specifies history policy and history depth.
-   * \param[in] initial_profile The rmw_qos_profile_t instance on which to base the default settings.
-   */
+  /// Constructor which allows you to construct a QoS by giving the only required settings.
   explicit
   QoS(
     const QoSInitialization & qos_initialization,
@@ -131,11 +67,7 @@ public:
 
   /// Conversion constructor to ease construction in the common case of just specifying depth.
   /**
-   * This is a convenience constructor that calls QoS(KeepLast(history_depth)).
-   *
-   * \param[in] history_depth How many messages can be queued when publishing
-   *   with a Publisher, or how many messages can be queued before being replaced
-   *   by a Subscription.
+   * Convenience constructor, equivalent to QoS(KeepLast(history_depth)).
    */
   // cppcheck-suppress noExplicitConstructor
   QoS(size_t history_depth);  // NOLINT(runtime/explicit): conversion constructor
@@ -148,10 +80,6 @@ public:
   const rmw_qos_profile_t &
   get_rmw_qos_profile() const;
 
-  /// Set the history policy.
-  QoS &
-  history(HistoryPolicy history);
-
   /// Set the history policy.
   QoS &
   history(rmw_qos_history_policy_t history);
@@ -168,10 +96,6 @@ public:
   QoS &
   reliability(rmw_qos_reliability_policy_t reliability);
 
-  /// Set the reliability setting.
-  QoS &
-  reliability(ReliabilityPolicy reliability);
-
   /// Set the reliability setting to reliable.
   QoS &
   reliable();
@@ -184,10 +108,6 @@ public:
   QoS &
   durability(rmw_qos_durability_policy_t durability);
 
-  /// Set the durability setting.
-  QoS &
-  durability(DurabilityPolicy durability);
-
   /// Set the durability setting to volatile.
   /**
     * Note that this cannot be named `volatile` because it is a C++ keyword.
@@ -219,10 +139,6 @@ public:
   QoS &
   liveliness(rmw_qos_liveliness_policy_t liveliness);
 
-  /// Set the liveliness setting.
-  QoS &
-  liveliness(LivelinessPolicy liveliness);
-
   /// Set the liveliness_lease_duration setting.
   QoS &
   liveliness_lease_duration(rmw_time_t liveliness_lease_duration);
@@ -235,42 +151,6 @@ public:
   QoS &
   avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions);
 
-  /// Get the history qos policy.
-  HistoryPolicy
-  history() const;
-
-  /// Get the history depth.
-  size_t
-  depth() const;
-
-  /// Get the reliability policy.
-  ReliabilityPolicy
-  reliability() const;
-
-  /// Get the durability policy.
-  DurabilityPolicy
-  durability() const;
-
-  /// Get the deadline duration setting.
-  rclcpp::Duration
-  deadline() const;
-
-  /// Get the lifespan duration setting.
-  rclcpp::Duration
-  lifespan() const;
-
-  /// Get the liveliness policy.
-  LivelinessPolicy
-  liveliness() const;
-
-  /// Get the liveliness lease duration setting.
-  rclcpp::Duration
-  liveliness_lease_duration() const;
-
-  /// Get the `avoid ros namespace convention` setting.
-  bool
-  avoid_ros_namespace_conventions() const;
-
 private:
   rmw_qos_profile_t rmw_qos_profile_;
 };
@@ -281,81 +161,6 @@ bool operator==(const QoS & left, const QoS & right);
 RCLCPP_PUBLIC
 bool operator!=(const QoS & left, const QoS & right);
 
-/// Result type for checking QoS compatibility
-/**
- * \see rclcpp::qos_check_compatible()
- */
-struct QoSCheckCompatibleResult
-{
-  /// Compatibility result.
-  QoSCompatibility compatibility;
-
-  /// Reason for a (possible) incompatibility.
-  /**
-   * Set if compatiblity is QoSCompatibility::Warning or QoSCompatiblity::Error.
-   * Not set if the QoS profiles are compatible.
-   */
-  std::string reason;
-};
-
-/// Check if two QoS profiles are compatible.
-/**
- * Two QoS profiles are compatible if a publisher and subcription
- * using the QoS policies can communicate with each other.
- *
- * If any policies have value "system default" or "unknown" then it is possible that
- * compatiblity cannot be determined.
- * In this case, the value QoSCompatility::Warning is set as part of
- * the returned structure.
- *
- * Example usage:
- *
- * ```cpp
- * rclcpp::QoSCheckCompatibleResult result = rclcpp::qos_check_compatible(
- *   publisher_qos, subscription_qos);
- * if (rclcpp::QoSCompatibility::Error != result.compatibility) {
- *   // QoS not compatible ...
- *   // result.reason contains info about the incompatibility
- * } else if (rclcpp::QoSCompatibility::Warning != result.compatibility) {
- *   // QoS may not be compatible ...
- *   // result.reason contains info about the possible incompatibility
- * }
- * ```
- *
- * \param[in] publisher_qos: The QoS profile for a publisher.
- * \param[in] subscription_qos: The QoS profile for a subscription.
- * \return Struct with compatiblity set to QoSCompatibility::Ok if the QoS profiles are
- *   compatible, or
- * \return Struct with compatibility set to QoSCompatibility::Warning if there is a chance
- *   the QoS profiles are not compatible, or
- * \return Struct with compatibility set to QoSCompatibility::Error if the QoS profiles are
- *   not compatible.
- * \throws rclcpp::exceptions::QoSCheckCompatibilityException if an unexpected error occurs.
- */
-RCLCPP_PUBLIC
-QoSCheckCompatibleResult
-qos_check_compatible(const QoS & publisher_qos, const QoS & subscription_qos);
-
-/**
- * Clock QoS class
- *    - History: Keep last,
- *    - Depth: 1,
- *    - Reliability: Best effort,
- *    - Durability: Volatile,
- *    - Deadline: Default,
- *    - Lifespan: Default,
- *    - Liveliness: System default,
- *    - Liveliness lease duration: default,
- *    - avoid ros namespace conventions: false
- */
-class RCLCPP_PUBLIC ClockQoS : public QoS
-{
-public:
-  explicit
-  ClockQoS(
-    const QoSInitialization & qos_initialization = KeepLast(1));
-};
-
 /**
  * Sensor Data QoS class
  *    - History: Keep last,
@@ -444,28 +249,6 @@ public:
   ));
 };
 
-/**
- * Rosout QoS class
- *    - History: Keep last,
- *    - Depth: 1000,
- *    - Reliability: Reliable,
- *    - Durability: TRANSIENT_LOCAL,
- *    - Deadline: Default,
- *    - Lifespan: {10, 0},
- *    - Liveliness: System default,
- *    - Liveliness lease duration: default,
- *    - Avoid ros namespace conventions: false
- */
-class RCLCPP_PUBLIC RosoutQoS : public QoS
-{
-public:
-  explicit
-  RosoutQoS(
-    const QoSInitialization & rosout_qos_initialization = (
-      QoSInitialization::from_rmw(rcl_qos_profile_rosout_default)
-  ));
-};
-
 /**
  * System defaults QoS class
  *    - History: System default,

rclcpp/include/rclcpp/qos_event.hpp

@@ -16,8 +16,6 @@
 #define RCLCPP__QOS_EVENT_HPP_
 
 #include <functional>
-#include <memory>
-#include <stdexcept>
 #include <string>
 
 #include "rcl/error_handling.h"
@@ -36,7 +34,6 @@ using QOSDeadlineRequestedInfo = rmw_requested_deadline_missed_status_t;
 using QOSDeadlineOfferedInfo = rmw_offered_deadline_missed_status_t;
 using QOSLivelinessChangedInfo = rmw_liveliness_changed_status_t;
 using QOSLivelinessLostInfo = rmw_liveliness_lost_status_t;
-using QOSMessageLostInfo = rmw_message_lost_status_t;
 using QOSOfferedIncompatibleQoSInfo = rmw_offered_qos_incompatible_event_status_t;
 using QOSRequestedIncompatibleQoSInfo = rmw_requested_qos_incompatible_event_status_t;
 
@@ -44,7 +41,6 @@ using QOSDeadlineRequestedCallbackType = std::function<void (QOSDeadlineRequeste
 using QOSDeadlineOfferedCallbackType = std::function<void (QOSDeadlineOfferedInfo &)>;
 using QOSLivelinessChangedCallbackType = std::function<void (QOSLivelinessChangedInfo &)>;
 using QOSLivelinessLostCallbackType = std::function<void (QOSLivelinessLostInfo &)>;
-using QOSMessageLostCallbackType = std::function<void (QOSMessageLostInfo &)>;
 using QOSOfferedIncompatibleQoSCallbackType = std::function<void (QOSOfferedIncompatibleQoSInfo &)>;
 using QOSRequestedIncompatibleQoSCallbackType =
   std::function<void (QOSRequestedIncompatibleQoSInfo &)>;
@@ -63,7 +59,6 @@ struct SubscriptionEventCallbacks
   QOSDeadlineRequestedCallbackType deadline_callback;
   QOSLivelinessChangedCallbackType liveliness_callback;
   QOSRequestedIncompatibleQoSCallbackType incompatible_qos_callback;
-  QOSMessageLostCallbackType message_lost_callback;
 };
 
 class UnsupportedEventTypeException : public exceptions::RCLErrorBase, public std::runtime_error
@@ -133,31 +128,21 @@ public:
     }
   }
 
-  /// Take data so that the callback cannot be scheduled again
-  std::shared_ptr<void>
-  take_data() override
+  /// Execute any entities of the Waitable that are ready.
+  void
+  execute() override
   {
     EventCallbackInfoT callback_info;
+
     rcl_ret_t ret = rcl_take_event(&event_handle_, &callback_info);
     if (ret != RCL_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",
         "Couldn't take event info: %s", rcl_get_error_string().str);
-      return nullptr;
+      return;
     }
-    return std::static_pointer_cast<void>(std::make_shared<EventCallbackInfoT>(callback_info));
-  }
 
-  /// Execute any entities of the Waitable that are ready.
-  void
-  execute(std::shared_ptr<void> & data) override
-  {
-    if (!data) {
-      throw std::runtime_error("'data' is empty");
-    }
-    auto callback_ptr = std::static_pointer_cast<EventCallbackInfoT>(data);
-    event_callback_(*callback_ptr);
-    callback_ptr.reset();
+    event_callback_(callback_info);
   }
 
 private:

rclcpp/include/rclcpp/qos_overriding_options.hpp

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

rclcpp/include/rclcpp/rclcpp.hpp

@@ -117,15 +117,6 @@
  * - 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
@@ -143,7 +134,6 @@
  *   - rclcpp/scope_exit.hpp
  *   - rclcpp/time.hpp
  *   - rclcpp/utilities.hpp
- *   - rclcpp/typesupport_helpers.hpp
  *   - rclcpp/visibility_control.hpp
  */
 
@@ -157,15 +147,14 @@
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/parameter_client.hpp"
-#include "rclcpp/parameter_event_handler.hpp"
 #include "rclcpp/parameter.hpp"
+#include "rclcpp/parameter_client.hpp"
 #include "rclcpp/parameter_service.hpp"
 #include "rclcpp/rate.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rclcpp/waitable.hpp"
 #include "rclcpp/wait_set.hpp"
+#include "rclcpp/waitable.hpp"
 
 #endif  // RCLCPP__RCLCPP_HPP_

rclcpp/include/rclcpp/service.hpp

@@ -180,7 +180,7 @@ public:
     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, [weak_node_handle](rcl_service_t * service)
       {
         auto handle = weak_node_handle.lock();
         if (handle) {
@@ -192,10 +192,10 @@ public:
             rcl_reset_error();
           }
         } else {
-          RCLCPP_ERROR_STREAM(
+          RCLCPP_ERROR(
             rclcpp::get_logger("rclcpp"),
-            "Error in destruction of rcl service handle " << service_name <<
-              ": the Node Handle was destructed too early. You will leak memory");
+            "Error in destruction of rcl service handle: "
+            "the Node Handle was destructed too early. You will leak memory");
         }
         delete service;
       });
@@ -223,8 +223,8 @@ public:
     }
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif
@@ -258,8 +258,8 @@ public:
     service_handle_ = service_handle;
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif
@@ -295,8 +295,8 @@ public:
     service_handle_->impl = service_handle->impl;
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif
@@ -349,6 +349,15 @@ 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/strategies/allocator_memory_strategy.hpp

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

rclcpp/include/rclcpp/subscription.hpp

@@ -92,7 +92,7 @@ public:
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] qos QoS profile for Subcription.
    * \param[in] callback User defined callback to call when a message is received.
-   * \param[in] options Options for the subscription.
+   * \param[in] options options for the subscription.
    * \param[in] message_memory_strategy The memory strategy to be used for managing message memory.
    * \param[in] subscription_topic_statistics Optional pointer to a topic statistics subcription.
    * \throws std::invalid_argument if the QoS is uncompatible with intra-process (if one
@@ -144,11 +144,6 @@ public:
         // pass
       }
     }
-    if (options.event_callbacks.message_lost_callback) {
-      this->add_event_handler(
-        options.event_callbacks.message_lost_callback,
-        RCL_SUBSCRIPTION_MESSAGE_LOST);
-    }
 
     // Setup intra process publishing if requested.
     if (rclcpp::detail::resolve_use_intra_process(options, *node_base)) {
@@ -171,7 +166,11 @@ public:
 
       // First create a SubscriptionIntraProcess which will be given to the intra-process manager.
       auto context = node_base->get_context();
-      subscription_intra_process_ = std::make_shared<SubscriptionIntraProcessT>(
+      using SubscriptionIntraProcessT = rclcpp::experimental::SubscriptionIntraProcess<
+        CallbackMessageT,
+        AllocatorT,
+        typename MessageUniquePtr::deleter_type>;
+      auto subscription_intra_process = std::make_shared<SubscriptionIntraProcessT>(
         callback,
         options.get_allocator(),
         context,
@@ -180,13 +179,13 @@ public:
         resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback));
       TRACEPOINT(
         rclcpp_subscription_init,
-        static_cast<const void *>(get_subscription_handle().get()),
-        static_cast<const void *>(subscription_intra_process_.get()));
+        (const void *)get_subscription_handle().get(),
+        (const void *)subscription_intra_process.get());
 
       // Add it to the intra process manager.
       using rclcpp::experimental::IntraProcessManager;
       auto ipm = context->get_sub_context<IntraProcessManager>();
-      uint64_t intra_process_subscription_id = ipm->add_subscription(subscription_intra_process_);
+      uint64_t intra_process_subscription_id = ipm->add_subscription(subscription_intra_process);
       this->setup_intra_process(intra_process_subscription_id, ipm);
     }
 
@@ -196,12 +195,12 @@ public:
 
     TRACEPOINT(
       rclcpp_subscription_init,
-      static_cast<const void *>(get_subscription_handle().get()),
-      static_cast<const void *>(this));
+      (const void *)get_subscription_handle().get(),
+      (const void *)this);
     TRACEPOINT(
       rclcpp_subscription_callback_added,
-      static_cast<const void *>(this),
-      static_cast<const void *>(&any_callback_));
+      (const void *)this,
+      (const void *)&any_callback_);
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
     // in subsequent tracepoints.
@@ -273,18 +272,11 @@ public:
       return;
     }
     auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
-
-    std::chrono::time_point<std::chrono::system_clock> now;
-    if (subscription_topic_statistics_) {
-      // get current time before executing callback to
-      // exclude callback duration from topic statistics result.
-      now = std::chrono::system_clock::now();
-    }
-
     any_callback_.dispatch(typed_message, message_info);
 
     if (subscription_topic_statistics_) {
-      const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now);
+      const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(
+        std::chrono::system_clock::now());
       const auto time = rclcpp::Time(nanos.time_since_epoch().count());
       subscription_topic_statistics_->handle_message(*typed_message, time);
     }
@@ -343,11 +335,6 @@ private:
     message_memory_strategy_;
   /// Component which computes and publishes topic statistics for this subscriber
   SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics_{nullptr};
-  using SubscriptionIntraProcessT = rclcpp::experimental::SubscriptionIntraProcess<
-    CallbackMessageT,
-    AllocatorT,
-    typename MessageUniquePtr::deleter_type>;
-  std::shared_ptr<SubscriptionIntraProcessT> subscription_intra_process_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/subscription_base.hpp

@@ -31,7 +31,6 @@
 #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"
@@ -62,15 +61,12 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
 
-  /// Constructor.
+  /// Default 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.
-   * \param[in] subscription_options Options for the subscription.
+   * \param[in] subscription_options options for the subscription.
    * \param[in] is_serialized is true if the message will be delivered still serialized
    */
   RCLCPP_PUBLIC
@@ -81,7 +77,7 @@ public:
     const rcl_subscription_options_t & subscription_options,
     bool is_serialized = false);
 
-  /// Destructor.
+  /// Default destructor.
   RCLCPP_PUBLIC
   virtual ~SubscriptionBase();
 
@@ -267,15 +263,6 @@ 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

@@ -26,7 +26,6 @@
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
-#include "rclcpp/qos_overriding_options.hpp"
 #include "rclcpp/topic_statistics_state.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -45,11 +44,6 @@ 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;
 
@@ -78,8 +72,6 @@ struct SubscriptionOptionsBase
   };
 
   TopicStatisticsOptions topic_stats_options;
-
-  QosOverridingOptions qos_overriding_options;
 };
 
 /// Structure containing optional configuration for Subscriptions.
@@ -109,12 +101,10 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
     rcl_subscription_options_t result = rcl_subscription_get_default_options();
     using AllocatorTraits = std::allocator_traits<Allocator>;
     using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
-    auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
+    auto message_alloc = std::make_shared<MessageAllocatorT>(*allocator.get());
     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_t<std::remove_reference_t<MessageT>>;
+  using type = typename std::remove_cv<MessageT>::type;
 };
 
 template<typename MessageT>

rclcpp/include/rclcpp/time.hpp

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

rclcpp/include/rclcpp/time_source.hpp

@@ -25,7 +25,6 @@
 #include "rcl_interfaces/msg/parameter_event.hpp"
 
 #include "rclcpp/node.hpp"
-#include "rclcpp/executors.hpp"
 #include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 
 
@@ -33,20 +32,6 @@ namespace rclcpp
 {
 class Clock;
 
-/**
- * Time source that will drive the attached clocks.
- *
- * If the attached node `use_sim_time` parameter is `true`, the attached clocks will
- * be updated based on messages received.
- *
- * The subscription to the clock topic created by the time source can have it's qos reconfigured
- * using parameter overrides, particularly the following ones are accepted:
- *
- * - qos_overrides./clock.depth
- * - qos_overrides./clock.durability
- * - qos_overrides./clock.history
- * - qos_overrides./clock.reliability
- */
 class TimeSource
 {
 public:
@@ -55,24 +40,16 @@ public:
    * The node will be attached to the time source.
    *
    * \param node std::shared pointer to a initialized node
-   * \param qos QoS that will be used when creating a `/clock` subscription.
    */
   RCLCPP_PUBLIC
-  explicit TimeSource(
-    rclcpp::Node::SharedPtr node,
-    const rclcpp::QoS & qos = rclcpp::ClockQoS(),
-    bool use_clock_thread = true);
+  explicit TimeSource(rclcpp::Node::SharedPtr node);
 
   /// Empty constructor
   /**
    * An Empty TimeSource class
-   *
-   * \param qos QoS that will be used when creating a `/clock` subscription.
    */
   RCLCPP_PUBLIC
-  explicit TimeSource(
-    const rclcpp::QoS & qos = rclcpp::ClockQoS(),
-    bool use_clock_thread = true);
+  TimeSource();
 
   /// Attack node to the time source.
   /**
@@ -124,11 +101,6 @@ public:
   RCLCPP_PUBLIC
   ~TimeSource();
 
-protected:
-  // Dedicated thread for clock subscription.
-  bool use_clock_thread_;
-  std::thread clock_executor_thread_;
-
 private:
   // Preserve the node reference
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
@@ -142,21 +114,15 @@ private:
   // Store (and update on node attach) logger for logging.
   Logger logger_;
 
-  // QoS of the clock subscription.
-  rclcpp::QoS qos_;
-
   // The subscription for the clock callback
   using MessageT = rosgraph_msgs::msg::Clock;
   using Alloc = std::allocator<void>;
   using SubscriptionT = rclcpp::Subscription<MessageT, Alloc>;
-  std::shared_ptr<SubscriptionT> clock_subscription_{nullptr};
+  std::shared_ptr<SubscriptionT> clock_subscription_;
   std::mutex clock_sub_lock_;
-  rclcpp::CallbackGroup::SharedPtr clock_callback_group_;
-  rclcpp::executors::SingleThreadedExecutor::SharedPtr clock_executor_;
-  std::promise<void> cancel_clock_executor_promise_;
 
   // The clock callback itself
-  void clock_cb(std::shared_ptr<const rosgraph_msgs::msg::Clock> msg);
+  void clock_cb(const rosgraph_msgs::msg::Clock::SharedPtr msg);
 
   // Create the subscription for the clock topic
   void create_clock_sub();
@@ -170,7 +136,7 @@ private:
   std::shared_ptr<ParamSubscriptionT> parameter_subscription_;
 
   // Callback for parameter updates
-  void on_parameter_event(std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event);
+  void on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event);
 
   // An enum to hold the parameter state
   enum UseSimTimeParameterState {UNSET, SET_TRUE, SET_FALSE};
@@ -182,6 +148,8 @@ private:
   void disable_ros_time();
 
   // Internal helper functions used inside iterators
+  static void enable_ros_time(rclcpp::Clock::SharedPtr clock);
+  static void disable_ros_time(rclcpp::Clock::SharedPtr clock);
   static void set_clock(
     const builtin_interfaces::msg::Time::SharedPtr msg,
     bool set_ros_time_enabled,
@@ -189,16 +157,16 @@ private:
 
   // Local storage of validity of ROS time
   // This is needed when new clocks are added.
-  bool ros_time_active_{false};
+  bool ros_time_active_;
   // Last set message to be passed to newly registered clocks
-  std::shared_ptr<const rosgraph_msgs::msg::Clock> last_msg_set_;
+  rosgraph_msgs::msg::Clock::SharedPtr last_msg_set_;
 
   // A lock to protect iterating the associated_clocks_ field.
   std::mutex clock_list_lock_;
   // A vector to store references to associated clocks.
   std::vector<rclcpp::Clock::SharedPtr> associated_clocks_;
   // A handler for the use_sim_time parameter callback.
-  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr sim_time_cb_handler_{nullptr};
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr sim_time_cb_handler_ = nullptr;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/timer.hpp

@@ -176,12 +176,12 @@ public:
   {
     TRACEPOINT(
       rclcpp_timer_callback_added,
-      static_cast<const void *>(get_timer_handle().get()),
-      static_cast<const void *>(&callback_));
+      (const void *)get_timer_handle().get(),
+      (const void *)&callback_);
     TRACEPOINT(
       rclcpp_callback_register,
-      static_cast<const void *>(&callback_),
-      tracetools::get_symbol(callback_));
+      (const void *)&callback_,
+      get_symbol(callback_));
   }
 
   /// Default destructor.
@@ -205,9 +205,9 @@ public:
     if (ret != RCL_RET_OK) {
       throw std::runtime_error("Failed to notify timer that callback occurred");
     }
-    TRACEPOINT(callback_start, static_cast<const void *>(&callback_), false);
+    TRACEPOINT(callback_start, (const void *)&callback_, false);
     execute_callback_delegate<>();
-    TRACEPOINT(callback_end, static_cast<const void *>(&callback_));
+    TRACEPOINT(callback_end, (const void *)&callback_);
   }
 
   // void specialization

rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp

@@ -127,7 +127,7 @@ public:
   /**
    * This method acquires a lock to prevent race conditions to collectors list.
    */
-  virtual void publish_message_and_reset_measurements()
+  virtual void publish_message()
   {
     std::vector<MetricsMessage> msgs;
     rclcpp::Time window_end{get_current_nanoseconds_since_epoch()};
@@ -136,7 +136,6 @@ public:
       std::lock_guard<std::mutex> lock(mutex_);
       for (auto & collector : subscriber_statistics_collectors_) {
         const auto collected_stats = collector->GetStatisticsResults();
-        collector->ClearCurrentMeasurements();
 
         auto message = libstatistics_collector::collector::GenerateStatisticMessage(
           node_name_,

rclcpp/include/rclcpp/typesupport_helpers.hpp

@@ -1,57 +0,0 @@
-// 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

@@ -143,6 +143,21 @@ 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_set_template.hpp

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

rclcpp/include/rclcpp/waitable.hpp

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

rclcpp/package.xml

@@ -2,24 +2,19 @@
 <?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>9.0.2</version>
+  <version>2.2.0</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>
-  <maintainer email="william@openrobotics.org">William Woodall</maintainer>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
-  <author email="dthomas@openrobotics.org">Dirk Thomas</author>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
-  <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>
@@ -40,8 +35,6 @@
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>mimick_vendor</test_depend>
-  <test_depend>performance_test_fixture</test_depend>
   <test_depend>rmw</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>rosidl_default_generators</test_depend>

rclcpp/resource/logging.hpp.em

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

rclcpp/src/rclcpp/callback_group.cpp

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

rclcpp/src/rclcpp/clock.cpp

@@ -113,7 +113,7 @@ Clock::get_clock_mutex() noexcept
 
 void
 Clock::on_time_jump(
-  const rcl_time_jump_t * time_jump,
+  const struct rcl_time_jump_t * time_jump,
   bool before_jump,
   void * user_data)
 {

rclcpp/src/rclcpp/context.cpp

@@ -199,17 +199,13 @@ Context::init(
     throw rclcpp::ContextAlreadyInitialized();
   }
   this->clean_up();
-  rcl_context_t * context = new rcl_context_t;
-  if (!context) {
-    throw std::runtime_error("failed to allocate memory for rcl context");
-  }
-  *context = rcl_get_zero_initialized_context();
-  rcl_ret_t ret = rcl_init(argc, argv, init_options.get_rcl_init_options(), context);
+  rcl_context_.reset(new rcl_context_t, __delete_context);
+  *rcl_context_.get() = rcl_get_zero_initialized_context();
+  rcl_ret_t ret = rcl_init(argc, argv, init_options.get_rcl_init_options(), rcl_context_.get());
   if (RCL_RET_OK != ret) {
-    delete context;
+    rcl_context_.reset();
     rclcpp::exceptions::throw_from_rcl_error(ret, "failed to initialize rcl");
   }
-  rcl_context_.reset(context, __delete_context);
 
   if (init_options.auto_initialize_logging()) {
     logging_mutex_ = get_global_logging_mutex();
@@ -279,19 +275,8 @@ Context::get_init_options()
   return init_options_;
 }
 
-size_t
-Context::get_domain_id() const
-{
-  size_t domain_id;
-  rcl_ret_t ret = rcl_context_get_domain_id(rcl_context_.get(), &domain_id);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get domain id from context");
-  }
-  return domain_id;
-}
-
 std::string
-Context::shutdown_reason() const
+Context::shutdown_reason()
 {
   std::lock_guard<std::recursive_mutex> lock(init_mutex_);
   return shutdown_reason_;
@@ -320,6 +305,7 @@ Context::shutdown(const std::string & reason)
   }
   // interrupt all blocking sleep_for() and all blocking executors or wait sets
   this->interrupt_all_sleep_for();
+  this->interrupt_all_wait_sets();
   // remove self from the global contexts
   weak_contexts_->remove_context(this);
   // shutdown logger
@@ -390,6 +376,75 @@ Context::interrupt_all_sleep_for()
   interrupt_condition_variable_.notify_all();
 }
 
+rcl_guard_condition_t *
+Context::get_interrupt_guard_condition(rcl_wait_set_t * wait_set)
+{
+  std::lock_guard<std::mutex> lock(interrupt_guard_cond_handles_mutex_);
+  auto kv = interrupt_guard_cond_handles_.find(wait_set);
+  if (kv != interrupt_guard_cond_handles_.end()) {
+    return &kv->second;
+  } else {
+    rcl_guard_condition_t handle = rcl_get_zero_initialized_guard_condition();
+    rcl_guard_condition_options_t options = rcl_guard_condition_get_default_options();
+    auto ret = rcl_guard_condition_init(&handle, this->get_rcl_context().get(), options);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't initialize guard condition");
+    }
+    interrupt_guard_cond_handles_.emplace(wait_set, handle);
+    return &interrupt_guard_cond_handles_[wait_set];
+  }
+}
+
+void
+Context::release_interrupt_guard_condition(rcl_wait_set_t * wait_set)
+{
+  std::lock_guard<std::mutex> lock(interrupt_guard_cond_handles_mutex_);
+  auto kv = interrupt_guard_cond_handles_.find(wait_set);
+  if (kv != interrupt_guard_cond_handles_.end()) {
+    rcl_ret_t ret = rcl_guard_condition_fini(&kv->second);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to destroy sigint guard condition");
+    }
+    interrupt_guard_cond_handles_.erase(kv);
+  } else {
+    throw std::runtime_error("Tried to release sigint guard condition for nonexistent wait set");
+  }
+}
+
+void
+Context::release_interrupt_guard_condition(
+  rcl_wait_set_t * wait_set,
+  const std::nothrow_t &) noexcept
+{
+  try {
+    this->release_interrupt_guard_condition(wait_set);
+  } catch (const std::exception & exc) {
+    RCLCPP_ERROR(
+      rclcpp::get_logger("rclcpp"),
+      "caught %s exception when releasing interrupt guard condition: %s",
+      rmw::impl::cpp::demangle(exc).c_str(), exc.what());
+  } catch (...) {
+    RCLCPP_ERROR(
+      rclcpp::get_logger("rclcpp"),
+      "caught unknown exception when releasing interrupt guard condition");
+  }
+}
+
+void
+Context::interrupt_all_wait_sets()
+{
+  std::lock_guard<std::mutex> lock(interrupt_guard_cond_handles_mutex_);
+  for (auto & kv : interrupt_guard_cond_handles_) {
+    rcl_ret_t status = rcl_trigger_guard_condition(&(kv.second));
+    if (status != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(
+        "rclcpp",
+        "failed to trigger guard condition in Context::interrupt_all_wait_sets(): %s",
+        rcl_get_error_string().str);
+    }
+  }
+}
+
 void
 Context::clean_up()
 {

rclcpp/src/rclcpp/detail/mutex_two_priorities.cpp

@@ -1,104 +0,0 @@
-// 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 "rclcpp/detail/mutex_two_priorities.hpp"
-
-#include <mutex>
-
-namespace rclcpp
-{
-namespace detail
-{
-
-using LowPriorityLockable = MutexTwoPriorities::LowPriorityLockable;
-using HighPriorityLockable = MutexTwoPriorities::HighPriorityLockable;
-
-HighPriorityLockable::HighPriorityLockable(MutexTwoPriorities & parent)
-: parent_(parent)
-{}
-
-void
-HighPriorityLockable::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()
-{
-  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)
-: parent_(parent)
-{}
-
-void
-LowPriorityLockable::lock()
-{
-  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()
-{
-  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
-MutexTwoPriorities::get_high_priority_lockable()
-{
-  return HighPriorityLockable{*this};
-}
-
-LowPriorityLockable
-MutexTwoPriorities::get_low_priority_lockable()
-{
-  return LowPriorityLockable{*this};
-}
-
-}  // namespace detail
-}  // namespace rclcpp

rclcpp/src/rclcpp/detail/resolve_parameter_overrides.cpp

@@ -1,77 +0,0 @@
-// 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 "./resolve_parameter_overrides.hpp"
-
-#include <string>
-#include <map>
-#include <vector>
-
-#include "rcl_yaml_param_parser/parser.h"
-
-#include "rclcpp/scope_exit.hpp"
-#include "rclcpp/parameter_map.hpp"
-
-std::map<std::string, rclcpp::ParameterValue>
-rclcpp::detail::resolve_parameter_overrides(
-  const std::string & node_fqn,
-  const std::vector<rclcpp::Parameter> & parameter_overrides,
-  const rcl_arguments_t * local_args,
-  const rcl_arguments_t * global_args)
-{
-  std::map<std::string, rclcpp::ParameterValue> result;
-
-  // global before local so that local overwrites global
-  std::array<const rcl_arguments_t *, 2> argument_sources = {global_args, local_args};
-
-  // Get fully qualified node name post-remapping to use to find node's params in yaml files
-
-  for (const rcl_arguments_t * source : argument_sources) {
-    if (!source) {
-      continue;
-    }
-    rcl_params_t * params = NULL;
-    rcl_ret_t ret = rcl_arguments_get_param_overrides(source, &params);
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret);
-    }
-    if (params) {
-      auto cleanup_params = make_scope_exit(
-        [params]() {
-          rcl_yaml_node_struct_fini(params);
-        });
-      rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(params);
-
-      // Enforce wildcard matching precedence
-      // TODO(cottsay) implement further wildcard matching
-      const std::array<std::string, 2> node_matching_names{"/**", node_fqn};
-      for (const auto & node_name : node_matching_names) {
-        if (initial_map.count(node_name) > 0) {
-          // Combine parameter yaml files, overwriting values in older ones
-          for (const rclcpp::Parameter & param : initial_map.at(node_name)) {
-            result[param.get_name()] =
-              rclcpp::ParameterValue(param.get_value_message());
-          }
-        }
-      }
-    }
-  }
-
-  // parameter overrides passed to constructor will overwrite overrides from yaml file sources
-  for (auto & param : parameter_overrides) {
-    result[param.get_name()] =
-      rclcpp::ParameterValue(param.get_value_message());
-  }
-  return result;
-}

rclcpp/src/rclcpp/detail/resolve_parameter_overrides.hpp

@@ -1,44 +0,0 @@
-// 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__RESOLVE_PARAMETER_OVERRIDES_HPP_
-#define RCLCPP__DETAIL__RESOLVE_PARAMETER_OVERRIDES_HPP_
-
-#include <string>
-#include <map>
-#include <vector>
-
-#include "rcl/arguments.h"
-
-#include "rclcpp/parameter.hpp"
-#include "rclcpp/parameter_value.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace detail
-{
-/// \internal Get the parameter overrides from the arguments.
-RCLCPP_LOCAL
-std::map<std::string, rclcpp::ParameterValue>
-resolve_parameter_overrides(
-  const std::string & node_name,
-  const std::vector<rclcpp::Parameter> & parameter_overrides,
-  const rcl_arguments_t * local_args,
-  const rcl_arguments_t * global_args);
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__RESOLVE_PARAMETER_OVERRIDES_HPP_

rclcpp/src/rclcpp/duration.cpp

@@ -37,7 +37,7 @@ Duration::Duration(int32_t seconds, uint32_t nanoseconds)
   rcl_duration_.nanoseconds += nanoseconds;
 }
 
-Duration::Duration(rcl_duration_value_t nanoseconds)
+Duration::Duration(int64_t nanoseconds)
 {
   rcl_duration_.nanoseconds = nanoseconds;
 }
@@ -67,27 +67,13 @@ Duration::operator builtin_interfaces::msg::Duration() const
 {
   builtin_interfaces::msg::Duration msg_duration;
   constexpr rcl_duration_value_t kDivisor = RCL_S_TO_NS(1);
-  constexpr int32_t max_s = std::numeric_limits<int32_t>::max();
-  constexpr int32_t min_s = std::numeric_limits<int32_t>::min();
-  constexpr uint32_t max_ns = std::numeric_limits<uint32_t>::max();
   const auto result = std::div(rcl_duration_.nanoseconds, kDivisor);
   if (result.rem >= 0) {
-    // saturate if we will overflow
-    if (result.quot > max_s) {
-      msg_duration.sec = max_s;
-      msg_duration.nanosec = max_ns;
-    } else {
-      msg_duration.sec = static_cast<int32_t>(result.quot);
-      msg_duration.nanosec = static_cast<uint32_t>(result.rem);
-    }
+    msg_duration.sec = static_cast<std::int32_t>(result.quot);
+    msg_duration.nanosec = static_cast<std::uint32_t>(result.rem);
   } else {
-    if (result.quot <= min_s) {
-      msg_duration.sec = min_s;
-      msg_duration.nanosec = 0u;
-    } else {
-      msg_duration.sec = static_cast<int32_t>(result.quot - 1);
-      msg_duration.nanosec = static_cast<uint32_t>(kDivisor + result.rem);
-    }
+    msg_duration.sec = static_cast<std::int32_t>(result.quot - 1);
+    msg_duration.nanosec = static_cast<std::uint32_t>(kDivisor + result.rem);
   }
   return msg_duration;
 }
@@ -162,7 +148,7 @@ Duration::operator+(const rclcpp::Duration & rhs) const
     this->rcl_duration_.nanoseconds,
     rhs.rcl_duration_.nanoseconds,
     std::numeric_limits<rcl_duration_value_t>::max());
-  return Duration::from_nanoseconds(
+  return Duration(
     rcl_duration_.nanoseconds + rhs.rcl_duration_.nanoseconds);
 }
 
@@ -191,7 +177,7 @@ Duration::operator-(const rclcpp::Duration & rhs) const
     rhs.rcl_duration_.nanoseconds,
     std::numeric_limits<rcl_duration_value_t>::max());
 
-  return Duration::from_nanoseconds(
+  return Duration(
     rcl_duration_.nanoseconds - rhs.rcl_duration_.nanoseconds);
 }
 
@@ -222,7 +208,7 @@ Duration::operator*(double scale) const
     scale,
     std::numeric_limits<rcl_duration_value_t>::max());
   long double scale_ld = static_cast<long double>(scale);
-  return Duration::from_nanoseconds(
+  return Duration(
     static_cast<rcl_duration_value_t>(
       static_cast<long double>(rcl_duration_.nanoseconds) * scale_ld));
 }
@@ -252,52 +238,18 @@ Duration::to_rmw_time() const
     throw std::runtime_error("rmw_time_t cannot be negative");
   }
 
-  // Purposefully avoid creating from builtin_interfaces::msg::Duration
-  // to avoid possible overflow converting from int64_t to int32_t, then back to uint64_t
+  // reuse conversion logic from msg creation
+  builtin_interfaces::msg::Duration msg = *this;
   rmw_time_t result;
-  constexpr rcl_duration_value_t kDivisor = RCL_S_TO_NS(1);
-  const auto div_result = std::div(rcl_duration_.nanoseconds, kDivisor);
-  result.sec = static_cast<uint64_t>(div_result.quot);
-  result.nsec = static_cast<uint64_t>(div_result.rem);
-
+  result.sec = static_cast<uint64_t>(msg.sec);
+  result.nsec = static_cast<uint64_t>(msg.nanosec);
   return result;
 }
 
-Duration
-Duration::from_rmw_time(rmw_time_t duration)
-{
-  Duration ret;
-  constexpr rcl_duration_value_t limit_ns = std::numeric_limits<rcl_duration_value_t>::max();
-  constexpr rcl_duration_value_t limit_sec = RCL_NS_TO_S(limit_ns);
-  if (duration.sec > limit_sec || duration.nsec > limit_ns) {
-    // saturate if will overflow
-    ret.rcl_duration_.nanoseconds = limit_ns;
-    return ret;
-  }
-  uint64_t total_ns = RCL_S_TO_NS(duration.sec) + duration.nsec;
-  if (total_ns > limit_ns) {
-    // saturate if will overflow
-    ret.rcl_duration_.nanoseconds = limit_ns;
-    return ret;
-  }
-  ret.rcl_duration_.nanoseconds = static_cast<rcl_duration_value_t>(total_ns);
-  return ret;
-}
-
 Duration
 Duration::from_seconds(double seconds)
 {
-  Duration ret;
-  ret.rcl_duration_.nanoseconds = static_cast<int64_t>(RCL_S_TO_NS(seconds));
-  return ret;
-}
-
-Duration
-Duration::from_nanoseconds(rcl_duration_value_t nanoseconds)
-{
-  Duration ret;
-  ret.rcl_duration_.nanoseconds = nanoseconds;
-  return ret;
+  return Duration(static_cast<int64_t>(RCL_S_TO_NS(seconds)));
 }
 
 }  // namespace rclcpp

rclcpp/src/rclcpp/executor.cpp

@@ -14,27 +14,20 @@
 
 #include <algorithm>
 #include <memory>
-#include <map>
 #include <string>
 #include <type_traits>
-#include <utility>
-#include <vector>
 
 #include "rcl/allocator.h"
 #include "rcl/error_handling.h"
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/executor.hpp"
-#include "rclcpp/guard_condition.hpp"
-#include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/scope_exit.hpp"
 #include "rclcpp/utilities.hpp"
 
 #include "rcutils/logging_macros.h"
 
-using namespace std::chrono_literals;
-
 using rclcpp::exceptions::throw_from_rcl_error;
 using rclcpp::AnyExecutable;
 using rclcpp::Executor;
@@ -43,35 +36,28 @@ using rclcpp::FutureReturnCode;
 
 Executor::Executor(const rclcpp::ExecutorOptions & options)
 : spinning(false),
-  shutdown_guard_condition_(std::make_shared<rclcpp::GuardCondition>(options.context)),
   memory_strategy_(options.memory_strategy)
 {
-  // Store the context for later use.
-  context_ = options.context;
-
   rcl_guard_condition_options_t guard_condition_options = rcl_guard_condition_get_default_options();
   rcl_ret_t ret = rcl_guard_condition_init(
-    &interrupt_guard_condition_, context_->get_rcl_context().get(), guard_condition_options);
+    &interrupt_guard_condition_, options.context->get_rcl_context().get(), guard_condition_options);
   if (RCL_RET_OK != ret) {
     throw_from_rcl_error(ret, "Failed to create interrupt guard condition in Executor constructor");
   }
 
-  context_->on_shutdown(
-    [weak_gc = std::weak_ptr<rclcpp::GuardCondition>{shutdown_guard_condition_}]() {
-      auto strong_gc = weak_gc.lock();
-      if (strong_gc) {
-        strong_gc->trigger();
-      }
-    });
-
   // The number of guard conditions is always at least 2: 1 for the ctrl-c guard cond,
   // and one for the executor's guard cond (interrupt_guard_condition_)
-  memory_strategy_->add_guard_condition(&shutdown_guard_condition_->get_rcl_guard_condition());
+
+  // Put the global ctrl-c guard condition in
+  memory_strategy_->add_guard_condition(options.context->get_interrupt_guard_condition(&wait_set_));
 
   // Put the executor's guard condition in
   memory_strategy_->add_guard_condition(&interrupt_guard_condition_);
   rcl_allocator_t allocator = memory_strategy_->get_allocator();
 
+  // Store the context for later use.
+  context_ = options.context;
+
   ret = rcl_wait_set_init(
     &wait_set_,
     0, 2, 0, 0, 0, 0,
@@ -88,39 +74,25 @@ Executor::Executor(const rclcpp::ExecutorOptions & options)
         "failed to destroy guard condition: %s", rcl_get_error_string().str);
       rcl_reset_error();
     }
-    throw_from_rcl_error(ret, "Failed to create wait set in Executor constructor");
+    throw std::runtime_error("Failed to create wait set in Executor constructor");
   }
 }
 
 Executor::~Executor()
 {
-  // Disassociate all callback groups.
-  for (auto & pair : weak_groups_to_nodes_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
+  // Disassocate all nodes
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node) {
+      std::atomic_bool & has_executor = node->get_associated_with_executor_atomic();
       has_executor.store(false);
     }
   }
-  // Disassociate all nodes.
-  std::for_each(
-    weak_nodes_.begin(), weak_nodes_.end(), []
-      (rclcpp::node_interfaces::NodeBaseInterface::WeakPtr weak_node_ptr) {
-      auto shared_node_ptr = weak_node_ptr.lock();
-      if (shared_node_ptr) {
-        std::atomic_bool & has_executor = shared_node_ptr->get_associated_with_executor_atomic();
-        has_executor.store(false);
-      }
-    });
   weak_nodes_.clear();
-  weak_groups_associated_with_executor_to_nodes_.clear();
-  weak_groups_to_nodes_associated_with_executor_.clear();
-  weak_groups_to_nodes_.clear();
-  for (const auto & pair : weak_nodes_to_guard_conditions_) {
-    auto & guard_condition = pair.second;
+  for (auto & guard_condition : guard_conditions_) {
     memory_strategy_->remove_guard_condition(guard_condition);
   }
-  weak_nodes_to_guard_conditions_.clear();
+  guard_conditions_.clear();
 
   // Finalize the wait set.
   if (rcl_wait_set_fini(&wait_set_) != RCL_RET_OK) {
@@ -137,121 +109,8 @@ Executor::~Executor()
     rcl_reset_error();
   }
   // Remove and release the sigint guard condition
-  memory_strategy_->remove_guard_condition(&shutdown_guard_condition_->get_rcl_guard_condition());
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-Executor::get_all_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  std::lock_guard<std::mutex> guard{mutex_};
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  for (auto const & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-Executor::get_manually_added_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  std::lock_guard<std::mutex> guard{mutex_};
-  for (auto const & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-Executor::get_automatically_added_callback_groups_from_nodes()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  std::lock_guard<std::mutex> guard{mutex_};
-  for (auto const & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-void
-Executor::add_callback_groups_from_nodes_associated_to_executor()
-{
-  for (auto & weak_node : weak_nodes_) {
-    auto node = weak_node.lock();
-    if (node) {
-      auto group_ptrs = node->get_callback_groups();
-      std::for_each(
-        group_ptrs.begin(), group_ptrs.end(),
-        [this, node](rclcpp::CallbackGroup::WeakPtr group_ptr)
-        {
-          auto shared_group_ptr = group_ptr.lock();
-          if (shared_group_ptr && shared_group_ptr->automatically_add_to_executor_with_node() &&
-          !shared_group_ptr->get_associated_with_executor_atomic().load())
-          {
-            this->add_callback_group_to_map(
-              shared_group_ptr,
-              node,
-              weak_groups_to_nodes_associated_with_executor_,
-              true);
-          }
-        });
-    }
-  }
-}
-
-void
-Executor::add_callback_group_to_map(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-  bool notify)
-{
-  // If the callback_group already has an executor
-  std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Callback group has already been added to an executor.");
-  }
-  bool is_new_node = !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_) &&
-    !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_);
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto insert_info =
-    weak_groups_to_nodes.insert(std::make_pair(weak_group_ptr, node_ptr));
-  bool was_inserted = insert_info.second;
-  if (!was_inserted) {
-    throw std::runtime_error("Callback group was already added to executor.");
-  }
-  // Also add to the map that contains all callback groups
-  weak_groups_to_nodes_.insert(std::make_pair(weak_group_ptr, node_ptr));
-  if (is_new_node) {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_[node_weak_ptr] = node_ptr->get_notify_guard_condition();
-    if (notify) {
-      // Interrupt waiting to handle new node
-      rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
-      if (ret != RCL_RET_OK) {
-        throw_from_rcl_error(ret, "Failed to trigger guard condition on callback group add");
-      }
-    }
-    // Add the node's notify condition to the guard condition handles
-    memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
-  }
-}
-
-void
-Executor::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  bool notify)
-{
-  std::lock_guard<std::mutex> guard{mutex_};
-  this->add_callback_group_to_map(
-    group_ptr,
-    node_ptr,
-    weak_groups_associated_with_executor_to_nodes_,
-    notify);
+  memory_strategy_->remove_guard_condition(context_->get_interrupt_guard_condition(&wait_set_));
+  context_->release_interrupt_guard_condition(&wait_set_, std::nothrow);
 }
 
 void
@@ -262,69 +121,25 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
   if (has_executor.exchange(true)) {
     throw std::runtime_error("Node has already been added to an executor.");
   }
-  std::lock_guard<std::mutex> guard{mutex_};
-  for (auto & weak_group : node_ptr->get_callback_groups()) {
-    auto group_ptr = weak_group.lock();
-    if (group_ptr != nullptr && !group_ptr->get_associated_with_executor_atomic().load() &&
-      group_ptr->automatically_add_to_executor_with_node())
-    {
-      this->add_callback_group_to_map(
-        group_ptr,
-        node_ptr,
-        weak_groups_to_nodes_associated_with_executor_,
-        notify);
+  // Check to ensure node not already added
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node == node_ptr) {
+      // TODO(jacquelinekay): Use a different error here?
+      throw std::runtime_error("Cannot add node to executor, node already added.");
     }
   }
   weak_nodes_.push_back(node_ptr);
-}
-
-void
-Executor::remove_callback_group_from_map(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-  bool notify)
-{
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr;
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto iter = weak_groups_to_nodes.find(weak_group_ptr);
-  if (iter != weak_groups_to_nodes.end()) {
-    node_ptr = iter->second.lock();
-    if (node_ptr == nullptr) {
-      throw std::runtime_error("Node must not be deleted before its callback group(s).");
+  guard_conditions_.push_back(node_ptr->get_notify_guard_condition());
+  if (notify) {
+    // Interrupt waiting to handle new node
+    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+      throw std::runtime_error(rcl_get_error_string().str);
     }
-    weak_groups_to_nodes.erase(iter);
-    weak_groups_to_nodes_.erase(group_ptr);
-    std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-    has_executor.store(false);
-  } else {
-    throw std::runtime_error("Callback group needs to be associated with executor.");
   }
-  // If the node was matched and removed, interrupt waiting.
-  if (!has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_) &&
-    !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_))
-  {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_.erase(node_weak_ptr);
-    if (notify) {
-      rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
-      if (ret != RCL_RET_OK) {
-        throw_from_rcl_error(ret, "Failed to trigger guard condition on callback group remove");
-      }
-    }
-    memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
-  }
-}
-
-void
-Executor::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  bool notify)
-{
-  std::lock_guard<std::mutex> guard{mutex_};
-  this->remove_callback_group_from_map(
-    group_ptr,
-    weak_groups_associated_with_executor_to_nodes_,
-    notify);
+  // Add the node's notify condition to the guard condition handles
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
+  memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
 void
@@ -336,45 +151,34 @@ Executor::add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify)
 void
 Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
-  if (!node_ptr->get_associated_with_executor_atomic().load()) {
-    throw std::runtime_error("Node needs to be associated with an executor.");
-  }
-
-  std::lock_guard<std::mutex> guard{mutex_};
-  bool found_node = false;
-  auto node_it = weak_nodes_.begin();
-  while (node_it != weak_nodes_.end()) {
-    bool matched = (node_it->lock() == node_ptr);
-    if (matched) {
-      found_node = true;
-      node_it = weak_nodes_.erase(node_it);
-    } else {
-      ++node_it;
-    }
-  }
-  if (!found_node) {
-    throw std::runtime_error("Node needs to be associated with this executor.");
-  }
-
-  for (auto it = weak_groups_to_nodes_associated_with_executor_.begin();
-    it != weak_groups_to_nodes_associated_with_executor_.end(); )
+  bool node_removed = false;
   {
-    auto weak_node_ptr = it->second;
-    auto shared_node_ptr = weak_node_ptr.lock();
-    auto group_ptr = it->first.lock();
-
-    // Increment iterator before removing in case it's invalidated
-    it++;
-    if (shared_node_ptr == node_ptr) {
-      remove_callback_group_from_map(
-        group_ptr,
-        weak_groups_to_nodes_associated_with_executor_,
-        notify);
+    auto node_it = weak_nodes_.begin();
+    auto gc_it = guard_conditions_.begin();
+    while (node_it != weak_nodes_.end()) {
+      bool matched = (node_it->lock() == node_ptr);
+      if (matched) {
+        node_it = weak_nodes_.erase(node_it);
+        gc_it = guard_conditions_.erase(gc_it);
+        node_removed = true;
+      } else {
+        ++node_it;
+        ++gc_it;
+      }
     }
   }
-
   std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
   has_executor.store(false);
+  if (notify) {
+    // If the node was matched and removed, interrupt waiting
+    if (node_removed) {
+      if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+        throw std::runtime_error(rcl_get_error_string().str);
+      }
+    }
+  }
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
+  memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
 void
@@ -408,21 +212,8 @@ Executor::spin_node_some(std::shared_ptr<rclcpp::Node> node)
   this->spin_node_some(node->get_node_base_interface());
 }
 
-void Executor::spin_some(std::chrono::nanoseconds max_duration)
-{
-  return this->spin_some_impl(max_duration, false);
-}
-
-void Executor::spin_all(std::chrono::nanoseconds max_duration)
-{
-  if (max_duration <= 0ns) {
-    throw std::invalid_argument("max_duration must be positive");
-  }
-  return this->spin_some_impl(max_duration, true);
-}
-
 void
-Executor::spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive)
+Executor::spin_some(std::chrono::nanoseconds max_duration)
 {
   auto start = std::chrono::steady_clock::now();
   auto max_duration_not_elapsed = [max_duration, start]() {
@@ -441,20 +232,14 @@ Executor::spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive)
     throw std::runtime_error("spin_some() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  bool work_available = false;
+  // non-blocking call to pre-load all available work
+  wait_for_work(std::chrono::milliseconds::zero());
   while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
-    if (!work_available) {
-      wait_for_work(std::chrono::milliseconds::zero());
-    }
     if (get_next_ready_executable(any_exec)) {
       execute_any_executable(any_exec);
-      work_available = true;
     } else {
-      if (!work_available || !exhaustive) {
-        break;
-      }
-      work_available = false;
+      break;
     }
   }
 }
@@ -482,9 +267,8 @@ void
 Executor::cancel()
 {
   spinning.store(false);
-  rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
-  if (ret != RCL_RET_OK) {
-    throw_from_rcl_error(ret, "Failed to trigger guard condition in cancel");
+  if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+    throw std::runtime_error(rcl_get_error_string().str);
   }
 }
 
@@ -494,7 +278,6 @@ Executor::set_memory_strategy(rclcpp::memory_strategy::MemoryStrategy::SharedPtr
   if (memory_strategy == nullptr) {
     throw std::runtime_error("Received NULL memory strategy in executor.");
   }
-  std::lock_guard<std::mutex> guard{mutex_};
   memory_strategy_ = memory_strategy;
 }
 
@@ -517,15 +300,14 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
     execute_client(any_exec.client);
   }
   if (any_exec.waitable) {
-    any_exec.waitable->execute(any_exec.data);
+    any_exec.waitable->execute();
   }
   // Reset the callback_group, regardless of type
   any_exec.callback_group->can_be_taken_from().store(true);
   // Wake the wait, because it may need to be recalculated or work that
   // was previously blocked is now available.
-  rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
-  if (ret != RCL_RET_OK) {
-    throw_from_rcl_error(ret, "Failed to trigger guard condition from execute_any_executable");
+  if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+    throw std::runtime_error(rcl_get_error_string().str);
   }
 }
 
@@ -610,18 +392,16 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
         return true;
       },
       [&]() {subscription->handle_loaned_message(loaned_msg, message_info);});
-    if (nullptr != loaned_msg) {
-      rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
-        subscription->get_subscription_handle().get(),
-        loaned_msg);
-      if (RCL_RET_OK != ret) {
-        RCLCPP_ERROR(
-          rclcpp::get_logger("rclcpp"),
-          "rcl_return_loaned_message_from_subscription() failed for subscription on topic '%s': %s",
-          subscription->get_topic_name(), rcl_get_error_string().str);
-      }
-      loaned_msg = nullptr;
+    rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
+      subscription->get_subscription_handle().get(),
+      loaned_msg);
+    if (RCL_RET_OK != ret) {
+      RCLCPP_ERROR(
+        rclcpp::get_logger("rclcpp"),
+        "rcl_return_loaned_message_from_subscription() failed for subscription on topic '%s': %s",
+        subscription->get_topic_name(), rcl_get_error_string().str);
     }
+    loaned_msg = nullptr;
   } else {
     // This case is taking a copy of the message data from the middleware via
     // inter-process communication.
@@ -670,72 +450,47 @@ void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
   {
-    std::lock_guard<std::mutex> guard(mutex_);
-
-    // Check weak_nodes_ to find any callback group that is not owned
-    // by an executor and add it to the list of callbackgroups for
-    // collect entities. Also exchange to false so it is not
-    // allowed to add to another executor
-    add_callback_groups_from_nodes_associated_to_executor();
+    std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
 
     // Collect the subscriptions and timers to be waited on
     memory_strategy_->clear_handles();
-    bool has_invalid_weak_groups_or_nodes =
-      memory_strategy_->collect_entities(weak_groups_to_nodes_);
+    bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
 
-    if (has_invalid_weak_groups_or_nodes) {
-      std::vector<rclcpp::CallbackGroup::WeakPtr> invalid_group_ptrs;
-      for (auto pair : weak_groups_to_nodes_) {
-        auto weak_group_ptr = pair.first;
-        auto weak_node_ptr = pair.second;
-        if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
-          invalid_group_ptrs.push_back(weak_group_ptr);
-          auto node_guard_pair = weak_nodes_to_guard_conditions_.find(weak_node_ptr);
-          if (node_guard_pair != weak_nodes_to_guard_conditions_.end()) {
-            auto guard_condition = node_guard_pair->second;
-            weak_nodes_to_guard_conditions_.erase(weak_node_ptr);
-            memory_strategy_->remove_guard_condition(guard_condition);
-          }
+    // Clean up any invalid nodes, if they were detected
+    if (has_invalid_weak_nodes) {
+      auto node_it = weak_nodes_.begin();
+      auto gc_it = guard_conditions_.begin();
+      while (node_it != weak_nodes_.end()) {
+        if (node_it->expired()) {
+          node_it = weak_nodes_.erase(node_it);
+          memory_strategy_->remove_guard_condition(*gc_it);
+          gc_it = guard_conditions_.erase(gc_it);
+        } else {
+          ++node_it;
+          ++gc_it;
         }
       }
-      std::for_each(
-        invalid_group_ptrs.begin(), invalid_group_ptrs.end(),
-        [this](rclcpp::CallbackGroup::WeakPtr group_ptr) {
-          if (weak_groups_to_nodes_associated_with_executor_.find(group_ptr) !=
-          weak_groups_to_nodes_associated_with_executor_.end())
-          {
-            weak_groups_to_nodes_associated_with_executor_.erase(group_ptr);
-          }
-          if (weak_groups_associated_with_executor_to_nodes_.find(group_ptr) !=
-          weak_groups_associated_with_executor_to_nodes_.end())
-          {
-            weak_groups_associated_with_executor_to_nodes_.erase(group_ptr);
-          }
-          weak_groups_to_nodes_.erase(group_ptr);
-        });
     }
-
     // clear wait set
-    rcl_ret_t ret = rcl_wait_set_clear(&wait_set_);
-    if (ret != RCL_RET_OK) {
-      throw_from_rcl_error(ret, "Couldn't clear wait set");
+    if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
+      throw std::runtime_error("Couldn't clear wait set");
     }
 
     // The size of waitables are accounted for in size of the other entities
-    ret = rcl_wait_set_resize(
+    rcl_ret_t ret = rcl_wait_set_resize(
       &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
       memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
       memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
       memory_strategy_->number_of_ready_events());
     if (RCL_RET_OK != ret) {
-      throw_from_rcl_error(ret, "Couldn't resize the wait set");
+      throw std::runtime_error(
+              std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
     }
 
     if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
       throw std::runtime_error("Couldn't fill wait set");
     }
   }
-
   rcl_ret_t status =
     rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());
   if (status == RCL_RET_WAIT_SET_EMPTY) {
@@ -749,24 +504,26 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
 
   // check the null handles in the wait set and remove them from the handles in memory strategy
   // for callback-based entities
-  std::lock_guard<std::mutex> guard(mutex_);
   memory_strategy_->remove_null_handles(&wait_set_);
 }
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-Executor::get_node_by_group(
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes,
-  rclcpp::CallbackGroup::SharedPtr group)
+Executor::get_node_by_group(rclcpp::CallbackGroup::SharedPtr group)
 {
   if (!group) {
     return nullptr;
   }
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr(group);
-  const auto finder = weak_groups_to_nodes.find(weak_group_ptr);
-  if (finder != weak_groups_to_nodes.end()) {
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr = finder->second.lock();
-    return node_ptr;
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (!node) {
+      continue;
+    }
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto callback_group = weak_group.lock();
+      if (callback_group == group) {
+        return node;
+      }
+    }
   }
   return nullptr;
 }
@@ -774,107 +531,80 @@ Executor::get_node_by_group(
 rclcpp::CallbackGroup::SharedPtr
 Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
 {
-  std::lock_guard<std::mutex> guard{mutex_};
-  for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto timer_ref = group->find_timer_ptrs_if(
-      [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
-        return timer_ptr == timer;
-      });
-    if (timer_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto timer_ref = group->find_timer_ptrs_if(
+        [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
+          return timer_ptr == timer;
+        });
+      if (timer_ref) {
+        return group;
+      }
     }
   }
-
-  for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
-    auto group = pair.first.lock();
-    if (!group) {
-      continue;
-    }
-    auto timer_ref = group->find_timer_ptrs_if(
-      [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
-        return timer_ptr == timer;
-      });
-    if (timer_ref) {
-      return group;
-    }
-  }
-  return nullptr;
+  return rclcpp::CallbackGroup::SharedPtr();
 }
 
 bool
 Executor::get_next_ready_executable(AnyExecutable & any_executable)
-{
-  bool success = get_next_ready_executable_from_map(any_executable, weak_groups_to_nodes_);
-  return success;
-}
-
-bool
-Executor::get_next_ready_executable_from_map(
-  AnyExecutable & any_executable,
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes)
 {
   bool success = false;
-  std::lock_guard<std::mutex> guard{mutex_};
   // Check the timers to see if there are any that are ready
-  memory_strategy_->get_next_timer(any_executable, weak_groups_to_nodes);
+  memory_strategy_->get_next_timer(any_executable, weak_nodes_);
   if (any_executable.timer) {
     success = true;
   }
   if (!success) {
     // Check the subscriptions to see if there are any that are ready
-    memory_strategy_->get_next_subscription(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_subscription(any_executable, weak_nodes_);
     if (any_executable.subscription) {
       success = true;
     }
   }
   if (!success) {
     // Check the services to see if there are any that are ready
-    memory_strategy_->get_next_service(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_service(any_executable, weak_nodes_);
     if (any_executable.service) {
       success = true;
     }
   }
   if (!success) {
     // Check the clients to see if there are any that are ready
-    memory_strategy_->get_next_client(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_client(any_executable, weak_nodes_);
     if (any_executable.client) {
       success = true;
     }
   }
   if (!success) {
     // Check the waitables to see if there are any that are ready
-    memory_strategy_->get_next_waitable(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_waitable(any_executable, weak_nodes_);
     if (any_executable.waitable) {
-      any_executable.data = any_executable.waitable->take_data();
       success = true;
     }
   }
-  // At this point any_executable should be valid with either a valid subscription
+  // At this point any_exec should be valid with either a valid subscription
   // or a valid timer, or it should be a null shared_ptr
-  if (success) {
-    rclcpp::CallbackGroup::WeakPtr weak_group_ptr = any_executable.callback_group;
-    auto iter = weak_groups_to_nodes.find(weak_group_ptr);
-    if (iter == weak_groups_to_nodes.end()) {
-      success = false;
-    }
-  }
-
   if (success) {
     // If it is valid, check to see if the group is mutually exclusive or
-    // not, then mark it accordingly ..Check if the callback_group belongs to this executor
-    if (any_executable.callback_group && any_executable.callback_group->type() == \
-      CallbackGroupType::MutuallyExclusive)
+    // not, then mark it accordingly
+    using callback_group::CallbackGroupType;
+    if (
+      any_executable.callback_group &&
+      any_executable.callback_group->type() == CallbackGroupType::MutuallyExclusive)
     {
       // It should not have been taken otherwise
       assert(any_executable.callback_group->can_be_taken_from().load());
       // Set to false to indicate something is being run from this group
-      // This is reset to true either when the any_executable is executed or when the
-      // any_executable is destructued
+      // This is reset to true either when the any_exec is executed or when the
+      // any_exec is destructued
       any_executable.callback_group->can_be_taken_from().store(false);
     }
   }
@@ -901,19 +631,3 @@ Executor::get_next_executable(AnyExecutable & any_executable, std::chrono::nanos
   }
   return success;
 }
-
-// Returns true iff the weak_groups_to_nodes map has node_ptr as the value in any of its entry.
-bool
-Executor::has_node(
-  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes) const
-{
-  return std::find_if(
-    weak_groups_to_nodes.begin(),
-    weak_groups_to_nodes.end(),
-    [&](const WeakCallbackGroupsToNodesMap::value_type & other) -> bool {
-      auto other_ptr = other.second.lock();
-      return other_ptr == node_ptr;
-    }) != weak_groups_to_nodes.end();
-}

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -22,7 +22,6 @@
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/scope_exit.hpp"
 
-using rclcpp::detail::MutexTwoPriorities;
 using rclcpp::executors::MultiThreadedExecutor;
 
 MultiThreadedExecutor::MultiThreadedExecutor(
@@ -52,8 +51,7 @@ MultiThreadedExecutor::spin()
   std::vector<std::thread> threads;
   size_t thread_id = 0;
   {
-    auto low_priority_wait_mutex = wait_mutex_.get_low_priority_lockable();
-    std::lock_guard<MutexTwoPriorities::LowPriorityLockable> wait_lock(low_priority_wait_mutex);
+    std::lock_guard<std::mutex> wait_lock(wait_mutex_);
     for (; thread_id < number_of_threads_ - 1; ++thread_id) {
       auto func = std::bind(&MultiThreadedExecutor::run, this, thread_id);
       threads.emplace_back(func);
@@ -78,8 +76,7 @@ MultiThreadedExecutor::run(size_t)
   while (rclcpp::ok(this->context_) && spinning.load()) {
     rclcpp::AnyExecutable any_exec;
     {
-      auto low_priority_wait_mutex = wait_mutex_.get_low_priority_lockable();
-      std::lock_guard<MutexTwoPriorities::LowPriorityLockable> wait_lock(low_priority_wait_mutex);
+      std::lock_guard<std::mutex> wait_lock(wait_mutex_);
       if (!rclcpp::ok(this->context_) || !spinning.load()) {
         return;
       }
@@ -106,8 +103,7 @@ MultiThreadedExecutor::run(size_t)
     execute_any_executable(any_exec);
 
     if (any_exec.timer) {
-      auto high_priority_wait_mutex = wait_mutex_.get_high_priority_lockable();
-      std::lock_guard<MutexTwoPriorities::HighPriorityLockable> wait_lock(high_priority_wait_mutex);
+      std::lock_guard<std::mutex> wait_lock(wait_mutex_);
       auto it = scheduled_timers_.find(any_exec.timer);
       if (it != scheduled_timers_.end()) {
         scheduled_timers_.erase(it);

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

@@ -18,8 +18,6 @@
 #include <memory>
 #include <stdexcept>
 #include <string>
-#include <utility>
-#include <vector>
 
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
@@ -28,40 +26,23 @@ using rclcpp::executors::StaticExecutorEntitiesCollector;
 
 StaticExecutorEntitiesCollector::~StaticExecutorEntitiesCollector()
 {
-  // Disassociate all callback groups and thus nodes.
-  for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
-      has_executor.store(false);
-    }
-  }
-  for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
-      has_executor.store(false);
-    }
-  }
   // Disassociate all nodes
-  for (const auto & weak_node : weak_nodes_) {
+  for (auto & weak_node : weak_nodes_) {
     auto node = weak_node.lock();
     if (node) {
       std::atomic_bool & has_executor = node->get_associated_with_executor_atomic();
       has_executor.store(false);
     }
   }
-  weak_groups_associated_with_executor_to_nodes_.clear();
-  weak_groups_to_nodes_associated_with_executor_.clear();
   exec_list_.clear();
   weak_nodes_.clear();
-  weak_nodes_to_guard_conditions_.clear();
+  guard_conditions_.clear();
 }
 
 void
 StaticExecutorEntitiesCollector::init(
   rcl_wait_set_t * p_wait_set,
-  rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
+  rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
   rcl_guard_condition_t * executor_guard_condition)
 {
   // Empty initialize executable list
@@ -75,33 +56,15 @@ StaticExecutorEntitiesCollector::init(
   memory_strategy_ = memory_strategy;
 
   // Add executor's guard condition
-  memory_strategy_->add_guard_condition(executor_guard_condition);
+  guard_conditions_.push_back(executor_guard_condition);
 
   // Get memory strategy and executable list. Prepare wait_set_
-  std::shared_ptr<void> shared_ptr;
-  execute(shared_ptr);
-
-  // The entities collector is now initialized
-  initialized_ = true;
+  execute();
 }
 
 void
-StaticExecutorEntitiesCollector::fini()
+StaticExecutorEntitiesCollector::execute()
 {
-  memory_strategy_->clear_handles();
-  exec_list_.clear();
-}
-
-std::shared_ptr<void>
-StaticExecutorEntitiesCollector::take_data()
-{
-  return nullptr;
-}
-
-void
-StaticExecutorEntitiesCollector::execute(std::shared_ptr<void> & data)
-{
-  (void) data;
   // Fill memory strategy with entities coming from weak_nodes_
   fill_memory_strategy();
   // Fill exec_list_ with entities coming from weak_nodes_ (same as memory strategy)
@@ -114,41 +77,18 @@ void
 StaticExecutorEntitiesCollector::fill_memory_strategy()
 {
   memory_strategy_->clear_handles();
-  bool has_invalid_weak_groups_or_nodes =
-    memory_strategy_->collect_entities(weak_groups_to_nodes_associated_with_executor_);
+  bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+
   // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_groups_or_nodes) {
-    std::vector<rclcpp::CallbackGroup::WeakPtr> invalid_group_ptrs;
-    for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
-      auto & weak_group_ptr = pair.first;
-      auto & weak_node_ptr = pair.second;
-      if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
-        invalid_group_ptrs.push_back(weak_group_ptr);
+  if (has_invalid_weak_nodes) {
+    auto node_it = weak_nodes_.begin();
+    while (node_it != weak_nodes_.end()) {
+      if (node_it->expired()) {
+        node_it = weak_nodes_.erase(node_it);
+      } else {
+        ++node_it;
       }
     }
-    std::for_each(
-      invalid_group_ptrs.begin(), invalid_group_ptrs.end(),
-      [this](rclcpp::CallbackGroup::WeakPtr group_ptr) {
-        weak_groups_to_nodes_associated_with_executor_.erase(group_ptr);
-      });
-  }
-  has_invalid_weak_groups_or_nodes =
-    memory_strategy_->collect_entities(weak_groups_associated_with_executor_to_nodes_);
-  // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_groups_or_nodes) {
-    std::vector<rclcpp::CallbackGroup::WeakPtr> invalid_group_ptrs;
-    for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
-      auto & weak_group_ptr = pair.first;
-      const auto & weak_node_ptr = pair.second;
-      if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
-        invalid_group_ptrs.push_back(weak_group_ptr);
-      }
-    }
-    std::for_each(
-      invalid_group_ptrs.begin(), invalid_group_ptrs.end(),
-      [this](rclcpp::CallbackGroup::WeakPtr group_ptr) {
-        weak_groups_associated_with_executor_to_nodes_.erase(group_ptr);
-      });
   }
 
   // Add the static executor waitable to the memory strategy
@@ -159,59 +99,59 @@ void
 StaticExecutorEntitiesCollector::fill_executable_list()
 {
   exec_list_.clear();
-  add_callback_groups_from_nodes_associated_to_executor();
-  fill_executable_list_from_map(weak_groups_associated_with_executor_to_nodes_);
-  fill_executable_list_from_map(weak_groups_to_nodes_associated_with_executor_);
-  // Add the executor's waitable to the executable list
-  exec_list_.add_waitable(shared_from_this());
-}
-void
-StaticExecutorEntitiesCollector::fill_executable_list_from_map(
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes)
-{
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!node || !group || !group->can_be_taken_from().load()) {
+
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    group->find_timer_ptrs_if(
-      [this](const rclcpp::TimerBase::SharedPtr & timer) {
-        if (timer) {
-          exec_list_.add_timer(timer);
-        }
-        return false;
-      });
-    group->find_subscription_ptrs_if(
-      [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
-        if (subscription) {
-          exec_list_.add_subscription(subscription);
-        }
-        return false;
-      });
-    group->find_service_ptrs_if(
-      [this](const rclcpp::ServiceBase::SharedPtr & service) {
-        if (service) {
-          exec_list_.add_service(service);
-        }
-        return false;
-      });
-    group->find_client_ptrs_if(
-      [this](const rclcpp::ClientBase::SharedPtr & client) {
-        if (client) {
-          exec_list_.add_client(client);
-        }
-        return false;
-      });
-    group->find_waitable_ptrs_if(
-      [this](const rclcpp::Waitable::SharedPtr & waitable) {
-        if (waitable) {
-          exec_list_.add_waitable(waitable);
-        }
-        return false;
-      });
+    // Check in all the callback groups
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group || !group->can_be_taken_from().load()) {
+        continue;
+      }
+
+      group->find_timer_ptrs_if(
+        [this](const rclcpp::TimerBase::SharedPtr & timer) {
+          if (timer) {
+            exec_list_.add_timer(timer);
+          }
+          return false;
+        });
+      group->find_subscription_ptrs_if(
+        [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
+          if (subscription) {
+            exec_list_.add_subscription(subscription);
+          }
+          return false;
+        });
+      group->find_service_ptrs_if(
+        [this](const rclcpp::ServiceBase::SharedPtr & service) {
+          if (service) {
+            exec_list_.add_service(service);
+          }
+          return false;
+        });
+      group->find_client_ptrs_if(
+        [this](const rclcpp::ClientBase::SharedPtr & client) {
+          if (client) {
+            exec_list_.add_client(client);
+          }
+          return false;
+        });
+      group->find_waitable_ptrs_if(
+        [this](const rclcpp::Waitable::SharedPtr & waitable) {
+          if (waitable) {
+            exec_list_.add_waitable(waitable);
+          }
+          return false;
+        });
+    }
   }
+
+  // Add the executor's waitable to the executable list
+  exec_list_.add_waitable(shared_from_this());
 }
 
 void
@@ -231,14 +171,14 @@ StaticExecutorEntitiesCollector::prepare_wait_set()
 
   if (RCL_RET_OK != ret) {
     throw std::runtime_error(
-            std::string("Couldn't resize the wait set: ") + rcl_get_error_string().str);
+            std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
   }
 }
 
 void
 StaticExecutorEntitiesCollector::refresh_wait_set(std::chrono::nanoseconds timeout)
 {
-  // clear wait set (memset to '0' all wait_set_ entities
+  // clear wait set (memeset to '0' all wait_set_ entities
   // but keeps the wait_set_ number of entities)
   if (rcl_wait_set_clear(p_wait_set_) != RCL_RET_OK) {
     throw std::runtime_error("Couldn't clear wait set");
@@ -265,8 +205,7 @@ bool
 StaticExecutorEntitiesCollector::add_to_wait_set(rcl_wait_set_t * wait_set)
 {
   // Add waitable guard conditions (one for each registered node) into the wait set.
-  for (const auto & pair : weak_nodes_to_guard_conditions_) {
-    auto & gc = pair.second;
+  for (const auto & gc : guard_conditions_) {
     rcl_ret_t ret = rcl_wait_set_add_guard_condition(wait_set, gc, NULL);
     if (ret != RCL_RET_OK) {
       throw std::runtime_error("Executor waitable: couldn't add guard condition to wait set");
@@ -277,151 +216,55 @@ StaticExecutorEntitiesCollector::add_to_wait_set(rcl_wait_set_t * wait_set)
 
 size_t StaticExecutorEntitiesCollector::get_number_of_ready_guard_conditions()
 {
-  return weak_nodes_to_guard_conditions_.size();
+  return guard_conditions_.size();
 }
 
-bool
+void
 StaticExecutorEntitiesCollector::add_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  bool is_new_node = false;
-  // If the node already has an executor
-  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Node has already been added to an executor.");
-  }
-  for (const auto & weak_group : node_ptr->get_callback_groups()) {
-    auto group_ptr = weak_group.lock();
-    if (group_ptr != nullptr && !group_ptr->get_associated_with_executor_atomic().load() &&
-      group_ptr->automatically_add_to_executor_with_node())
-    {
-      is_new_node = (add_callback_group(
-          group_ptr,
-          node_ptr,
-          weak_groups_to_nodes_associated_with_executor_) ||
-        is_new_node);
+  // Check to ensure node not already added
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node == node_ptr) {
+      // TODO(jacquelinekay): Use a different error here?
+      throw std::runtime_error("Cannot add node to executor, node already added.");
     }
   }
+
   weak_nodes_.push_back(node_ptr);
-  return is_new_node;
-}
-
-bool
-StaticExecutorEntitiesCollector::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
-{
-  // If the callback_group already has an executor
-  std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Callback group has already been added to an executor.");
-  }
-  bool is_new_node = !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_) &&
-    !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_);
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto insert_info = weak_groups_to_nodes.insert(
-    std::make_pair(weak_group_ptr, node_ptr));
-  bool was_inserted = insert_info.second;
-  if (!was_inserted) {
-    throw std::runtime_error("Callback group was already added to executor.");
-  }
-  if (is_new_node) {
-    weak_nodes_to_guard_conditions_[node_ptr] = node_ptr->get_notify_guard_condition();
-    return true;
-  }
-  return false;
-}
-
-bool
-StaticExecutorEntitiesCollector::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
-{
-  return add_callback_group(group_ptr, node_ptr, weak_groups_associated_with_executor_to_nodes_);
-}
-
-bool
-StaticExecutorEntitiesCollector::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr)
-{
-  return this->remove_callback_group_from_map(
-    group_ptr,
-    weak_groups_associated_with_executor_to_nodes_);
-}
-
-bool
-StaticExecutorEntitiesCollector::remove_callback_group_from_map(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
-{
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr;
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto iter = weak_groups_to_nodes.find(weak_group_ptr);
-  if (iter != weak_groups_to_nodes.end()) {
-    node_ptr = iter->second.lock();
-    if (node_ptr == nullptr) {
-      throw std::runtime_error("Node must not be deleted before its callback group(s).");
-    }
-    weak_groups_to_nodes.erase(iter);
-  } else {
-    throw std::runtime_error("Callback group needs to be associated with executor.");
-  }
-  // If the node was matched and removed, interrupt waiting.
-  if (!has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_) &&
-    !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_))
-  {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_.erase(node_weak_ptr);
-    return true;
-  }
-  return false;
+  guard_conditions_.push_back(node_ptr->get_notify_guard_condition());
 }
 
 bool
 StaticExecutorEntitiesCollector::remove_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  if (!node_ptr->get_associated_with_executor_atomic().load()) {
-    return false;
-  }
-  bool node_found = false;
   auto node_it = weak_nodes_.begin();
+
   while (node_it != weak_nodes_.end()) {
     bool matched = (node_it->lock() == node_ptr);
     if (matched) {
-      weak_nodes_.erase(node_it);
-      node_found = true;
-      break;
-    }
-    ++node_it;
-  }
-  if (!node_found) {
-    return false;
-  }
-  std::vector<rclcpp::CallbackGroup::SharedPtr> found_group_ptrs;
-  std::for_each(
-    weak_groups_to_nodes_associated_with_executor_.begin(),
-    weak_groups_to_nodes_associated_with_executor_.end(),
-    [&found_group_ptrs, node_ptr](std::pair<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> key_value_pair) {
-      auto & weak_node_ptr = key_value_pair.second;
-      auto shared_node_ptr = weak_node_ptr.lock();
-      auto group_ptr = key_value_pair.first.lock();
-      if (shared_node_ptr == node_ptr) {
-        found_group_ptrs.push_back(group_ptr);
+      // Find and remove node and its guard condition
+      auto gc_it = std::find(
+        guard_conditions_.begin(),
+        guard_conditions_.end(),
+        node_ptr->get_notify_guard_condition());
+
+      if (gc_it != guard_conditions_.end()) {
+        guard_conditions_.erase(gc_it);
+        weak_nodes_.erase(node_it);
+        return true;
       }
-    });
-  std::for_each(
-    found_group_ptrs.begin(), found_group_ptrs.end(), [this]
-      (rclcpp::CallbackGroup::SharedPtr group_ptr) {
-      this->remove_callback_group_from_map(
-        group_ptr,
-        weak_groups_to_nodes_associated_with_executor_);
-    });
-  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
-  has_executor.store(false);
-  return true;
+
+      throw std::runtime_error("Didn't find guard condition associated with node.");
+
+    } else {
+      ++node_it;
+    }
+  }
+
+  return false;
 }
 
 bool
@@ -430,13 +273,13 @@ StaticExecutorEntitiesCollector::is_ready(rcl_wait_set_t * p_wait_set)
   // Check wait_set guard_conditions for added/removed entities to/from a node
   for (size_t i = 0; i < p_wait_set->size_of_guard_conditions; ++i) {
     if (p_wait_set->guard_conditions[i] != NULL) {
-      auto found_guard_condition = std::find_if(
-        weak_nodes_to_guard_conditions_.begin(), weak_nodes_to_guard_conditions_.end(),
-        [&](std::pair<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-        const rcl_guard_condition_t *> pair) -> bool {
-          return pair.second == p_wait_set->guard_conditions[i];
-        });
-      if (found_guard_condition != weak_nodes_to_guard_conditions_.end()) {
+      // Check if the guard condition triggered belongs to a node
+      auto it = std::find(
+        guard_conditions_.begin(), guard_conditions_.end(),
+        p_wait_set->guard_conditions[i]);
+
+      // If it does, we are ready to re-collect entities
+      if (it != guard_conditions_.end()) {
         return true;
       }
     }
@@ -444,77 +287,3 @@ StaticExecutorEntitiesCollector::is_ready(rcl_wait_set_t * p_wait_set)
   // None of the guard conditions triggered belong to a registered node
   return false;
 }
-
-// Returns true iff the weak_groups_to_nodes map has node_ptr as the value in any of its entry.
-bool
-StaticExecutorEntitiesCollector::has_node(
-  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes) const
-{
-  return std::find_if(
-    weak_groups_to_nodes.begin(),
-    weak_groups_to_nodes.end(),
-    [&](const WeakCallbackGroupsToNodesMap::value_type & other) -> bool {
-      auto other_ptr = other.second.lock();
-      return other_ptr == node_ptr;
-    }) != weak_groups_to_nodes.end();
-}
-
-void
-StaticExecutorEntitiesCollector::add_callback_groups_from_nodes_associated_to_executor()
-{
-  for (const auto & weak_node : weak_nodes_) {
-    auto node = weak_node.lock();
-    if (node) {
-      auto group_ptrs = node->get_callback_groups();
-      std::for_each(
-        group_ptrs.begin(), group_ptrs.end(),
-        [this, node](rclcpp::CallbackGroup::WeakPtr group_ptr)
-        {
-          auto shared_group_ptr = group_ptr.lock();
-          if (shared_group_ptr && shared_group_ptr->automatically_add_to_executor_with_node() &&
-          !shared_group_ptr->get_associated_with_executor_atomic().load())
-          {
-            add_callback_group(
-              shared_group_ptr,
-              node,
-              weak_groups_to_nodes_associated_with_executor_);
-          }
-        });
-    }
-  }
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticExecutorEntitiesCollector::get_all_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  for (const auto & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticExecutorEntitiesCollector::get_manually_added_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticExecutorEntitiesCollector::get_automatically_added_callback_groups_from_nodes()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -14,9 +14,7 @@
 
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
 
-#include <chrono>
 #include <memory>
-#include <vector>
 
 #include "rclcpp/scope_exit.hpp"
 
@@ -30,12 +28,7 @@ StaticSingleThreadedExecutor::StaticSingleThreadedExecutor(
   entities_collector_ = std::make_shared<StaticExecutorEntitiesCollector>();
 }
 
-StaticSingleThreadedExecutor::~StaticSingleThreadedExecutor()
-{
-  if (entities_collector_->is_init()) {
-    entities_collector_->fini();
-  }
-}
+StaticSingleThreadedExecutor::~StaticSingleThreadedExecutor() {}
 
 void
 StaticSingleThreadedExecutor::spin()
@@ -56,105 +49,24 @@ 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,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  bool notify)
-{
-  bool is_new_node = entities_collector_->add_callback_group(group_ptr, node_ptr);
-  if (is_new_node && notify) {
-    // Interrupt waiting to handle new node
-    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-      throw std::runtime_error(rcl_get_error_string().str);
-    }
-  }
-}
-
 void
 StaticSingleThreadedExecutor::add_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
-  bool is_new_node = entities_collector_->add_node(node_ptr);
-  if (is_new_node && notify) {
+  // If the node already has an executor
+  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
+  if (has_executor.exchange(true)) {
+    throw std::runtime_error("Node has already been added to an executor.");
+  }
+
+  if (notify) {
     // Interrupt waiting to handle new node
     if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
       throw std::runtime_error(rcl_get_error_string().str);
     }
   }
+
+  entities_collector_->add_node(node_ptr);
 }
 
 void
@@ -163,51 +75,23 @@ StaticSingleThreadedExecutor::add_node(std::shared_ptr<rclcpp::Node> node_ptr, b
   this->add_node(node_ptr->get_node_base_interface(), notify);
 }
 
-void
-StaticSingleThreadedExecutor::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr, bool notify)
-{
-  bool node_removed = entities_collector_->remove_callback_group(group_ptr);
-  // If the node was matched and removed, interrupt waiting
-  if (node_removed && notify) {
-    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-      throw std::runtime_error(rcl_get_error_string().str);
-    }
-  }
-}
-
 void
 StaticSingleThreadedExecutor::remove_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
   bool node_removed = entities_collector_->remove_node(node_ptr);
-  if (!node_removed) {
-    throw std::runtime_error("Node needs to be associated with this executor.");
-  }
-  // If the node was matched and removed, interrupt waiting
+
   if (notify) {
-    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-      throw std::runtime_error(rcl_get_error_string().str);
+    // If the node was matched and removed, interrupt waiting
+    if (node_removed) {
+      if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+        throw std::runtime_error(rcl_get_error_string().str);
+      }
     }
   }
-}
 
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticSingleThreadedExecutor::get_all_callback_groups()
-{
-  return entities_collector_->get_all_callback_groups();
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticSingleThreadedExecutor::get_manually_added_callback_groups()
-{
-  return entities_collector_->get_manually_added_callback_groups();
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticSingleThreadedExecutor::get_automatically_added_callback_groups_from_nodes()
-{
-  return entities_collector_->get_automatically_added_callback_groups_from_nodes();
+  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
+  has_executor.store(false);
 }
 
 void
@@ -216,20 +100,14 @@ StaticSingleThreadedExecutor::remove_node(std::shared_ptr<rclcpp::Node> node_ptr
   this->remove_node(node_ptr->get_node_base_interface(), notify);
 }
 
-bool
-StaticSingleThreadedExecutor::execute_ready_executables(bool spin_once)
+void
+StaticSingleThreadedExecutor::execute_ready_executables()
 {
-  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;
       }
     }
   }
@@ -238,10 +116,6 @@ StaticSingleThreadedExecutor::execute_ready_executables(bool spin_once)
     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;
       }
     }
   }
@@ -250,10 +124,6 @@ StaticSingleThreadedExecutor::execute_ready_executables(bool spin_once)
     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;
       }
     }
   }
@@ -262,24 +132,13 @@ StaticSingleThreadedExecutor::execute_ready_executables(bool spin_once)
     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;
       }
     }
   }
   // Execute all the ready waitables
   for (size_t i = 0; i < entities_collector_->get_number_of_waitables(); ++i) {
-    auto waitable = entities_collector_->get_waitable(i);
-    if (waitable->is_ready(&wait_set_)) {
-      auto data = waitable->take_data();
-      waitable->execute(data);
-      if (spin_once) {
-        return true;
-      }
-      any_ready_executable = true;
+    if (entities_collector_->get_waitable(i)->is_ready(&wait_set_)) {
+      entities_collector_->get_waitable(i)->execute();
     }
   }
-  return any_ready_executable;
 }

rclcpp/src/rclcpp/generic_publisher.cpp

@@ -1,34 +0,0 @@
-// 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

@@ -1,67 +0,0 @@
-// 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/graph_listener.cpp

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